A positioning and navigation system for a vehicle-carrying plate-type AGV parking robot

Abstract

This invention discloses a positioning and navigation system for a vehicle-mounted AGV parking robot, comprising an ultrasonic monitoring module, a vehicle positioning system, a laser ranging sensor, an obstacle avoidance laser ranging sensor, a vehicle image acquisition module, a reference positioning system, an image analysis module, a load acquisition module, and a contact switch and audible / visual alarm module. The ultrasonic monitoring module performs ultrasonic ranging to obtain the distance information between the AGV parking robot and the parking rack, i.e., ultrasonic distance information. Multiple ultrasonic monitoring modules are installed around the AGV parking robot, with at least two modules installed on each side. The ultrasonic monitoring modules in each direction simultaneously collect the distances between the AGV parking robot and surrounding objects. This invention can more accurately guide vehicles into the mechanical parking garage, effectively reducing vehicle damage during parking and better protecting vehicle safety.

Description

Technical Field

[0001] The present invention relates to the field of mechanical garages, and in particular to a positioning and navigation system for a vehicle-carrying plate-type AGV parking robot. Background Art

[0002] Traditional mechanical garages need to leave space for turning radius, passages and empty spaces for vehicles, and the construction of garages in narrow spaces; therefore, using parking robots to put vehicles into mechanical garages can effectively solve the problem of restricted tracks of traditional three-dimensional mechanical parking equipment and robots in the field of automobile handling;

[0003] When using a parking robot to bring a vehicle into a mechanical garage, a parking robot positioning and navigation system is required to control the operation of the parking robot.

[0004] The existing parking robot positioning and navigation system has a large positioning deviation when in use. The position of the vehicle parked on the parking robot is not accurate enough, which makes the vehicle easily scratched and damaged when parked, which has a certain impact on the use of the parking robot positioning and navigation system. Therefore, a positioning and navigation system for a vehicle-carrying plate AGV parking robot is proposed. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem that the existing parking robot positioning and navigation system has a large positioning deviation during use, and the position of the vehicle parked on the parking robot is not accurate enough, which leads to the vehicle being easily scratched and damaged when parked, which has a certain impact on the use of the parking robot positioning and navigation system. A positioning and navigation system for a vehicle-carrying plate-type AGV parking robot is provided.

[0006] The present invention solves the above technical problems through the following technical solutions, which include an ultrasonic monitoring module, a laser sensor module, a vehicle positioning system, an obstacle avoidance laser ranging sensor, a vehicle image acquisition module, a reference positioning system, an image analysis module, a load acquisition module, an edge contact switch and an acoustic and optical alarm module;

[0007] The ultrasonic monitoring module is used to perform ultrasonic ranging, and obtains the distance information between the AGV parking robot and the parking rack, that is, ultrasonic distance information, through ultrasonic ranging. There are multiple ultrasonic monitoring modules, which are installed around the AGV parking robot. At least two ultrasonic monitoring modules are installed on each side of the AGV parking robot. The ultrasonic monitoring modules in each direction run simultaneously to collect the distance between the AGV parking robot and the surrounding objects;

[0008] The laser sensor module is used for laser ranging, and the distance information between the AGV parking robot and the parking rack is obtained through laser ranging, that is, laser distance information. There are multiple laser sensor modules, which are installed around the AGV parking robot. The laser sensor modules in various directions run simultaneously to collect the distance between the AGV parking robot and the surrounding objects, that is, laser distance information;

[0009] The vehicle positioning system is used to perform positioning detection on the vehicle parked on the AGV parking robot and generate positioning warning information. The vehicle positioning system includes a plurality of laser ranging sensors arranged at the edge of the upper end surface of the AGV parking robot;

[0010] The obstacle avoidance laser ranging sensor is used to collect route obstacles using a laser ranging sensor to generate obstacle avoidance control information;

[0011] The vehicle image acquisition module is used to collect real-time image information of parked vehicles and send the real-time image information of the vehicles to the image analysis module;

[0012] The image analysis module is used to analyze the real-time image information of the vehicle and generate vehicle parking prompt information;

[0013] The reference positioning system includes a plurality of laser transmitters and laser receivers, which use the obtained reference positioning information to determine the position information between the AGV parking robot and the parking rack, and process the positioning information to generate position adjustment information and positioning accuracy information;

[0014] The load acquisition module is used to collect the load information on the AGV parking robot, and process the load information to generate parking height positioning information;

[0015] The edge contact switch is used to generate edge contact warning information when the AGV parking robot contacts the parking rack frame;

[0016] The sound and light alarm module is used to operate after receiving the warning information and make a sound and light alarm;

[0017] The vehicle positioning system is used to detect vehicles parked on the AGV parking robot to obtain vehicle positioning warning information.

