Cantilever shaft butt joint method and device and storage medium

Abstract

The invention relates to the technical field of coil material logistics, and discloses a cantilever shaft butt joint method and device and a storage medium, and the butt joint method guides an AGV to be in butt joint with a material frame through a preset point A, a preset point B and a preset point C. After each time of parking, the coordinates of the next parking point position need to be calculated according to the actual parking point position in combination with the preset relative position relation between the point positions, so that the situation that the docking process is affected by the parking error is avoided. Wherein in the docking process of the AGV, the angle of a vehicle body and the transverse vertical distance between the vehicle body and a baffle of a material frame need to be obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body, so that the angle of the vehicle body is equal to the angle between a preset point C and a preset point A; the position of the vehicle body or the cantilever shaft is adjusted according to the real-time transverse vertical distance between the vehicle body and the baffle of the material frame, so that the transverse vertical distance between the cantilever shaft and the material frame is kept unchanged. According to the method, arrangement of a ground magnetic stripe and a two-dimensional code on the ground can be avoided, and the maintenance cost of the logistics system is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coil material logistics, and in particular to a cantilever shaft docking method, device and storage medium. Background Art

[0002] In the process of industrial production, in order to facilitate the storage, transportation and management of production materials, some process materials are often stored and transported in the form of coils. In order to improve the degree of automation in the workshop, existing workshops have begun to widely use AGV carts with cantilever shafts to complete the loading and unloading of coils. The existing cantilever shaft AGV cart trackless docking solution often requires the installation of a ground magnetic strip or QR code in front of the material rack or machine to guide the AGV cart to complete the docking with the material rack or machine. The ground magnetic strip or QR code may be damaged or dirty after long-term use, resulting in a decrease in the accuracy of the position information obtained by the AGV cart through the ground magnetic strip or QR code, which may lead to docking failure, resulting in material damage, affecting product quality and increasing production costs. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a cantilever shaft docking method, which can complete high-precision docking with the material rack without setting a ground magnetic strip or QR code on the floor of the workshop, thereby improving the service life of the coil material logistics system and reducing the maintenance cost of the coil material logistics system.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: a cantilever shaft docking method, including a rack docking process, the rack docking process includes the following steps:

[0005] Navigate the AGV to the preset point C, rotate the body of the AGV according to the preset angle between point C and point B, make the body angle of the AGV equal to the angle between point C and point B, and obtain the actual parking position C' of the AGV after stopping;

[0006] The coordinates of point B' are calculated based on the preset angle and distance between point C and point B, combined with the coordinates of the actual docking position C';

[0007] Navigate the AGV to point B', and obtain the actual parking position B" of the AGV after it stops;

[0008] According to the preset angle and distance between point B and point A, the coordinates of point A" are calculated in combination with the coordinates of the actual stop position B", and the position of the roll on the material rack is identified. According to the position of the roll, the position of the cantilever shaft is adjusted to align the axis of the cantilever shaft with the axis of the roll;

[0009] Navigate the AGV to point A” so that the cantilever shaft extends into the reel to a certain length;

[0010] In the process of navigating the AGV to point B' and point A", the angle of the vehicle body and the lateral vertical distance between the vehicle body and the baffle of the rack are obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point C and point A. The position of the vehicle body or the cantilever shaft is adjusted according to the real-time lateral vertical distance between the vehicle body and the baffle of the rack so that the lateral vertical distance between the cantilever shaft and the rack remains unchanged.

[0011] Compared with the prior art, the beneficial effect of the present invention is that during the docking process, the horizontal vertical distance between the vehicle body and the side baffle of the material rack is obtained in real time during the docking process, and the position of the cantilever shaft is adjusted according to the horizontal vertical distance, so that the axis of the cantilever shaft can be kept aligned with the axis of the reel during the docking process, thereby ensuring the docking accuracy with the material rack without relying on the ground magnetic strip or QR code, thereby avoiding the ground magnetic strip or QR code being damaged or dirty and causing docking failure. The docking method also adjusts the angle of the vehicle body by comparing the real-time angle of the vehicle body with the angle between the lines of the preset docking points, so that the cantilever shaft can remain parallel to the reel during the docking process, further improving the success rate of docking. By adopting this docking method, there is no need to set a magnetic strip or QR code on the ground, which reduces the maintenance cost of the coil logistics system and increases the service life of the system.

