AGV (Automatic Guided Vehicle) loading platform alignment control method and system

Abstract

The invention discloses an AGV trolley loading platform alignment control method and system, and the method comprises the steps: constructing a positioning triangle, enabling the length of a first adjacent side of the positioning triangle to be a difference value Y between a first distance Y1 and a second distance Y2, enabling the length of a second adjacent side to be a distance X1 between a first distance detection sensor and a second distance detection sensor, connecting the first adjacent edge and the second adjacent edge of the positioning triangle to form a bevel edge; and according to a tangent function formula in the trigonometric function, calculating a tangent value of an included angle between a second adjacent side and a bevel edge of the positioning triangle, the size of the included angle between the second adjacent side and the bevel edge of the positioning triangle being equal to an R-axis mechanism alignment adjustment angle configured by the AGV trolley loading platform. And an R-axis mechanism alignment adjustment angle theta configured by the AGV trolley loading platform is calculated through an anti-trigonometric function. The system is provided with an X-axis direction positioning module, a Y-axis direction positioning module, a positioning triangle construction module and an R-axis positioning adjustment module, and the modules correspond to one another in function and method. The method is high in accuracy of the positioning effect and good in continuity effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV trolley control, and in particular relates to a method and system for controlling an AGV trolley loading platform. Background Art

[0002] At present, the positioning method of the AGV loading platform is laser SLAM (Simultaneous Localization And Mapping) navigation plus correction beacon navigation. The AGV completes map construction through laser radar and then calibrates the position in the map. After teaching the position, the AGV walking map is determined and the initial stop position in the Port (in the AGV walking map, Port refers to a specific stop or location) is determined. The laser SLAM navigation or reflective column guides and determines the specific position of the AGV in the planned area. After the AGV reaches the specific position, it confirms the position again through the positioning beacon.

[0003] The existing positioning methods have obvious defects. They are easily disturbed by environmental factors, such as significant changes in light and obstructions by objects, which are likely to have an adverse effect on their performance, resulting in deviations or inaccuracies in positioning results. In addition, the existing positioning methods are poor in long-term stability. They may often have various problems such as cumulative errors during long-term continuous operation, thus affecting the accuracy and sustainability of the positioning effect. Summary of the invention

[0004] To this end, the present invention provides an AGV trolley loading platform alignment control method and system to solve the problems of traditional technologies that positioning results are prone to deviations and the accuracy and sustainability of positioning effects are poor.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a method for controlling the alignment of an AGV loading platform, comprising: The X-axis direction of the AGV trolley loading platform is positioned by the X-axis mechanism configured on the AGV trolley loading platform, and the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide-body reflective plate on the designated reference object to perform preliminary positioning in the X-axis direction of the AGV trolley loading platform, and the second positioning laser sensor scans the narrow-body reflective plate on the designated reference object to perform precise positioning in the X-axis direction of the AGV trolley loading platform. When the first positioning laser sensor detects the reflected light beam of the wide-body reflective plate and the second positioning laser sensor detects the reflected light beam of the narrow-body reflective plate, the X-axis direction positioning of the AGV trolley loading platform is completed; The Y-axis direction of the AGV trolley loading platform is positioned by a Y-axis mechanism configured on the AGV trolley loading platform, wherein the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, wherein the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a designated reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the designated reference object; Construct a positioning triangle, determine a first adjacent side and a second adjacent side of the positioning triangle, wherein the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; The tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is calculated according to the tangent function formula in trigonometric functions. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. The alignment adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform is calculated by inverse trigonometric functions.

[0006] As a preferred solution for the positioning control method of the AGV loading platform, the X-axis direction of the AGV loading platform is positioned by the X-axis mechanism configured on the AGV loading platform: The width of the wide reflector is greater than that of the narrow reflector. After the first positioning laser sensor detects the reflected light beam of the wide reflector, it controls the X-axis mechanism to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflector, the X-axis direction positioning of the AGV loading platform is completed.

[0007] As a preferred solution for the positioning control method of the AGV loading platform, during the positioning of the AGV loading platform in the Y-axis direction by the Y-axis mechanism configured on the AGV loading platform, the moving control distance Y of the Y-axis mechanism is 移动 for: Y 移动 =(Y1+Y2) / 2-Y3 Where Y3 is the setting value of the material picking position of the AGV loading platform.