[0018] Furthermore, the specific process of the vehicle positioning system performing positioning detection on the vehicle parked on the AGV parking robot and generating positioning warning information is as follows: after the vehicle is parked on the AGV parking robot, the laser ranging sensor arranged at the edge of the upper outer surface of the AGV parking robot collects the vehicle position information and analyzes the vehicle position information. When the vehicle position information is normal, no warning information is generated. When the vehicle position information deviates, a positioning warning information is generated.

[0019] Furthermore, the specific process of analyzing the vehicle position information is as follows: the distance information collected by the laser ranging sensor on the AGV parking robot that has parked the vehicle is extracted, the number of laser ranging sensors is marked as m, and when the distance information collected by the laser ranging sensor exceeding m / 5 is less than a preset value, a positioning warning message is generated, otherwise no positioning warning message is generated.

[0020] Furthermore, the positioning and navigation system comprehensively processes the laser distance information and the ultrasonic distance information to generate distance warning information and normal distance information. After the distance warning information is generated, it is sent to the sound and light alarm module, and the sound and light alarm module immediately operates to perform sound and light alarm.

[0021] Furthermore, the specific process of the positioning and navigation system comprehensively processing the laser distance information and the ultrasonic distance information to generate the distance warning information and the distance normal information is as follows:

[0022] Step 1: extracting the ultrasonic distance information and laser distance information obtained on the same side;

[0023] Step 2: Mark the multiple ultrasonic distance information obtained as K1 and K2 respectively, and then mark the laser distance information as K3, compare K1, K2 and K3, and obtain distance assessment information, which includes normal distance information and distance warning information;

[0024] Step 3: When the distance assessment information is normal, use the formula That is, the evaluation distance Kk is obtained, α is the correction value, α≈0.98, when the evaluation distance Kk is less than the preset value, the normal distance information is generated, and when the evaluation distance Kk is greater than the preset value, the distance warning information is generated;

[0025] Step 4: When the distance assessment information is a distance warning information, a measurement restart information is generated and sent to the laser sensor module and the ultrasonic monitoring module. The laser sensor module and the ultrasonic monitoring module then re-run to collect distance information and repeat steps 1 to 4 with the re-acquired data.

[0026] Furthermore, the specific processing process of the distance assessment information is as follows: calculate the difference KK1 between K1 and K2, the difference KK2 between K2 and K3, and the difference KK3 between K1 and K3; when KK1, the difference KK2, and the difference KK3 are all smaller than the preset value or are 0, normal distance information is generated; when KK1, the difference KK2, and the difference KK3 are all larger than the preset value, distance warning information is generated.

[0027] Furthermore, the parking height positioning information includes first-layer parking information and second-layer parking information. The load collection module processes the load information. The specific processing process of generating the parking height positioning information is as follows: extracting the collected vehicle weight information, when the vehicle weight information is greater than the warning weight information, generating the first-layer parking information, and when the vehicle weight information is less than the warning weight information, generating the second-layer parking information.

[0028] Furthermore, the vehicle parking prompt information includes prompt information of vehicles suitable for parking and prompt information of vehicles not suitable for parking. The specific process of the image analysis module analyzing the real-time vehicle image information to generate the vehicle parking prompt information is as follows: extracting the collected vehicle image information, obtaining high-definition vehicle image information after clear processing of the vehicle image, processing the high-definition vehicle image information to obtain vehicle width information and height information, when the vehicle width information is greater than a preset width or the height is greater than a preset height, prompt information of a vehicle not suitable for parking is generated, and when the vehicle width information is within a preset width range and the height is within a preset height range, prompt information of a vehicle suitable for parking is generated;

[0029] When the parking vehicle prompt information is generated, that is, the parking space prompt information is generated, the parking space prompt information is sent to any AGV parking robot whose load information is 0, and the sound and light alarm module on the AGV parking robot emits a prompt sound.

