An agv high-position stacking device and control method based on hybrid navigation

Abstract

The application discloses a kind of based on hybrid navigation's AGV high-position stacking operation device and control method, including AGV car body, PLC controller and visual perception system, PLC controller is respectively connected with laser navigation device and two-dimensional code reader;AGV car body includes fork, movable sliding block device is arranged in the fork root position of fork, sliding block device is used to realize the angle deviation adjustment of stacked goods.This application realizes laser / two-dimensional code hybrid navigation switching, laser navigation realizes the automatic handling operation outside warehouse, two-dimensional code navigation realizes accurate navigation positioning under the scene change of storage environment, material intensive shielding;Visual perception system identifies the relative pose of goods when stacking operation, by the forward movement, lateral movement function of fork and sliding block device, the front, left and right and angle deviation error of goods on fork are flexibly adjusted, realize high-precision high-position stacking operation under the complex environment of dense storage.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation, and in particular to a device and a control method for AGV high-position stacking operations based on hybrid navigation. Background Art

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automated guidance system, such as an electromagnetic or optical one, that allows it to travel along a prescribed path. With advances in information technology and the maturity of automation, the use of AGVs is becoming increasingly widespread, with applications in handling, stacking, and logistics.

[0003] An AGV consists of a vehicle body equipped with an automatic guidance system (AGS) and a running gear. The AGS uses technologies such as laser positioning, GPS positioning, and magnetic strip guidance to locate and navigate the vehicle, while the running gear uses devices such as motors and drive wheels to control the vehicle's forward movement. AGVs often have carrying components such as forks, which are driven by hydraulic cylinders to raise and lower and extend sideways. These AGVs are frequently used in large factories to transport goods. However, due to site limitations, traditional AGVs' single navigation method is no longer practical. Furthermore, achieving high-precision, high-level stacking in dense warehouse environments has always been challenging. Summary of the Invention

[0004] The present invention is mainly intended to solve the problem that traditional AGVs are unable to complete high-precision high-position stacking tasks in dense warehousing environments. It provides an AGV high-position stacking operation device and control method based on hybrid navigation, which realizes laser / QR code hybrid navigation switching. Laser navigation realizes automated handling operations outside the warehouse, and QR code navigation realizes precise navigation and positioning in a warehousing environment with large scene changes and dense material occlusion. The visual perception system identifies the relative position of the goods during stacking operations, and flexibly adjusts the front and rear, left and right and angular offset errors of the goods on the fork through the fork forward and side shift functions and the slider device, thereby realizing high-precision high-position stacking operations in dense and complex warehousing environments.

[0005] In order to achieve the above objectives, the present invention adopts the following technical solutions.

[0006] A device for AGV high-position stacking operations based on hybrid navigation includes an AGV body, a PLC controller and a visual perception system, wherein the PLC controller is respectively connected to a laser navigation device and a QR code reader; the AGV body includes a fork, and a movable slider device is provided at the fork root position of the fork, and the slider device is used to achieve angular offset adjustment of stacked goods; the TOF camera and high-definition camera in the visual perception system are used to achieve precise positioning and obtain the relative position of the goods, that is, the relative error between the goods and the position to be stacked (the stacked goods and the stacked goods). The present invention provides an AGV high-position stacking operation device based on hybrid navigation, comprising a laser navigation device and a QR code reader respectively connected to a PLC controller, wherein laser / QR code hybrid navigation switching is realized through PLC program control, laser navigation realizes automated handling operations outside the warehouse, and QR code navigation realizes precise navigation and positioning in a storage environment with large scene changes and dense material obstruction; a slider device is arranged at the fork root position of the fork, and a visual perception system identifies the relative posture of the goods during stacking operations, and flexibly adjusts the front and rear, left and right and angular offset errors of the goods on the fork through the forward and side shift functions of the fork and the slider device, thereby realizing high-precision high-position stacking operations in a dense and complex storage environment, and solving the problem of storage circulation in various industries.