[0008] As a preferred solution of the AGV trolley loading platform alignment control method, the tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ; Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

[0009] As a preferred scheme for the positioning control method of the AGV trolley loading platform, it also includes, after the X-axis and Y-axis positioning of the AGV trolley loading platform are completed, the Z-axis direction of the AGV trolley loading platform is positioned by the Z-axis mechanism configured on the AGV trolley loading platform, and the Z-axis positioning position of the AGV trolley loading platform is a pre-set manual teaching position.

[0010] As a preferred scheme for the positioning control method of the AGV trolley loading platform, the first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and the second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated positioning adjustment angle θ of the R-axis mechanism until the AGV trolley loading platform and the designated reference object are in a parallel state.

[0011] As a preferred solution for the AGV loading platform alignment control method, when the calculated R-axis mechanism alignment adjustment angle θ is less than a preset angle threshold, it is determined that the AGV loading platform and the designated reference object are in a parallel state, and the adjustment of the R-axis mechanism is stopped.

[0012] The present invention also provides an AGV trolley loading platform alignment control system, comprising: An X-axis direction positioning module is used to position the AGV trolley loading platform in the X-axis direction through the X-axis mechanism configured on the AGV trolley loading platform, and the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide-body reflector on the designated reference object to perform preliminary positioning of the AGV trolley loading platform in the X-axis direction, and the second positioning laser sensor scans the narrow-body reflector on the designated reference object to perform precise positioning of the AGV trolley loading platform in the X-axis direction. When the first positioning laser sensor detects the reflected light beam of the wide-body reflector and the second positioning laser sensor detects the reflected light beam of the narrow-body reflector, the X-axis direction positioning of the AGV trolley loading platform is completed; A Y-axis direction positioning module, used for positioning the AGV trolley loading platform in the Y-axis direction through a Y-axis mechanism configured on the AGV trolley loading platform, wherein the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, wherein the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a specified reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the specified reference object; A positioning triangle construction module is used to construct a positioning triangle, determine a first adjacent side and a second adjacent side of the positioning triangle, the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; The R-axis positioning adjustment module is used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle according to the tangent function formula in the trigonometric function. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. The alignment adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform is calculated by inverse trigonometric functions.

[0013] As a preferred solution for the alignment control system of the AGV trolley loading platform, the width of the wide reflective plate is greater than the width of the narrow reflective plate. After the first positioning laser sensor detects the reflected light beam of the wide reflective plate, it controls the X-axis mechanism to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflective plate, the X-axis direction positioning of the AGV trolley loading platform is completed. The moving control distance Y of the Y-axis mechanism 移动 for: Y 移动 =(Y1+Y2) / 2-Y3 In the formula, Y3 is the setting value of the material picking position of the AGV loading platform; The tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ; Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

[0014] As the optimal solution for the AGV loading platform alignment control system, it also includes: The Z-axis direction positioning module is used to position the AGV loading platform in the Z-axis direction through the Z-axis mechanism configured on the AGV loading platform after the X-axis and Y-axis directions of the AGV loading platform are positioned. The Z-axis direction positioning position of the AGV loading platform is the preset manual teaching position; In the R-axis positioning adjustment module, a first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and a second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated alignment adjustment angle θ of the R-axis mechanism until the AGV trolley loading platform and the designated reference object reach a parallel state; When the calculated alignment adjustment angle θ of the R-axis mechanism is less than a preset angle threshold, it is determined that the AGV loading platform and the designated reference object have reached a parallel state, and the adjustment of the R-axis mechanism is stopped.

[0015] The present invention has the following advantages: the present invention can accurately calculate the deviation between the current device position and the target position, realize the precise movement of the platform to reduce the deviation, and thus successfully realize higher-precision position correction; compared with the low-precision error situation commonly existing in the prior art, the present invention greatly improves the correction accuracy. For example, in a complex and changeable working environment, the prior art may cause a large position correction error due to various interference factors, while the present invention can effectively overcome these interferences, realize more accurate and reliable position correction, and bring higher stability and reliability to practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 It is a schematic diagram of the flow chart of the positioning control method of the AGV loading platform provided in an embodiment of the present invention; Figure 2 A schematic diagram of constructing a positioning triangle in the positioning control method of the AGV loading platform provided in an embodiment of the present invention; Figure 3 This is an architecture diagram of the AGV loading platform alignment control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1 See also Figure 1 and Figure 2 The embodiment of the present invention provides a method for controlling the alignment of an AGV loading platform, comprising the following steps: S1. Position the AGV loading platform in the X-axis direction through the X-axis mechanism configured on the AGV loading platform. The X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide reflector on the designated reference object to perform preliminary positioning in the X-axis direction of the AGV loading platform. The second positioning laser sensor scans the narrow reflector on the designated reference object to perform precise positioning in the X-axis direction of the AGV loading platform. When the first positioning laser sensor detects the reflected light beam of the wide reflector and the second positioning laser sensor detects the reflected light beam of the narrow reflector, the X-axis positioning of the AGV loading platform is completed. S2, positioning the Y-axis direction of the AGV trolley loading platform through the Y-axis mechanism configured on the AGV trolley loading platform, wherein the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, and the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a specified reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the specified reference object; S3, constructing a positioning triangle, determining a first adjacent side and a second adjacent side of the positioning triangle, wherein the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connecting the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; S4. Calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle according to the tangent function formula in trigonometric functions. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. Calculate the alignment adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform through inverse trigonometric functions.