[0030] Furthermore, the specific process of processing the positioning information to generate position adjustment information and accurate positioning information is as follows: when the reference positioning system is running, multiple laser transmitters and laser receivers work simultaneously, and each laser transmitter corresponds to a laser receiver. When each laser receiver receives the laser emitted by the laser transmitter, accurate positioning information is generated. When there is a laser receiver that does not receive the laser emitted by the laser transmitter, position adjustment information is generated.

[0031] Compared with the prior art, the present invention has the following advantages: the positioning and navigation system for the vehicle-carrying plate-type AGV parking robot can better perform positioning and navigation through a variety of different distance measurement methods, reduce the situation where the AGV parking robot collides with the garage frame when carrying the vehicle into the garage and causes the vehicle to be damaged, better protect the safety of the parked vehicles, and locate the parking height of the vehicle according to the weight of the vehicle, which can effectively prevent the accident caused by the heavy vehicle being parked at a high position, thereby protecting the safety of the vehicle, and also set a more accurate positioning method, which can make the position of the vehicle parked on the AGV parking robot more accurate, reduce the situation where the vehicle is damaged during the parking process caused by the inaccurate parking position of the vehicle, and further protect the safety of the vehicle, and at the same time, before the vehicle enters, the length and width of the vehicle are analyzed and processed, that is, it can be understood whether the vehicle is suitable for parking in the mechanical garage. When the vehicle is suitable for parking in the garage, the position reminder information is automatically generated to provide navigation for the vehicle to park, which not only speeds up the parking speed, but also avoids the situation of blindly entering the mechanical garage and delaying the parking time, making the system more worthy of popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a system block diagram of the present invention;

[0033] Figure 2 It is the installation position diagram of the laser distance measuring sensor of the present invention;

[0034] Figure 3 It is the installation position diagram of the ultrasonic monitoring module and the laser ranging sensor of the present invention;

[0035] Figure 4 It is a diagram of the combination of the AGV parking robot and the mechanical garage of the present invention;

[0036] Figure 5 It is a double-deck parking schematic diagram of the present invention. DETAILED DESCRIPTION

[0037] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0038] like Figure 1-5 As shown, this embodiment provides a technical solution: a positioning and navigation system for a vehicle-carrying plate-type AGV parking robot, including an ultrasonic monitoring module, a laser sensor module, a vehicle positioning system, an obstacle avoidance laser ranging sensor, a vehicle image acquisition module, a reference positioning system, an image analysis module, a load acquisition module, an edge contact switch and an audio-visual alarm module;

[0039] The ultrasonic monitoring module is used to perform ultrasonic ranging, and obtains the distance information between the AGV parking robot and the parking rack, that is, ultrasonic distance information, through ultrasonic ranging. There are multiple ultrasonic monitoring modules, which are installed around the AGV parking robot. At least two ultrasonic monitoring modules are installed on each side of the AGV parking robot. The ultrasonic monitoring modules in each direction run simultaneously to collect the distance between the AGV parking robot and the surrounding objects;

[0040] The laser sensor module is used for laser ranging, and the distance information between the AGV parking robot and the parking rack is obtained through laser ranging, that is, laser distance information. There are multiple laser sensor modules, which are installed around the AGV parking robot. The laser sensor modules in various directions run simultaneously to collect the distance between the AGV parking robot and the surrounding objects, that is, laser distance information;

[0041] The positioning navigation system performs comprehensive processing on the laser distance information and the ultrasonic distance information to generate distance warning information and normal distance information. After the distance warning information is generated, it is sent to the sound and light alarm module, and the sound and light alarm module immediately operates to perform sound and light alarm.

[0042] The specific process of the positioning and navigation system comprehensively processing the laser distance information and the ultrasonic distance information to generate the distance warning information and the distance normal information is as follows:

[0043] Step 1: extracting the ultrasonic distance information and laser distance information obtained on the same side;

[0044] Step 2: Mark the multiple ultrasonic distance information obtained as K1 and K2 respectively, and then mark the laser distance information as K3, compare K1, K2 and K3, and obtain distance assessment information, which includes normal distance information and distance warning information;

[0045] Step 3: When the distance assessment information is normal, use the formula That is, the evaluation distance Kk is obtained, α is the correction value, α≈0.98, when the evaluation distance Kk is less than the preset value, the normal distance information is generated, and when the evaluation distance Kk is greater than the preset value, the distance warning information is generated;

[0046] Step 4: When the distance assessment information is a distance warning information, a measurement restart information is generated and sent to the laser sensor module and the ultrasonic monitoring module. The laser sensor module and the ultrasonic monitoring module are restarted to collect distance information, and steps 1 to 4 are repeated for the re-acquired data;

[0047] The specific processing process of the distance assessment information is as follows: calculate the difference KK1 between K1 and K2, the difference KK2 between K2 and K3, and the difference KK3 between K1 and K3. When KK1, the difference KK2, and the difference KK3 are all less than the preset value or are 0, normal distance information is generated; when KK1, the difference KK2, and the difference KK3 are all greater than the preset value, distance warning information is generated.