[0012] The above-mentioned cantilever shaft docking method further includes a machine docking process, and the machine docking process includes the following steps:

[0013] Navigate the AGV to the preset point F, rotate the body of the AGV according to the preset angle between point F and point E, make the body angle of the AGV equal to the angle between point F and point E, and obtain the actual parking position F' of the AGV after stopping;

[0014] According to the preset angle and distance between point F and point E, the coordinates of point E' are calculated in combination with the coordinates of the actual stop position F', and the position of the material shaft on the machine table is identified. According to the position of the material shaft, the position of the cantilever shaft is adjusted to align the axis of the cantilever shaft with the axis of the material shaft;

[0015] Navigate the AGV to point E', so that the end of the cantilever shaft docks with the front end of the material shaft;

[0016] In the process of navigating the AGV to point E', the angle of the vehicle body is obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point F and point E.

[0017] In the above cantilever shaft docking method, the points A, B and C are set in the following manner:

[0018] Manually adjust the position of the body so that the body of the AGV is located in the middle of the rack and the cantilever shaft is inserted into the reel in parallel with the reel, obtain the current body coordinates and record them as the coordinates of point A;

[0019] Get the current body angle, calculate the coordinates of point B and point C based on the current body angle and the set distance between point B and point C to point A, so that the angle of the line connecting point A, point B to point C is parallel to the axis of the reel.

[0020] A storage medium stores a computer program, wherein the computer program is configured to implement the above-mentioned cantilever shaft docking method when called and executed by a processor.

[0021] A cantilever shaft docking control device comprises a processor and a memory, wherein the memory is electrically connected to the processor, and the processor can implement the above-mentioned cantilever shaft docking method by calling a computer program in the memory.

[0022] A coil material logistics system comprises a material rack and an AGV trolley, wherein the AGV trolley comprises a body, a cantilever shaft, a cantilever shaft lifting mechanism and a control system, wherein the cantilever shaft lifting mechanism is arranged on the chassis of the body, the cantilever shaft is connected to the cantilever shaft lifting mechanism, the cantilever shaft lifting mechanism is used to drive the cantilever shaft to be lifted and lowered in a vertical direction, an identification camera is arranged at the end of the cantilever shaft, a positioning radar is arranged at the top of the body, obstacle avoidance radars are arranged around the body, the length direction of the chassis of the body is parallel to the cantilever shaft, a distance measuring sensor is arranged on the chassis of the body, the material rack is used to place coils or empty rolls to be taken, a parking space for the chassis of the body to be inserted is arranged at the bottom of the material rack, the distance measuring sensor is used to detect the lateral vertical distance between the body and the baffles on both sides of the parking space, and the cantilever shaft lifting mechanism, the identification camera, the positioning radar, the obstacle avoidance radar and the distance measuring sensor are all electrically connected to the control system.

[0023] In the above-mentioned coil material logistics system, the AGV cart also includes a transverse movement platform, which is arranged on the chassis of the vehicle body, and the cantilever shaft lifting mechanism is arranged on the transverse movement platform. The transverse movement platform is used to drive the cantilever shaft lifting mechanism to move transversely in the width direction of the vehicle body, and the transverse movement platform is electrically connected to the control system.