[0020] In this embodiment, in step S1, during the process of positioning the AGV loading platform in the X-axis direction through the X-axis mechanism configured on the AGV loading platform: The width of the wide reflector is greater than that of the narrow reflector. After the first positioning laser sensor detects the reflected light beam of the wide reflector, it controls the X-axis mechanism to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflector, the X-axis direction positioning of the AGV loading platform is completed.

[0021] Specifically, the X-axis mechanism of the AGV trolley loading platform is provided with two positioning laser sensors, namely, a first positioning laser sensor and a second positioning laser sensor. The X-axis direction position is found by the first positioning laser sensor and the second positioning laser sensor. Two reflectors, namely, a wide-body reflector and a narrow-body reflector, are set on the designated reference object. The first positioning laser sensor scans the wide-body reflector (15mm) for preliminary positioning. After the preliminary positioning, the second positioning laser sensor scans the narrow-body reflector (3mm). When the X-axis mechanism moves left and right, when the first positioning laser sensor detects the reflected light beam of the wide-body reflector and the second positioning laser sensor detects the reflected light beam of the narrow-body reflector, the X-axis direction positioning of the AGV trolley loading platform is completed.

[0022] In this embodiment, in step S2, during the process of positioning the AGV trolley loading platform in the Y-axis direction through the Y-axis mechanism configured on the AGV trolley loading platform, the movement control distance Y of the Y-axis mechanism is 移动 for: Y 移动 =(Y1+Y2) / 2-Y3 Where Y3 is the setting value of the material picking position of the AGV loading platform.

[0023] Specifically, the distance control in the Y-axis direction is controlled by two distance detection sensors, namely the first distance detection sensor and the second distance detection sensor. The first distance detection sensor and the second distance detection sensor detect the distance between the visual positioning platform and the specified reference object. When the first distance detection sensor and the second distance detection sensor measure the distance difference from the specified reference object to be within the allowable range, the distance between the first distance detection sensor and the second distance detection sensor to the specified reference object is set to Y1 and Y2, the material picking position setting value of the AGV trolley loading platform is Y3, and the moving control distance Y of the Y-axis mechanism is 移动 =(Y1+Y2) / 2-Y3.

[0024] In this embodiment, in step S4, the tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ; Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

[0025] See also Figure 2 , determine the first adjacent side and the second adjacent side of the positioning triangle, the length of the first adjacent side of the positioning triangle is the difference Y between the first distance Y1 and the second distance Y2, that is, |Y1 - Y2|, the length of the second adjacent side of the positioning triangle is the distance X1 between the first distance detection sensor and the second distance detection sensor (X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor), and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse.

[0026] Among them, according to the tangent function formula in trigonometric function Calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle, and use the inverse trigonometric function formula θ=arctan( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

[0027] For example, when the first distance Y1 detected by the first distance detection sensor and the second distance detection sensor is 54082 mm, the second distance Y2 is 51434 mm, and the distance X1 between the first distance detection sensor and the second distance detection sensor is 23186 mm, the adjustment angle is calculated according to the following steps: Calculate the distance difference: |Y1 - Y2| = |54082 - 51434| = 2648mm; Calculate the tangent: tanθ = 2648 / 23186.

[0028] The angle value is calculated by inverse trigonometric function, and the adjustment angle θ axis is 6.5 degrees.