[0048] Through the above process, when the distance between the AGV parking robot and the mechanical garage border is abnormal, warning information can be issued in a timely and accurate manner, thereby avoiding the collision between the AGV parking robot and the mechanical garage border, thereby achieving the purpose of improving safety and protecting parked vehicles. At the same time, the distance information is evaluated, which can effectively reduce the occurrence of measurement errors and further improve the protection effect of the system on vehicles.

[0049] The vehicle positioning system is used to perform positioning detection on the vehicle parked on the AGV parking robot and generate positioning warning information. The vehicle positioning system includes a plurality of laser ranging sensors arranged at the edge of the upper end surface of the AGV parking robot;

[0050] The specific process of the vehicle positioning system performing positioning detection on the vehicle parked on the AGV parking robot and generating positioning warning information is as follows: after the vehicle is parked on the AGV parking robot, the laser ranging sensor arranged at the edge of the upper outer surface of the AGV parking robot collects the vehicle position information and analyzes the vehicle position information. When the vehicle position information is normal, no warning information is generated. When the vehicle position information deviates, positioning warning information is generated. The specific process of analyzing the vehicle position information is as follows: the distance information collected by the laser ranging sensor on the AGV parking robot that has parked the vehicle is extracted, and the number of laser ranging sensors is marked as m. When the distance information collected by the laser ranging sensor exceeding m / 5 is less than the preset value, a positioning warning information is generated, otherwise it is not generated.

[0051] Through the above process, the position of the vehicle parked on the AGV parking robot can be located. When it is found that there is a large deviation in the position of the vehicle parked on the AGV parking robot, a positioning warning message is issued in time, thereby avoiding the situation where the vehicle collides with the mechanical garage when the AGV parking robot enters the mechanical garage due to a large parking deviation, thereby better protecting the safety of the vehicle.

[0052] The obstacle avoidance laser ranging sensor is used to collect route obstacles using a laser ranging sensor to generate obstacle avoidance control information. The obstacle avoidance laser ranging sensor is used to collect obstacles on the path of the AGV parking robot, and the AGV parking robot is controlled to perform obstacle avoidance operations, thereby reducing the occurrence of the AGV parking robot encountering obstacles.

[0053] The vehicle image acquisition module is used to collect real-time image information of parked vehicles and send the real-time image information of the vehicles to the image analysis module; the image analysis module is used to analyze the real-time image information of the vehicles and generate vehicle parking prompt information;

[0054] The vehicle parking prompt information includes suitable parking vehicle prompt information and unsuitable parking vehicle prompt information. The specific process of the image analysis module analyzing the real-time vehicle image information to generate the vehicle parking prompt information is as follows: extracting the collected vehicle image information, obtaining high-definition vehicle image information after clear processing of the vehicle image, processing the high-definition vehicle image information to obtain vehicle width information and height information, when the vehicle width information is greater than the preset width or the height is greater than the preset height, unsuitable parking vehicle prompt information is generated, and when the vehicle width information is within the preset width range and the height is within the preset height range, suitable parking vehicle prompt information is generated;

[0055] When the parking vehicle prompt information is generated, that is, the parking space prompt information is generated, the parking space prompt information is sent to any AGV parking robot whose load information is 0, and the sound and light alarm module on the AGV parking robot emits a prompt sound.

[0056] Through the above process, the vehicle can be analyzed in time when it enters the garage. When the vehicle does not meet the parking standards, a prompt message will be issued to encourage the vehicle not to use the mechanical garage system. When the vehicle meets the standards, a prompt sound navigation is provided for the location where the vehicle is parked in the mechanical garage system, thereby speeding up parking efficiency.