[0007] Preferably, the laser navigation device's signal line is connected to the PLC controller's LAN port, and the power line is connected to the positive and negative terminals of the power supply. The QR code reader and the PLC controller communicate via CANopen, and the power line is connected to the positive and negative terminals of the vehicle's power supply. An M12 port is also reserved for sensor debugging. The navigation laser can detect distances up to 100 meters.

[0008] Preferably, the slider assembly includes a support frame fixedly mounted near the fork's base and a first guide rail. The first guide rail is fixed to the surfaces of the fork and the support frame. A first slider is slidably mounted on the first guide rail. A first movable plate is fixedly mounted on the first slider. The first movable plate moves left and right on the fork's surface along the first guide rail. A clamping plate is fixedly connected to the first movable plate via bolts. This structure is used to achieve left and right movement of the entire fork.

[0009] Preferably, the AGV body includes a fork frame body, on which a second guide rail is fixedly mounted, a block is mounted below the second guide rail, a second slider is slidably mounted on the second guide rail, and a fixed plate is fixedly mounted on the second slider. Driven by a lifting cylinder, the fixed plate moves up and down along the second guide rail on one side of the fork frame body. This structure is used to achieve a buffering effect. In the working state, because the ground clearance of the bottom surface of the fixed plate is less than the ground clearance of the bottom surface of the fork, when the fork frame body descends, the fixed plate first contacts the ground. A rubber buffer pad is mounted on the bottom surface of the fixed plate. When it contacts the ground, the fixed plate as a whole can move upward along the second guide rail until the fork frame body stops descending.

[0010] Preferably, a rubber cushion is installed on the bottom of the fixing plate. Since the ground clearance of the bottom of the fixing plate is smaller than the ground clearance of the bottom of the fork, when the fork frame body descends, the fixing plate first touches the ground, and the rubber cushion installed on the bottom of the fixing plate plays a protective role.

[0011] Preferably, the slider device also includes a motor and a bearing support, and the motor and the bearing support are respectively mounted on the fixed plate, the motor output shaft is connected to one end of the coupling, the other end of the coupling is connected to one end of the rotating shaft, and the other end of the rotating shaft is fixed on the bearing support; a small gear is connected to the rotating shaft, the small gear is meshed with a large gear, and the large gear is connected to the optical axis part at one end of the screw rod, and both ends of the screw rod are fixed on the bearing support, a nut is fitted on the screw rod, a connecting block is fixed on the nut, and a second movable plate is installed on the connecting block.

[0012] Preferably, the slider device also includes a third guide rail, which is installed on the fixed plate through a guide rail fixing seat, and a third slider is slidably installed on the third guide rail. The third slider is connected to the second movable plate, and under the drive of the motor, the second movable plate moves left and right on the fixed plate along the third guide rail.

[0013] Preferably, a distance measuring sensor and an electric clamp are fixed on the second movable plate, and the electric clamp is used to fix the clamping plate.

[0014] A control method for AGV high-position stacking operations based on hybrid navigation, applicable to the above-mentioned device for AGV high-position stacking operations based on hybrid navigation, comprising:

[0015] Adjust the front and rear position error of the goods on the fork through the fork forward movement function;

[0016] Adjust the left and right position error of the cargo on the fork through the fork side shift function;

[0017] Adjust the angle deviation error of the cargo on the fork through the slider device at the fork root position;

[0018] When the stacked goods need to be adjusted in angle, the electric clamp of the slider device is closed and the slider device is in a fixed state. When the fork moves sideways, the part of the goods on the fork tip moves left and right at the same time, while the part of the goods on the slider device at the base of the fork remains in the same position relative to the ground.

[0019] When the forward-moving AGV is operating in a dense storage environment, it switches to QR code navigation. Due to the QR code navigation, the AGV can only move on a point-to-point path. When the forward-moving AGV is performing high-position stacking operations, the visual perception system locates the position error between the stacked goods and the stacked goods, and the stacking task cannot be completed. The present invention provides a control method for AGV high-position stacking operations based on hybrid navigation. When the forward-moving AGV obtains the error coordinates, it can adjust the front and back errors of the stacked goods through the forward movement function of the fork; adjust the left and right errors of the stacked goods through the side movement function of the fork; and adjust the angular deviation of the stacked goods through the slider device set at the fork root. When the stacked goods need to be adjusted in angle, the mechanical claws of the slider device (the electric clamp includes two mechanical claws) are closed, and the slider device is in a fixed state. When the fork moves sideways, it drives the part of the goods located at the fork tip to move left and right at the same time, while the part of the goods located on the slider device at the fork root remains in its original position relative to the ground. In this way, the stacked goods can be adjusted within ±5°.