[0029] In this embodiment, after the X-axis and Y-axis positioning of the AGV trolley loading platform are completed, the Z-axis direction of the AGV trolley loading platform is positioned by the Z-axis mechanism configured on the AGV trolley loading platform. The Z-axis is used when the AGV trolley loading platform takes out or delivers materials. The Z-axis positioning position of the AGV trolley loading platform is a pre-set manual teaching position.

[0030] In a possible embodiment, during actual application, the first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and the second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated alignment adjustment angle θ of the R-axis mechanism until the AGV trolley loading platform and the designated reference object are in a parallel state; at the same time, the judgment of adding an error range can be considered. When the calculated alignment adjustment angle θ of the R-axis mechanism is less than the preset angle threshold, it is determined that the AGV trolley loading platform and the designated reference object are in a parallel state, and the adjustment of the R-axis mechanism is stopped.

[0031] In summary, the present invention positions the X-axis direction of the AGV trolley loading platform through the X-axis mechanism configured on the AGV trolley loading platform, and the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide reflector on the designated reference object to perform preliminary positioning in the X-axis direction of the AGV trolley loading platform, and the second positioning laser sensor scans the narrow reflector on the designated reference object to perform precise positioning in the X-axis direction of the AGV trolley loading platform. When the first positioning laser sensor detects the reflected light beam of the wide reflector and the second positioning laser sensor detects the reflected light beam of the narrow reflector, the X-axis direction positioning of the AGV trolley loading platform is completed; the Y-axis direction of the AGV trolley loading platform is positioned through the Y-axis mechanism configured on the AGV trolley loading platform, and the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor. The distance detection sensor detects a first distance Y1 from the first distance detection sensor to a designated reference object, and the second distance detection sensor detects a second distance Y2 from the second distance detection sensor to the designated reference object; a positioning triangle is constructed to determine a first adjacent side and a second adjacent side of the positioning triangle, the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and the first adjacent side and the second adjacent side of the positioning triangle are connected to form a hypotenuse; the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is calculated according to the tangent function formula in the trigonometric function, the angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured for the AGV trolley loading platform, and the alignment adjustment angle θ of the R-axis mechanism configured for the AGV trolley loading platform is calculated by the inverse trigonometric function. The present invention can accurately calculate the deviation between the current device position and the target position, realize the precise movement of the platform to reduce the deviation, and thus successfully achieve higher-precision position correction; compared with the low-precision error situation prevalent in the prior art, the present invention greatly improves the correction accuracy. For example, in a complex and changeable working environment, the prior art may cause a large position correction error due to various interference factors, while the present invention can effectively overcome these interferences, achieve more accurate and reliable position correction, and bring higher stability and reliability to practical applications.

[0032] Example 2 See also Figure 3 Embodiment 2 of the present invention further provides an AGV loading platform alignment control system, comprising: An X-axis direction positioning module 100 is used to position the AGV trolley loading platform in the X-axis direction through an X-axis mechanism configured on the AGV trolley loading platform, wherein the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor, and the first positioning laser sensor is used to scan a wide-body reflective plate on a designated reference object to perform preliminary positioning of the AGV trolley loading platform in the X-axis direction, and the second positioning laser sensor is used to scan a narrow-body reflective plate on a designated reference object to perform precise positioning of the AGV trolley loading platform in the X-axis direction. When the first positioning laser sensor detects a reflected light beam from the wide-body reflective plate and the second positioning laser sensor detects a reflected light beam from the narrow-body reflective plate, the X-axis direction positioning of the AGV trolley loading platform is completed; The Y-axis direction positioning module 200 is used to position the AGV trolley loading platform in the Y-axis direction through the Y-axis mechanism configured on the AGV trolley loading platform, and the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, and the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a specified reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the specified reference object; A positioning triangle construction module 300 is used to construct a positioning triangle, determine a first adjacent side and a second adjacent side of the positioning triangle, the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; The R-axis positioning adjustment module 400 is used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle according to the tangent function formula in the trigonometric function. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the positioning adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. The positioning adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform is calculated by inverse trigonometric functions.

[0033] In this embodiment, the width of the wide reflective plate is greater than that of the narrow reflective plate. After the first positioning laser sensor detects the reflected light beam of the wide reflective plate, it controls the X-axis mechanism to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflective plate, the X-axis direction positioning of the AGV trolley loading platform is completed.