[0057] The reference positioning system includes multiple laser transmitters and laser receivers. The laser transmitter is installed on the mechanical garage, and the laser receiver is installed on the AGV parking robot. It uses the obtained reference positioning information to determine the position information between the AGV parking robot and the parking rack, and processes the positioning information to generate position adjustment information and accurate positioning information. The specific process of processing the positioning information to generate position adjustment information and accurate positioning information is as follows: when the reference positioning system is running, multiple laser transmitters and laser receivers work simultaneously, and each laser transmitter corresponds to a laser receiver. When each laser receiver receives the laser emitted by the laser transmitter, accurate positioning information is generated. When there is a laser receiver that does not receive the laser emitted by the laser transmitter, position adjustment information is generated.

[0058] Through the above process, it can be ensured that when the AGV parking robot parks in the mechanical garage, its parking position is more accurate and has less deviation, thereby reducing the damage to the vehicle caused by the parking position deviation of the AGV parking robot, and when the position deviation is found, the position adjustment information is generated in time. After the position adjustment information is generated, the AGV parking robot automatically adjusts the position and parks in the mechanical garage after the position is accurately adjusted.

[0059] The load acquisition module is used to collect the load information on the AGV parking robot, and process the load information to generate parking height positioning information;

[0060] The edge contact switch is used to generate edge contact warning information when the AGV parking robot contacts the parking rack frame;

[0061] The parking height positioning information includes first-floor parking information and second-floor parking information. The load collection module processes the load information to generate the parking height positioning information. The specific processing process is as follows: extracting the collected vehicle weight information, when the vehicle weight information is greater than the warning weight information, generating the first-floor parking information, when the vehicle weight information is less than the warning weight information, generating the second-floor parking information;

[0062] Through the above process, the weight information of the vehicle can be processed to obtain the parking height information of the vehicle, that is, the parking floor information, which can effectively avoid accidents caused by parking an overweight vehicle on a high floor.

[0063] The sound and light alarm module is used to operate after receiving the warning information and make a sound and light alarm;

[0064] The vehicle positioning system is used to detect vehicles parked on the AGV parking robot to obtain vehicle positioning warning information.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0067] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A positioning and navigation system for a vehicle-carrying plate-type AGV parking robot, characterized in that: It includes ultrasonic monitoring module, laser sensor module, vehicle positioning system, obstacle avoidance laser ranging sensor, vehicle image acquisition module, reference positioning system, image analysis module, load acquisition module, edge switch and sound and light alarm module; The ultrasonic monitoring module is used to perform ultrasonic ranging, and obtains the distance information between the AGV parking robot and the parking rack, that is, ultrasonic distance information, through ultrasonic ranging. There are multiple ultrasonic monitoring modules, which are installed around the AGV parking robot. At least two ultrasonic monitoring modules are installed on each side of the AGV parking robot. The ultrasonic monitoring modules in each direction run simultaneously to collect the distance between the AGV parking robot and the surrounding objects; The laser sensor module is used for laser ranging, and the distance information between the AGV parking robot and the parking rack is obtained through laser ranging, that is, laser distance information. There are multiple laser sensor modules, which are installed around the AGV parking robot. The laser sensor modules in various directions run simultaneously to collect the distance between the AGV parking robot and the surrounding objects, that is, laser distance information; The vehicle positioning system is used to perform positioning detection on the vehicle parked on the AGV parking robot and generate positioning warning information. The vehicle positioning system includes a plurality of laser ranging sensors arranged at the edge of the upper end surface of the AGV parking robot; The obstacle avoidance laser ranging sensor is used to collect route obstacles using a laser ranging sensor to generate obstacle avoidance control information; The vehicle image acquisition module is used to collect real-time image information of parked vehicles and send the real-time image information of the vehicles to the image analysis module; The image analysis module is used to analyze the real-time image information of the vehicle and generate vehicle parking prompt information; The reference positioning system includes a plurality of laser transmitters and laser receivers, which use the obtained reference positioning information to determine the position information between the AGV parking robot and the parking rack, and process the positioning information to generate position adjustment information and positioning accuracy information; The load acquisition module is used to collect the load information on the AGV parking robot, and process the load information to generate parking height positioning information; The edge contact switch is used to generate edge contact warning information when the AGV parking robot contacts the parking rack frame; The sound and light alarm module is used to operate after receiving the warning information and make a sound and light alarm; The vehicle positioning system is used to detect the vehicle parked on the AGV parking robot to obtain vehicle positioning warning information; The specific process of the vehicle positioning system performing positioning detection on the vehicle parked on the AGV parking robot and generating positioning warning information is as follows: after the vehicle is parked on the AGV parking robot, the laser ranging sensor arranged at the edge of the upper outer surface of the AGV parking robot collects the vehicle position information and analyzes the vehicle position information. When the vehicle position information is normal, no warning information is generated. When the vehicle position information deviates, positioning warning information is generated. The specific process of analyzing the vehicle location information is as follows: extract the distance information collected by the laser ranging sensor on the AGV parking robot that has parked the vehicle, mark the number of laser ranging sensors as m, and when the distance information collected by the laser ranging sensors exceeding m / 5 is less than the preset value, generate a positioning warning message, otherwise no warning message is generated; The positioning navigation system performs comprehensive processing on the laser distance information and the ultrasonic distance information to generate distance warning information and normal distance information. After the distance warning information is generated, it is sent to the sound and light alarm module, and the sound and light alarm module immediately operates to perform sound and light alarm; The specific process of the positioning and navigation system comprehensively processing the laser distance information and the ultrasonic distance information to generate the distance warning information and the distance normal information is as follows: Step 1: extracting the ultrasonic distance information and laser distance information obtained on the same side; Step 2: Mark the multiple ultrasonic distance information obtained as K1 and K2 respectively, and then mark the laser distance information as K3, compare K1, K2 and K3, and obtain distance assessment information, which includes normal distance information and distance warning information; Step 3: When the distance assessment information is normal, use the formula That is, the evaluation distance Kk is obtained, α is the correction value, α≈0.98, when the evaluation distance Kk is less than the preset value, the normal distance information is generated, and when the evaluation distance Kk is greater than the preset value, the distance warning information is generated; Step 4: When the distance assessment information is a distance warning information, a measurement restart information is generated and sent to the laser sensor module and the ultrasonic monitoring module. The laser sensor module and the ultrasonic monitoring module are restarted to collect distance information, and steps 1 to 4 are repeated for the re-acquired data; The specific processing process of the distance evaluation information is as follows: calculate the difference KK1 between K1 and K2, the difference KK2 between K2 and K3, and the difference KK3 between K1 and K3. When KK1, the difference KK2, and the difference KK3 are all less than the preset value or are 0, normal distance information is generated; when KK1, the difference KK2, and the difference KK3 are all greater than the preset value, distance warning information is generated.