[0020] Specifically, in the initial working state, the distance value between the distance sensor and the side of the fork is X; when entering the side shift working state, the shelf is picked up by the fork, one end of the shelf contacts the upper surface of the first movable plate, and the other end of the shelf contacts the surface of the friction block. Driven by the side shift cylinder, the two forks move in the same direction. The distance value between the distance sensor and the side of the fork is always set to X through the program. At this time, according to the feedback value of the distance sensor, the motor rotates and drives the second movable plate to move, so that the distance between the clamping plate and the fork (surface) remains unchanged. At this time, the two mechanical claws of the electric clamp are in the open and closed state, and the clamping plate is not fixed; when entering the stacking working state, the distance sensor does not work at this time. , is in the normally closed state, the two mechanical claws of the electric gripper begin to close, fixing the clamping plate, and the two forks move to one side under the action of the side shift cylinder. Since the clamping plate is fixed and fixedly connected to the first movable plate, when one of the forks moves to one side, the position of the first movable plate relative to the ground remains unchanged, and the position of one end of the shelf above it relative to the ground also remains unchanged. The other end of the shelf in contact with the friction block surface moves to one side together with the forks, that is, the end of the shelf close to the fork root remains in a relative position to the ground, and the end close to the fork tip moves sideways together with the forks. By setting the size and direction of the fork side shift, the angle-offset shelf can be adjusted during the stacking process. The shelf here can be understood as the goods.

[0021] Preferably, it also includes: using laser navigation outside the densely stacked warehouse; using QR code navigation inside the densely stacked warehouse; and switching between laser / QR code navigation by autonomous selection at the interface between the inside and outside of the densely stacked warehouse. The present invention uses QR code navigation inside the densely stacked warehouse and laser navigation outside the densely stacked warehouse, and switches by autonomous selection at the interface between the two. Autonomous definition refers to determining the position of the QR code based on the position of the path segment. Through reasonable coordination between the two and a physical trigger at the laser QR code switching point, seamless connection is ensured during navigation switching. The switching method is mainly through combining the map path segment attributes in the NDC system with the PLC program. By checking the laser / QR code navigation option in the map segment, when the AGV passes through the path segment, it will be fed back to the PLC program, and the PLC program will select the corresponding navigation mode; if it is not checked, the AGV will continue to maintain the current navigation mode. The seamless switching between laser navigation and QR code navigation ensures the stability of the AGV operation. In addition, the AGV's driving accuracy and positioning accuracy can be guaranteed in both navigation modes, and the error in front, back, left and right can be guaranteed to be within ±2mm.

[0022] Therefore, the advantages of the present invention are:

[0023] (1) Laser navigation is used outside the densely stacked warehouse, and QR code navigation is used inside the densely stacked warehouse. At the intersection of the two, the two can be switched by autonomous selection. Through the laser / QR code hybrid navigation switch, laser navigation realizes the automated handling operation outside the warehouse, and QR code navigation realizes the precise navigation and positioning under the large scene changes and dense material obstruction in the storage environment;

[0024] (2) A slider device is set at the root of the fork. The visual perception system identifies the relative position of the goods during stacking operations. The front and rear, left and right, and angle offset errors of the goods on the fork can be flexibly adjusted through the forward and side shift functions of the fork and the slider device, thereby achieving high-precision high-position stacking operations in dense and complex storage environments, solving the problems of storage circulation in various industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of an AGV high-position stacking operation device based on hybrid navigation in Example 1 of the present invention.

[0026] Figure 2 Schematic diagram of the fixing plate and some structures mounted on the fixing plate in the first embodiment of the present invention.