[0024] The above-mentioned coil material logistics system, the control system includes: an acquisition module, used to acquire the angle of the vehicle body, the position coordinates of the vehicle body, the lateral and vertical distances between the vehicle body and the baffle of the parking space, the image of the roll on the material rack and the image of the material shaft on the machine; a navigation module, used to navigate the vehicle body according to the position coordinates of the parking space, and navigate the vehicle body to the target position; a material rack docking module, used to control the docking process of the vehicle body and the material rack, and calculate the docking position of the subsequent docking process according to the actual position of the vehicle body parked in front of the material rack, and modify the target position of the navigation module according to the docking progress with the material rack; a machine docking module, used to control the docking process of the vehicle body and the machine, and calculate the docking position of the subsequent docking process according to the actual position of the vehicle body parked in front of the machine The docking position of the subsequent docking process is calculated, and the target position of the navigation module is modified according to the docking accuracy with the machine; the offset correction module is used to adjust the angle and position of the vehicle body according to the angle of the vehicle body and the lateral vertical distance between the vehicle body and the baffle of the parking space, so that the vehicle body is located in the center of the parking space and the vehicle body is parallel to the axis of the roll on the material rack; the roll docking module is used to identify the real-time position of the roll from the image of the roll, and adjust the position of the cantilever shaft according to the real-time position of the roll, so that the axis of the cantilever shaft is aligned with the axis of the roll; the material shaft docking module is used to identify the real-time position of the roll from the image of the material shaft, and adjust the position of the cantilever shaft according to the real-time position of the material shaft, so that the end of the cantilever shaft docks with the front end of the material shaft.

[0025] In the above-mentioned coil material logistics system, the positioning radar and the distance measuring sensor are both laser radars.

[0026] The above-mentioned coil material logistics system also includes a teaching module, which is used to record the position coordinates and angle of the vehicle body when it is actually docked with the material rack or machine, and to calculate the coordinates of other docking positions of the vehicle body during the docking process with the material rack or machine.

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the process of docking a rack according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the process flow of a machine docking process according to an embodiment of the present invention;

[0030] Figure 3 It is a front view of the AGV vehicle according to an embodiment of the present invention;

[0031] Figure 4 A side view of an AGV vehicle according to an embodiment of the present invention;

[0032] Figure 5 It is a front view of a material rack according to an embodiment of the present invention.

[0033] Description of Figure Numbers:

[0034] 100AGV cart, 110 car body, 120 cantilever shaft, 121 recognition camera, 130 cantilever shaft lifting mechanism, 140 positioning radar, 150 obstacle avoidance radar, 160 ranging sensor, 170 transverse movement platform, 200 material rack, 210 parking space, 211 baffle, 300 machine platform. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below. Figure 1 The embodiment of the present invention provides a cantilever shaft docking method, including a rack docking process, the rack docking process includes the following steps:

[0036] Navigate the AGV 100 to the preset point C, rotate the body of the AGV 100 according to the preset angle between point C and point B, so that the body angle of the AGV 100 is equal to the angle between point C and point B, and obtain the actual parking position C' of the AGV 100 after stopping;

[0037] The coordinates of point B' are calculated based on the preset angle and distance between point C and point B, combined with the coordinates of the actual docking position C';

[0038] Navigate the AGV 100 to point B', and obtain the actual parking position B" of the AGV 100 after stopping;

[0039] According to the preset angle and distance between point B and point A, the coordinates of point A" are calculated in combination with the coordinates of the actual docking position B", and the position of the roll on the rack 200 is identified. According to the position of the roll, the position of the cantilever shaft 120 is adjusted so that the axis of the cantilever shaft 120 is aligned with the axis of the roll;

[0040] Navigate the AGV 100 to point A” so that the cantilever shaft 120 extends into the reel to a certain length;

[0041] In the process of navigating the AGV 100 to point B' and point A", the angle of the vehicle body and the lateral vertical distance between the vehicle body and the baffle 211 of the rack 200 are obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point C and point A. The position of the vehicle body or cantilever shaft 120 is adjusted according to the real-time lateral vertical distance between the vehicle body and the baffle 211 of the rack 200 so that the lateral vertical distance between the cantilever shaft 120 and the rack 200 remains unchanged.