2. A positioning and navigation system for a vehicle-carrying plate-type AGV parking robot according to claim 1, characterized in that: The parking height positioning information includes first-layer parking information and second-layer parking information. The load collection module processes the load information. The specific processing process of generating the parking height positioning information is as follows: extracting the collected vehicle weight information, when the vehicle weight information is greater than the warning weight information, generating the first-layer parking information, when the vehicle weight information is less than the warning weight information, generating the second-layer parking information.

3. The positioning and navigation system for a vehicle-carrying plate-type AGV parking robot according to claim 1, characterized in that: The vehicle parking prompt information includes suitable parking vehicle prompt information and unsuitable parking vehicle prompt information. The specific process of the image analysis module analyzing the real-time vehicle image information to generate the vehicle parking prompt information is as follows: extracting the collected vehicle image information, obtaining high-definition vehicle image information after clear processing of the vehicle image, processing the high-definition vehicle image information to obtain vehicle width information and height information, when the vehicle width information is greater than the preset width or the height is greater than the preset height, unsuitable parking vehicle prompt information is generated, and when the vehicle width information is within the preset width range and the height is within the preset height range, suitable parking vehicle prompt information is generated; When the parking vehicle prompt information is generated, that is, the parking space prompt information is generated, the parking space prompt information is sent to any AGV parking robot whose load information is 0, and the sound and light alarm module on the AGV parking robot emits a prompt sound.

4. The positioning and navigation system for a vehicle-carrying plate-type AGV parking robot according to claim 1, characterized in that: The specific process of processing the positioning information to generate position adjustment information and accurate positioning information is as follows: when the reference positioning system is running, multiple laser transmitters and laser receivers work simultaneously, and each laser transmitter corresponds to a laser receiver. When each laser receiver receives the laser emitted by the laser transmitter, accurate positioning information is generated. When there is a laser receiver that does not receive the laser emitted by the laser transmitter, position adjustment information is generated.

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