[0034] In this embodiment, the movement control distance Y of the Y-axis mechanism 移动 for: Y 移动 =(Y1+Y2) / 2-Y3 In the formula, Y3 is the setting value of the material picking position of the AGV loading platform; The tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ; Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

[0035] In this embodiment, it also includes: The Z-axis positioning module 500 is used to position the AGV loading platform in the Z-axis direction through the Z-axis mechanism configured on the AGV loading platform after the X-axis and Y-axis positioning of the AGV loading platform is completed. The Z-axis positioning position of the AGV loading platform is a pre-set manual teaching position.

[0036] In this embodiment, in the R-axis positioning adjustment module 400, the first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and the second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated alignment adjustment angle θ of the R-axis mechanism until the AGV trolley loading platform and the designated reference object reach a parallel state; When the calculated alignment adjustment angle θ of the R-axis mechanism is less than a preset angle threshold, it is determined that the AGV loading platform and the designated reference object have reached a parallel state, and the adjustment of the R-axis mechanism is stopped.

[0037] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned system are based on the same concept as the method embodiment in Example 1 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown in the previous part of the present application, and will not be repeated here.

[0038] Example 3 Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, in which the program code of the AGV trolley loading platform alignment control method is stored, and the program code includes instructions for executing the AGV trolley loading platform alignment control method of embodiment 1 or any possible implementation thereof.

[0039] Computer-readable storage media can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0040] Example 4 Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor; The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the AGV trolley loading platform alignment control method of Example 1 or any possible implementation thereof.

[0041] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0042] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0043] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0044] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A method for controlling the positioning of an AGV loading platform. It is characterized in that include: The X-axis direction of the AGV trolley loading platform is positioned by the X-axis mechanism configured on the AGV trolley loading platform, and the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide-body reflective plate on the designated reference object to perform preliminary positioning in the X-axis direction of the AGV trolley loading platform, and the second positioning laser sensor scans the narrow-body reflective plate on the designated reference object to perform precise positioning in the X-axis direction of the AGV trolley loading platform. When the first positioning laser sensor detects the reflected light beam of the wide-body reflective plate and the second positioning laser sensor detects the reflected light beam of the narrow-body reflective plate, the X-axis direction positioning of the AGV trolley loading platform is completed; The Y-axis direction of the AGV trolley loading platform is positioned by a Y-axis mechanism configured on the AGV trolley loading platform, wherein the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, wherein the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a designated reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the designated reference object; Construct a positioning triangle, determine a first adjacent side and a second adjacent side of the positioning triangle, wherein the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; The tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is calculated according to the tangent function formula in trigonometric functions. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. The alignment adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform is calculated by inverse trigonometric functions.

2. According to the method for controlling the positioning of the AGV loading platform of claim 1, It is characterized in that During the process of positioning the X-axis direction of the AGV loading platform through the X-axis mechanism configured on the AGV loading platform: The width of the wide reflector is greater than that of the narrow reflector. After the first positioning laser sensor detects the reflected light beam of the wide reflector, it controls the X-axis mechanism to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflector, the X-axis direction positioning of the AGV loading platform is completed.

3. According to the method for controlling the positioning of the AGV loading platform of claim 1, It is characterized in that During the process of positioning the Y-axis direction of the AGV loading platform through the Y-axis mechanism configured on the AGV loading platform, the moving control distance Y of the Y-axis mechanism is 移动 for: <h2 style=";text-align:left;direction:ltr">Y<h2 style=";text-align:left;direction:ltr"> 移动 <h2 style=";text-align:left;direction:ltr"> =(Y1+Y2) / 2-Y3 Where Y3 is the setting value of the material picking position of the AGV loading platform.

4. According to claim 1, a method for controlling the positioning of the AGV loading platform, It is characterized in that The tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ； Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

5. According to the method for controlling the positioning of the AGV loading platform of claim 1, It is characterized in that It also includes that after the X-axis and Y-axis positioning of the AGV loading platform are completed, the Z-axis direction of the AGV loading platform is positioned by the Z-axis mechanism configured on the AGV loading platform, and the Z-axis positioning position of the AGV loading platform is a pre-set manual teaching position.

6. According to claim 1, a method for controlling the positioning of the AGV loading platform, It is characterized in that The first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and the second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated R-axis mechanism alignment adjustment angle θ until the AGV trolley loading platform and the designated reference object are in a parallel state.

7. The method for controlling the positioning of the loading platform of the AGV according to claim 6, It is characterized in that When the calculated alignment adjustment angle θ of the R-axis mechanism is less than a preset angle threshold, it is determined that the AGV loading platform and the designated reference object have reached a parallel state, and the adjustment of the R-axis mechanism is stopped.