[0042] In this method, when the AGV trolley 100 gradually moves from the preset stop point C to point A, the real-time angle of the vehicle body and the real-time horizontal vertical distance between the vehicle body and the baffle 211 of the rack 200 are obtained, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body, so that the angle of the vehicle body is equal to the angle of the line connecting the preset points C, B and A. At the same time, the position of the cantilever shaft 120 can be adjusted according to the real-time horizontal vertical distance, so that the axis of the cantilever shaft 120 can be controlled to align with the axis of the reel. Since the line connecting the preset points C, B and A is parallel to the rack 200, the angle of the vehicle body is kept equal to the preset angle from point C to point A during the docking process, so that the cantilever shaft 120 and the reel on the rack 200 can be kept parallel during the docking process, thereby improving the success rate of docking. By adopting this method to control the docking of the AGV 100 with the rack 200, the baffle 211 of the rack 200 is used as a reference to adjust the position of the vehicle body relative to the rack 200, thereby avoiding setting a ground magnetic strip or QR code on the ground in front of the rack 200 to guide the docking of the AGV 100 with the rack 200, avoiding docking failure due to damage or dirt of the ground magnetic strip or QR code, reducing the service life of the coil material logistics system, and reducing the maintenance cost of the coil material logistics system.

[0043] It is understandable that after the docking is completed, the cantilever shaft 120 extends into the roll of the rack 200, and the AGV 100 drives the cantilever shaft 120 to lift a certain height, and then lifts the roll from the rack 200. After the roll is lifted to a certain height, the AGV 100 can reverse the docking action and gradually separate from the rack 200 in the order of the preset point A, point B to point C.

[0044] Reference Figure 2 In this embodiment, the cantilever shaft docking method also includes a machine docking process, and the machine docking process includes the following steps:

[0045] Navigate the AGV 100 to the preset point F, rotate the body of the AGV 100 according to the preset angle between the points F and E, so that the body angle of the AGV 100 is equal to the angle between the preset points F and E, and obtain the actual parking position F' of the AGV 100 after stopping;

[0046] According to the preset angle and distance between point F and point E, the coordinates of point E' are calculated in combination with the coordinates of the actual stop position F', and the position of the material shaft on the machine table 300 is identified. According to the position of the material shaft, the position of the cantilever shaft 120 is adjusted so that the axis of the cantilever shaft 120 is aligned with the axis of the material shaft;

[0047] Navigate the AGV 100 to point E' so that the end of the cantilever shaft 120 is butted against the front end of the material shaft;

[0048] In the process of navigating the AGV 100 to point E', the angle of the vehicle body is obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point F and point E.

[0049] Since the docking accuracy of the cantilever shaft 120 with the material shaft of the machine 300 is lower than that of the material rack 200, it is only necessary to ensure that the end of the cantilever shaft 120 can be basically aligned with the front end of the material shaft on the machine 300. Therefore, the AGV trolley 100 does not need to obtain the horizontal and vertical relative distance between the body and the machine 300 during the docking process with the machine 300. It only needs to obtain the real-time angle of the body and adjust the body angle to be equal to the preset angle between point F and point E to ensure that the cantilever shaft 120 is parallel to the material shaft after docking, so that the coil on the cantilever shaft 120 can move along the cantilever shaft 120 to the material shaft. It is understandable that after the cantilever shaft 120 transfers the coil to the material shaft of the machine 300, it can also perform the opposite action to that during docking to complete the separation from the machine 300.

[0050] In the actual docking process, since the actual docking position will have an error with the preset point each time the AGV 100 docks at the preset point each time, the coordinates of the position to be docked in the subsequent docking process must be calculated based on the relative position relationship between the preset points and the coordinates of the actual docking position during the docking. For example, when docking at point C, the actual coordinates of point B to be docked in the next step, i.e., the coordinates of point B', must be calculated based on the relative position relationship between the preset point C and point B and the actual docking position C' at point C, so that the length of the line between point C' and point B' is equal to the length of the line between the preset point C and point B, and the angles are parallel. Similarly, after stopping at points B' and F, it is also necessary to calculate the coordinates A" and E' of the next stop based on the relative position relationship between the preset points B and A and the relative position relationship between points F and E, and based on the actual docking position coordinates B" and F', so that the length of the line between points B" and A" is equal to the length of the line between the preset points B and A, and the angles are parallel, and the length of the line between points F' and E' is equal to the length of the line between the preset points F and E, and the angles are parallel.