[0027] Figure 3 Schematic diagram of the fork frame body and the partial structure mounted on the fork frame body in the first embodiment of the present invention.

[0028] Figure 4It is a partial structural diagram of an AGV high-position stacking operation device based on hybrid navigation in Example 1 of the present invention.

[0029] Figure 5 It is a structural schematic diagram of a fork-picking shelf in the first embodiment of the present invention.

[0030] Figure 6 This is a flow chart of laser / QR code hybrid navigation switching in the second embodiment of the present invention.

[0031] 1. First movable plate 2. First slider 3. First guide rail 4. Support frame 5. Clamp plate 6. Electric gripper 7. Distance measuring sensor 8. Second movable plate 9. Guide rail fixing seat 10. Motor 11. Coupling 12. Rotating shaft 13. Pinion 14. Gear 15. Bearing support 16. Lead screw 17. Nut 18. Connecting block 19. Fixed plate 20. Fork 21. Friction block 22. Fork frame body 23. Stop block 24. Buffer pad 25. Shelf 26. Side shift cylinder 27. HD camera 28. TOF camera 29. QR code reader 30. Laser navigation device 31. Second slider 32. Second guide rail 33. Third slider 34. Third guide rail 35. AGV body. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1:

[0034] A device for AGV high-position stacking operations based on hybrid navigation, such as Figure 1 As shown, the AGV comprises an AGV body 35, a PLC controller, and a visual perception system. The PLC controller is connected to a laser navigation device 30 and a QR code reader 29, respectively. The AGV body 35 includes a fork 20, and a movable slider device is provided at the base of the fork 20. The slider device is used to adjust the angular offset of the stacked goods. The present invention provides an AGV high-level stacking operation device based on hybrid navigation, comprising a laser navigation device 30 and a QR code reader 29, respectively connected to the PLC controller. Laser / QR code hybrid navigation switching is achieved through PLC program control. Laser navigation enables automated handling operations outside the warehouse, while QR code navigation enables precise navigation and positioning within a warehouse environment with large scene changes and dense material obstruction. A slider device is provided at the base of the fork 20. The visual perception system identifies the relative position of the goods during stacking operations. The forward and sideways movement functions of the fork 20 and the slider device flexibly adjust the front-to-back, left-to-right, and angular offset errors of the goods on the fork 20, thereby achieving high-precision high-level stacking operations in dense and complex storage environments. This device can solve the practical application of AGV in dense storage environments with a height of more than 10 meters.

[0035] The laser navigation device 30's signal line connects to the PLC controller's LAN port, and its power line connects to the positive and negative terminals of the power supply. The QR code reader 29 communicates with the PLC controller via CANopen, and its power line connects to the vehicle's power supply. An M12 port is also reserved for sensor debugging. The navigation laser can detect objects up to 100 meters away.

[0036] like Figure 1 As shown, the slider device includes a support frame 4 and a first guide rail 3 fixedly mounted near the base of the fork 20. This embodiment includes four support frames 4 and two first guide rails 3. The first guide rails 3 are fixed to the surfaces of the fork 20 and the two support frames 4. A first slider 2 is slidably mounted on the first guide rail 3. A first movable plate 1 is fixedly mounted on the first slider 2. The first movable plate 1 moves left and right on the surface of the fork 20 along the first guide rail 3. A clamping plate 5 is fixedly connected to the first movable plate 1 via bolts. This structure is used to achieve left and right movement of the fork 20 as a whole.

[0037] like Figure 3 As shown, the AGV body 35 includes a fork frame 22, on which a second guide rail 32 is fixedly mounted, a stopper 23 is installed below the second guide rail 32, a second slider 31 is slidably mounted on the second guide rail 32, and a fixed plate 19 is fixedly mounted on the second slider 31. Driven by the lifting cylinder, the fixed plate 19 moves up and down along the second guide rail 32 on one side of the fork frame 22. This structure is used to achieve a buffering effect. In the working state, since the ground clearance of the bottom surface of the fixed plate 19 is less than the ground clearance of the bottom surface of the fork 20, when the fork frame 22 descends, the fixed plate 19 contacts the ground first, as shown in FIG. Figure 2 As shown, a rubber buffer pad 24 is installed on the bottom surface of the fixing plate 19. When it touches the ground, the fixing plate 19 as a whole can move upward along the second guide rail 32 until the fork frame 22 stops descending.