8. An AGV trolley loading platform alignment control system, It is characterized in that include: An X-axis direction positioning module is used to position the AGV trolley loading platform in the X-axis direction through the X-axis mechanism configured on the AGV trolley loading platform, and the X-axis mechanism is configured with a first positioning laser sensor and a second positioning laser sensor. The first positioning laser sensor scans the wide-body reflector on the designated reference object to perform preliminary positioning of the AGV trolley loading platform in the X-axis direction, and the second positioning laser sensor scans the narrow-body reflector on the designated reference object to perform precise positioning of the AGV trolley loading platform in the X-axis direction. When the first positioning laser sensor detects the reflected light beam of the wide-body reflector and the second positioning laser sensor detects the reflected light beam of the narrow-body reflector, the X-axis direction positioning of the AGV trolley loading platform is completed; A Y-axis direction positioning module, used for positioning the AGV trolley loading platform in the Y-axis direction through a Y-axis mechanism configured on the AGV trolley loading platform, wherein the Y-axis mechanism is configured with a first distance detection sensor and a second distance detection sensor, wherein the first distance detection sensor is used to detect a first distance Y1 from the first distance detection sensor to a specified reference object, and the second distance detection sensor is used to detect a second distance Y2 from the second distance detection sensor to the specified reference object; A positioning triangle construction module is used to construct a positioning triangle, determine a first adjacent side and a second adjacent side of the positioning triangle, the length of the first adjacent side of the positioning triangle is a difference Y between the first distance Y1 and the second distance Y2, the length of the second adjacent side of the positioning triangle is a distance X1 between the first distance detection sensor and the second distance detection sensor, and connect the first adjacent side and the second adjacent side of the positioning triangle to form a hypotenuse; The R-axis positioning adjustment module is used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle according to the tangent function formula in the trigonometric function. The angle between the second adjacent side and the hypotenuse of the positioning triangle is equal to the alignment adjustment angle of the R-axis mechanism configured on the AGV trolley loading platform. The alignment adjustment angle θ of the R-axis mechanism configured on the AGV trolley loading platform is calculated by inverse trigonometric functions.

9. The AGV loading platform alignment control system according to claim 8, It is characterized in that The width of the wide reflective plate is greater than that of the narrow reflective plate. After the first positioning laser sensor detects the reflected light beam of the wide reflective plate, the X-axis mechanism is controlled to move left and right. When the second positioning laser sensor simultaneously detects the reflected light beam of the narrow reflective plate, the X-axis direction positioning of the AGV loading platform is completed. The moving control distance Y of the Y-axis mechanism 移动 for: <h2 style=";text-align:left;direction:ltr">Y<h2 style=";text-align:left;direction:ltr"> 移动 <h2 style=";text-align:left;direction:ltr"> =(Y1+Y2) / 2-Y3 In the formula, Y3 is the setting value of the material picking position of the AGV loading platform; The tangent function formula of the trigonometric function used to calculate the tangent value of the angle between the second adjacent side and the hypotenuse of the positioning triangle is: ； Wherein, θ is the angle between the second adjacent side and the hypotenuse of the positioning triangle; X2 is obtained by translating the distance X1 between the first distance detection sensor and the second distance detection sensor; Through the inverse trigonometric formula θ = arctan ( ), calculate the alignment adjustment angle of the R-axis mechanism configured on the AGV loading platform.

10. The AGV loading platform alignment control system according to claim 8, It is characterized in that Also includes: The Z-axis direction positioning module is used to position the AGV loading platform in the Z-axis direction through the Z-axis mechanism configured on the AGV loading platform after the X-axis and Y-axis directions of the AGV loading platform are positioned. The Z-axis direction positioning position of the AGV loading platform is the preset manual teaching position; In the R-axis positioning adjustment module, a first distance Y1 from the first distance detection sensor to the designated reference object detected by the first distance detection sensor and a second distance Y2 from the second distance detection sensor to the designated reference object detected by the second distance detection sensor are monitored in real time, and the R-axis mechanism is adjusted in real time according to the calculated alignment adjustment angle θ of the R-axis mechanism until the AGV trolley loading platform and the designated reference object reach a parallel state; When the calculated alignment adjustment angle θ of the R-axis mechanism is less than a preset angle threshold, it is determined that the AGV loading platform and the designated reference object have reached a parallel state, and the adjustment of the R-axis mechanism is stopped.

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