[0051] It is understandable that the preset points C, B and A should be located on the extension line of the central axis of the material rack 200, and points F and E should be located on the extension line of the axis of the material shaft of the machine 300. The spacing between points C, B and A, and the spacing between points F and E should be set according to the body length of the AGV 100, the length of the cantilever shaft 120, the length of the reel, and the detection distance required for the sensor to identify the material shaft or the reel position. In this embodiment, the distance between point B and point A is the length of the reel + the distance that the cantilever shaft 120 needs to extend after insertion + the shooting distance of the camera that identifies the reel. The distance between points C and B and the distance between points F and E should be greater than the body length of the AGV 100 to ensure that the AGV 100 does not collide with other structures during the turning process.

[0052] In this embodiment, after the AGV 100 stops at point B and point F, it takes a picture of the reel or shaft by means of a camera, etc., and obtains the position of the reel and shaft by identifying the center of the circle of the reel and shaft or the QR code at the end of the shaft, so as to adjust the position of the cantilever shaft 120, align the axis of the cantilever shaft 120 with the axis of the reel, or align the end of the cantilever shaft 120 with the front end of the shaft, so as to further improve the success rate of docking, thereby avoiding the need to set a ground magnetic strip or QR code. Figure 3 and Figure 4 The cantilever shaft 120 is usually set on the body 110 of the AGV trolley 100 through the cantilever shaft lifting mechanism 130. The cantilever shaft 120 is adjusted in the vertical direction through the cantilever shaft lifting mechanism 130. The lateral position of the cantilever shaft 120 can be achieved by adjusting the lateral position of the AGV trolley 100. The cantilever shaft lifting mechanism 130 can also be set on a transverse platform 170, and the lateral position of the cantilever shaft 120 can be directly adjusted through the transverse platform 170.

[0053] Reference Figure 3 and Figure 4In some embodiments, a distance sensor 160 is provided on the chassis of the body 110 of the AGV 100. The distance sensor 160 is used to detect the distance between the body and the baffle 211 of the rack 200 during docking. A positioning radar 140 is provided on the top of the body 110 of the AGV 100. In this embodiment, the distance sensor 160 and the positioning radar 140 are both laser radars. The AGV 100 obtains the point cloud of the baffles 211 on both sides of the rack 200 through the laser radar, thereby obtaining two straight lines of the baffles 211 on both sides of the rack 200, so as to calculate the vertical distance between the body and the straight line, and obtain the horizontal vertical distance between the body and the baffle 211 of the rack 200. The AGV 100 obtains the XY angle of the positioning radar 140 through the 2Dslam algorithm, thereby obtaining the angle of the body. In some embodiments, the AGV 100 can also adjust the angle of the body according to the angle of the straight line of the baffle 211 of the rack 200 detected by the ranging sensor 160, so that the AGV 100 remains parallel to the rack 200 during the docking process with the rack 200. However, since the positioning accuracy of the 2Dslam algorithm is high enough, generally only the angle of the straight line of the baffle 211 of the rack 200 detected by the ranging sensor 160 is used as an alarm warning. Only when the angle of the straight line is higher than the set threshold, an alarm is sent to the control system to stop the docking process.

[0054] It is understandable that the specific positions of point A to point F during the docking process can be set by teaching the AGV trolley 100. In practice, since there is an error each time the AGV trolley 100 docks, in order to ensure that the preset points A to C can be located on the extension line of the central axis of the material rack 200, points E and F can be on the extension line of the axis of the material shaft of the machine 300, and the positions of points A and E are set only by teaching. The coordinates of points B and C are calculated from the coordinates of point A, and the coordinates of point F are calculated from the coordinates of point E.