[0038] like Figure 2As shown, the slider device also includes a motor 10 and a bearing support 15, which are respectively mounted on a fixed plate 19, the output shaft of the motor 10 is connected to one end of the coupling 11, the other end of the coupling 11 is connected to one end of the rotating shaft 12, and the other end of the rotating shaft 12 is fixed on the bearing support 15; a small gear 13 is connected to the rotating shaft 12, the small gear 13 is engaged with the large gear 14, and the large gear 14 is connected to the optical axis part at one end of the screw rod 16, both ends of the screw rod 16 are fixed on the bearing support 15, a nut 17 is fitted on the screw rod 16, a connecting block 18 is fixed on the nut 17, and a second movable plate 8 is mounted on the connecting block 18. The slider device also includes a third guide rail 34, which is installed on the fixed plate 19 through a guide rail fixing seat 9. A third slider 33 is slidably installed on the third guide rail 34, and the third slider 33 is connected to the second movable plate 8. Driven by the motor 10, the second movable plate 8 moves left and right on the fixed plate 19 along the third guide rail 34.

[0039] like Figure 1 As shown, a distance sensor 7 and an electric gripper 6 are fixed to the second movable plate 8. The electric gripper 6 is used to secure the clamping plate 5. A friction block 21 is fixed near the fork tip of the fork 20. When a shelf 25 is picked up by the fork 20, one end of the shelf 25 contacts the upper surface of the first movable plate 1, while the other end of the shelf 25 contacts the surface of the friction block 21. The friction block 21 acts as an anti-slip device.

[0040] like Figure 4 As shown, the visual perception system includes a TOF camera 28 and a high-definition camera 27, which are used to achieve precise positioning and obtain the relative position of the goods, that is, the relative error between the goods and the position to be stacked (the stacked goods and the stacked goods). Based on the relative position of the goods, the front and back, left and right and angle offset errors of the goods on the fork 20 are flexibly adjusted through the forward and side shift functions of the fork 20 and the slider device to achieve high-precision high-position stacking operations.

[0041] Example 2:

[0042] A control method for AGV high-position stacking operations based on hybrid navigation, applicable to the above-mentioned device for AGV high-position stacking operations based on hybrid navigation, comprising:

[0043] Adjust the front and rear position error of the cargo on the fork 20 through the forward movement function of the fork 20;

[0044] The side shift function of the fork 20 is used to adjust the left and right position error of the cargo on the fork 20;

[0045] The angular deviation error of the cargo on the fork 20 is adjusted by the slider device at the fork root of the fork 20;

[0046] When the stacked goods need to be adjusted in angle, the electric clamp 6 of the slider device is closed and the slider device is in a fixed state. When the fork 20 moves sideways, the part of the goods on the fork tip moves left and right at the same time, while the part of the goods on the slider device at the base of the fork remains in the same position relative to the ground.

[0047] When operating in a dense storage environment, the forward-moving AGV switches to QR code navigation. Due to the QR code navigation, the AGV can only move from point to point. When performing high-level stacking operations, the forward-moving AGV locates the position error between the stacked goods and the stacked goods through the visual perception system, and is unable to complete the stacking task. The present invention provides a control method for AGV high-level stacking operations based on hybrid navigation. When the forward-moving AGV obtains the error coordinates, it can adjust the front and back errors of the stacked goods through the forward movement function of the fork 20; adjust the left and right errors of the stacked goods through the side movement function of the fork 20; and adjust the angular deviation of the stacked goods through the slider device set at the fork root of the fork 20. When the stacked goods need to be adjusted in angle, the mechanical claws of the slider device (the electric clamp 6 includes two mechanical claws) are closed, and the slider device is in a fixed state. When the fork 20 moves sideways, it drives the part of the goods located at the fork tip to move left and right at the same time, while the part of the goods located on the slider device at the fork root remains in its original position relative to the ground. In this way, the stacked goods can be adjusted within ±5°.

[0048] Specifically, in the initial working state, the distance value between the distance sensor 7 and the side of the fork 20 is X; when entering the side shift working state, such as Figure 5 As shown, the shelf 25 is picked up by the fork 20, and one end of the shelf 25 contacts the upper surface of the first movable plate 1, as shown in FIG. Figure 1As shown, a friction block 21 is fixed near the fork tip of the fork 20, and the other end of the shelf 25 is in contact with the surface of the friction block 21. Driven by the side shift cylinder 26, the two forks 20 move in the same direction. The distance value of the distance sensor 7 from the side of the fork 20 is always set to X through the program. At this time, the motor 10 rotates according to the feedback value of the distance sensor 7, driving the second movable plate 8 to move, so that the distance between the splint 5 and the fork 20 (surface) remains unchanged. At this time, the two mechanical claws of the electric clamp 6 are in the open and closed state, and the splint 5 is not fixed; when entering the stacking working state, the distance sensor 7 does not work at this time and is in the normally closed state. The two mechanical claws of the electric clamp 6 begin to close, and the splint 5 is fixed. 5 plays a fixing role. The two forks 20 move to one side under the action of the side shift cylinder 26. Since the clamping plate 5 is fixed and fixedly connected to the first movable plate 1, during the side shift of one of the forks 20, the position of the first movable plate 1 relative to the ground remains unchanged. The position of one end of the shelf 25 above it relative to the ground also remains unchanged. The other end of the shelf 25 in contact with the surface of the friction block 21 moves to one side together with the forks 20. That is, the end of the shelf 25 near the fork root remains in a relative position relative to the ground, while the end near the fork tip moves sideways together with the forks 20. By setting the size and direction of the side shift of the forks 20, the angular offset of the shelf 25 can be adjusted during the stacking process. Here, the shelf 25 can be understood as the goods.

[0049] Since the width of the dense warehouse is only about 6m, the left and right margin of the forward-moving AGV in the warehouse is only about 4cm, and the depth of the tunnel is about 16m; if laser navigation is used, the arrangement of the reflective columns becomes a problem, and the material frame blocks the reflective plate, which will cause the navigation laser to be unable to recognize; the situation in each warehouse is the same, and the use of reflective plates is prone to form mirror images, affecting the normal navigation of the AGV; and the depth of the tunnel leads to a significant increase in costs, so this embodiment uses QR code navigation in the densely stacked warehouse and laser navigation outside the densely stacked warehouse, and switches through autonomous selection at the intersection of the two; autonomous definition refers to determining the position of the QR code based on the position of the path segment, through reasonable coordination between the two, and a physical trigger at the laser QR code switching point, thereby ensuring seamless docking during navigation switching. The switching method is mainly through the combination of the map path segment attributes in the NDC system and the PLC program, where the PLC program is as follows:

[0050] SetBarcodeTON(IN:=NDC8.SegmentTrigger.SetBarcode,PT:=t#1s);

[0051] SetReflectorTON(IN:=NDC8.SegmentTrigger.SetReflector,PT:=t#1s);

[0052] if SetBarcodeTON.Q then

[0053] if NDC8.VehicleNavigator.NavMethod<>8then

[0054] NDC8.VehicleNavigator.SetNavMethod:=8;

[0055] NavMethod();

[0056] end_if;

[0057] elsif SetReflectorTON.Q then

[0058] if NDC8.VehicleNavigator.NavMethod<>1then

[0059] NDC8.VehicleNavigator.SetNavMethod:=1;

[0060] NavMethod();

[0061] end_if;

[0062] end_if;

[0063] In the above program, if you check "SetBarcode" in the line segment, the navigation will switch to QR code navigation; if you check "SetReflector", the navigation will switch to laser navigation; Figure 6 As shown, by selecting the laser / QR code navigation option on a map segment, when the AGV passes through that path segment, feedback is provided to the PLC program, which then selects the corresponding navigation mode. If this option is not selected, the AGV continues to use the current navigation mode. Seamless switching between laser and QR code navigation ensures stable AGV operation. Furthermore, both navigation modes guarantee driving and positioning accuracy, maintaining a ±2mm error for both front-to-back and left-to-right directions.