[0055] Specifically, the setting process from point A to point C is as follows:

[0056] Manually adjust the position of the body so that the body of the AGV 100 is located in the middle of the rack 200 and the cantilever shaft 120 is inserted into the reel in a manner parallel to the reel, obtain the current body coordinates and record them as the coordinates of point A;

[0057] Get the current body angle, calculate the coordinates of point B and point C based on the current body angle and the set distance between point B and point C to point A, so that the angle of the line connecting point A, point B to point C is parallel to the axis of the reel.

[0058] The setting process of point E and point F is similar to that of point A to point C. The difference is that when teaching the position of point E, it is necessary to ensure that the end of the cantilever shaft 120 is aligned with the front end of the material shaft of the machine 300, and the cantilever shaft 120 is parallel to the material shaft. Then, the coordinates of point F are calculated based on the preset distance between point F and point E and the angle of the vehicle body, so that the line from point F to point E is parallel to the axis of the material shaft.

[0059] It can be understood that when teaching the position of point A, the angle of the baffle 211 of the rack 200 and the vertical distance between the vehicle body and the straight line between the two baffles 211 detected by the ranging sensor 160 can be used to determine whether the AGV trolley 100 is located in the middle of the rack 200 and parallel to the rack 200.

[0060] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned cantilever shaft docking method can be implemented.

[0061] In some possible embodiments, various aspects of the cantilever shaft docking method provided by the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on the device, the program code is used to enable the control device to execute the steps of the cantilever shaft docking method according to various exemplary embodiments of the present application described above in this specification.

[0062] Based on the same inventive concept, an embodiment of the present invention also provides a control device for implementing the above-mentioned cantilever shaft docking method, including a processor and a memory, the memory is electrically connected to the processor, and the processor is used to execute the computer program stored in the memory to implement the above-mentioned cantilever shaft docking method.

[0063] In one possible design, the processor may include one or more processing units, and the processor and memory may be implemented on the same chip or on separate chips. The processor may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the cantilever shaft docking method disclosed in conjunction with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0064] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory can include at least one type of storage medium, for example, it can include flash memory, hard disk, multimedia card, card-type memory, random access memory (Random Access Memory, RAM), static random access memory (Static RandomAccess Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (Read Only Memory, ROM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), magnetic memory, disk, CD, etc. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0065] By designing and programming the processor, the code corresponding to the cantilever shaft docking method described in the above embodiment can be fixed into the chip, so that the chip can execute the steps of the cantilever shaft docking method of the embodiment shown in the present invention when running. How to design and program the processor is a technology well known to those skilled in the art and will not be described in detail here.

[0066] Reference Figures 3 to 5Based on the same inventive concept, the present invention also provides a coil material logistics system, including a material rack 200 and an AGV trolley 100. The AGV trolley 100 includes a vehicle body 110, a cantilever shaft 120, a cantilever shaft lifting mechanism 130 and a control system. The cantilever shaft lifting mechanism 130 is arranged on the chassis of the vehicle body 110, and the cantilever shaft 120 is connected to the cantilever shaft lifting mechanism 130. The cantilever shaft lifting mechanism 130 is used to drive the cantilever shaft 120 to rise and fall in the vertical direction. An identification camera 121 is arranged at the end of the cantilever shaft 120, a positioning radar 140 is arranged at the top of the vehicle body 110, and obstacle avoidance radars 150 are arranged around the vehicle body 110. The length direction of the chassis of the vehicle body 110 is parallel to the cantilever shaft 120. A distance sensor 160 is also provided on the chassis of the vehicle body 110. The material rack 200 is used to place the coils or empty rolls to be taken. The bottom of the material rack 200 is provided with a parking space 210 for the chassis of the vehicle body 110 to be inserted. The distance sensor 160 is used to detect the horizontal and vertical distance between the vehicle body 110 and the baffles 211 on both sides of the parking space 210 when the AGV trolley 100 and the material rack 200 are docked. The cantilever shaft lifting mechanism 130, the recognition camera 121, the positioning radar 140, the obstacle avoidance radar 150 and the distance sensor 160 are all electrically connected to the control system.

[0067] In some embodiments, in order to further adjust the lateral position of the cantilever shaft 120 relative to the material shaft on the roll or material rack 200 during docking, refer to Figure 3 The AGV trolley 100 includes a transverse moving platform 170, which is arranged on the chassis of the vehicle body 110. The cantilever shaft lifting mechanism 130 is arranged on the transverse moving platform 170. The transverse moving platform 170 is used to drive the cantilever shaft 120 to move transversely in the width direction of the vehicle body 110. The transverse moving platform 170 is electrically connected to the control system.

[0068] In this embodiment, the positioning radar 140 and the ranging sensor 160 are both laser radars. The positioning radar 140 obtains the point cloud of the surrounding environment and obtains the XY angle and position coordinates of the AGV 100 through the 2Dslam algorithm. The ranging sensor 160 obtains the point cloud of the baffles 211 on both sides of the parking space 210 of the rack 200, thereby obtaining two straight lines of the baffles 211 on both sides, and obtains the lateral vertical distance of the vehicle body 110 relative to the rack 200 by calculating the perpendicular distance between the vehicle body 110 and the straight line.

[0069] In this embodiment, the control system includes an industrial computer and a single-chip microcomputer. The industrial computer is electrically connected to the single-chip microcomputer, and the single-chip microcomputer is electrically connected to the cantilever shaft lifting mechanism 130 and the transverse movement platform 170. The recognition camera 121, the positioning radar 140, the obstacle avoidance radar 150 and the ranging sensor 160 are electrically connected to the industrial computer. The industrial computer is responsible for running the slam navigation algorithm, the circle recognition algorithm, etc., calculating the movement direction and movement distance of the AGV car 100 and the moving distance of the cantilever shaft lifting mechanism 130 and the transverse movement platform 170, and generating corresponding control instructions and sending them to the driving mechanism and the single-chip microcomputer of the vehicle body 110. The single-chip microcomputer controls the movement of the transverse movement platform 170 and the cantilever lifting mechanism according to the received control instructions.

[0070] The control system includes an acquisition module, a navigation module, a rack 200 docking module, a platform 300 docking module, an offset correction module, a roll docking module, and a shaft docking module, which are arranged in an industrial computer. The acquisition module is used to acquire the angle of the vehicle body 110, the position coordinates of the vehicle body 110, the horizontal and vertical distances between the vehicle body 110 and the baffle 211 of the parking space 210, the image of the roll on the rack 200, and the image of the shaft on the platform 300. The navigation module is used to navigate the vehicle body 110 according to the position coordinates of the parking space 210, and navigate the vehicle body 110 to the target position. The rack 200 docking module is used to control the docking process with the vehicle body 110 and the rack 200, calculate the docking position of the subsequent docking process according to the actual position of the vehicle body 110 docked in front of the rack 200, and modify the target position of the navigation module according to the docking progress with the rack 200. The docking module of the machine 300 is used to control the docking process of the vehicle body 110 and the machine 300, calculate the docking position of the subsequent docking process according to the actual position of the vehicle body 110 docked in front of the machine 300, and modify the target position of the navigation module according to the docking accuracy with the machine 300. The offset correction module is used to adjust the angle and position of the vehicle body 110 according to the angle of the vehicle body 110 and the horizontal vertical distance between the vehicle body 110 and the baffle 211 of the parking space 210, so that the vehicle body 110 is located in the center of the parking space 210 and the axis of the reel on the rack 200 is parallel to the vehicle body 110. The reel docking module is used to identify the real-time position of the reel from the image of the reel, and adjust the position of the cantilever shaft 120 according to the real-time position of the reel, so that the axis of the cantilever shaft 120 is aligned with the axis of the reel. The material shaft docking module is used to identify the real-time position of the roll from the image of the material shaft, and adjust the position of the cantilever shaft 120 according to the real-time position of the material shaft so that the end of the cantilever shaft 120 docks with the front end of the material shaft.