[0064] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A device for AGV high-position stacking operations based on hybrid navigation, characterized in that: The AGV comprises an AGV body, a PLC controller, and a visual perception system. The PLC controller is connected to a laser navigation device and a QR code reader, respectively. The AGV body comprises a fork, and a movable slider device is provided at the base of the fork, and the slider device is used to adjust the angle of stacked goods. A friction block is fixed near the fork tip of the fork; The slider device includes a support frame fixedly mounted on the fork near the fork root and a first guide rail, the first guide rail being fixed to the surface of the fork and the support frame, a first slider being slidably mounted on the first guide rail, a first movable plate being fixedly mounted on the first slider, the first movable plate being movable left and right on the fork surface along the first guide rail, and a clamping plate being fixedly connected to the first movable plate by bolts; The slider device also includes a third guide rail, which is installed on the fixed plate through a guide rail fixing seat. A third slider is slidably installed on the third guide rail. The third slider is connected to the second movable plate. The second movable plate moves left and right on the fixed plate along the third guide rail. A distance measuring sensor and an electric clamp are fixed on the second movable plate.

2. The device for high-position stacking operation of AGV based on hybrid navigation according to claim 1 is characterized in that: The signal line of the laser navigation device is connected to the Lan port of the PLC controller; the two-dimensional code reader and the PLC controller perform data transmission via CANopen.

3. The device for AGV high-position stacking operation based on hybrid navigation according to claim 1 is characterized in that: The AGV body includes a fork frame body, a second guide rail is fixedly installed on the fork frame body, a stopper is installed below the second guide rail, a second slider is slidably installed on the second guide rail, a fixed plate is fixedly installed on the second slider, and the fixed plate moves up and down on one side of the fork frame body along the second guide rail.

4. The device for AGV high-position stacking operation based on hybrid navigation according to claim 3 is characterized in that: A rubber buffer pad is installed on the bottom surface of the fixing plate.

5. The device for AGV high-position stacking operation based on hybrid navigation according to claim 3 or 4, characterized in that: The slider device also includes a motor and a bearing support, and the motor and the bearing support are respectively mounted on the fixed plate, the motor output shaft is connected to one end of the coupling, the other end of the coupling is connected to one end of the rotating shaft, and the other end of the rotating shaft is fixed on the bearing support; a small gear is connected to the rotating shaft, the small gear is meshed with a large gear, and the large gear is connected to the optical axis part at one end of the screw rod, and both ends of the screw rod are fixed on the bearing support, a nut is fitted on the screw rod, a connecting block is fixed on the nut, and a second movable plate is installed on the connecting block.

6. The device for AGV high-position stacking operation based on hybrid navigation according to claim 5 is characterized in that: A distance measuring sensor and an electric clamp are fixed on the second movable plate, and the electric clamp is used to fix the clamping plate.

7. A control method for AGV high-position stacking operation based on hybrid navigation, applicable to the device for AGV high-position stacking operation based on hybrid navigation as claimed in any one of claims 1 to 6, characterized in that: include: Adjust the front and rear position error of the goods on the fork through the fork forward movement function; Adjust the left and right position error of the cargo on the fork through the fork side shift function; Adjust the angle deviation error of the cargo on the fork through the slider device at the fork root position; When the stacked goods need to be adjusted in angle, the electric clamp of the slider device is closed and the slider device is in a fixed state. When the fork moves sideways, the part of the goods on the fork tip moves left and right at the same time, while the part of the goods on the slider device at the fork base remains in the same position relative to the ground.

8. The control method of AGV high-position stacking operation based on hybrid navigation according to claim 7 is characterized in that: Also includes: Laser navigation is used outside densely stacked warehouses; Use QR code navigation in densely stacked warehouses; At the boundary between inside and outside the densely stacked warehouse, laser / QR code navigation can be switched by autonomous selection.

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