[0071] It is understandable that the roll docking module and the material shaft docking module can obtain the position of the roll or material shaft by identifying the circle in the image of the roll and the image of the material shaft. In practice, since the material shaft is a solid shaft, the material shaft docking module can also identify the position of the material shaft by identifying the features printed or set on the front end of the material shaft. In this embodiment, the roll docking module includes a circle recognition module, which identifies the center of the end face of the roll in the collected image of the roll, and calculates the difference between the center of the circle and the calibrated coordinates, and controls the movement of the traverse platform 170 and the cantilever shaft lifting mechanism 130 according to the difference, so that the recognized center of the circle coincides with the calibrated coordinates. The material shaft docking module includes a QR code correction module, which identifies the position of the correction QR code printed on the end of the material shaft to obtain the position of the axis of the material shaft, calculates the difference between the actual position of the correction QR code and the calibrated position, and controls the movement of the traverse platform 170 and the cantilever shaft lifting mechanism 130 according to the difference, so that the position of the recognized correction QR code coincides with the calibrated position.

[0072] In this embodiment, the control system further includes a teaching module, which is used to record the position coordinates and angles of the vehicle body 110 when it is actually docked with the rack 200 or the machine 300, and to calculate the coordinates of other docking positions of the vehicle body 110 during the docking process with the rack 200 or the machine. That is, the coordinates of point B and point C are calculated based on the coordinates of point A taught, the angle of the vehicle body 110, and the preset distances from point A to point B and point C, and the coordinates of point B and point C are recorded in the memory; and the coordinates of point F are calculated based on the coordinates of point E taught, the angle of the vehicle body 110, and the preset distance from point E to point F, and the coordinates of point E and point F are recorded in the memory.

[0073] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.

[0077] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0078] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0079] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A cantilever shaft docking method, characterized in that: The process includes a rack docking process, and the rack docking process includes the following steps: Navigating the AGV trolley (100) to a preset point C, rotating the body of the AGV trolley (100) according to the preset angle between the point C and the point B, so that the body angle of the AGV trolley (100) is equal to the preset angle between the point C and the point B, and obtaining the actual parking position C' of the AGV trolley (100) after stopping; The coordinates of point B' are calculated based on the preset angle and distance between point C and point B, combined with the coordinates of the actual docking position C'; Navigate the AGV (100) to point B', and obtain the actual parking position B" of the AGV (100) after stopping; The coordinates of point A" are calculated based on the preset angle and distance between point B and point A, combined with the coordinates of the actual docking position B", and the position of the roll on the material rack (200) is identified, and the position of the cantilever shaft (120) is adjusted according to the position of the roll, so that the axis of the cantilever shaft (120) is aligned with the axis of the roll; Navigate the AGV trolley (100) to point A” so that the cantilever shaft (120) extends into the reel to a certain length; In the process of navigating the AGV trolley (100) to point B' and point A", the angle of the vehicle body and the lateral vertical distance between the vehicle body and the baffle (211) of the material rack (200) are obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point C and point A, and the position of the vehicle body or the cantilever shaft (120) is adjusted according to the real-time lateral vertical distance between the vehicle body and the baffle (211) of the material rack (200) so that the lateral vertical distance between the cantilever shaft (120) and the material rack (200) remains unchanged.

2. The cantilever shaft docking method according to claim 1, characterized in that: The process of docking a machine also includes the following steps: Navigating the AGV trolley (100) to a preset point F, rotating the body of the AGV trolley (100) according to the preset angle between the point F and the point E, so that the body angle of the AGV trolley (100) is equal to the preset angle between the point F and the point E, and obtaining the actual parking position F' of the AGV trolley (100) after stopping; According to the preset angle and distance between point F and point E, the coordinates of point E' are calculated in combination with the coordinates of the actual stop position F', and the position of the material shaft on the machine table (300) is identified, and the position of the cantilever shaft (120) is adjusted according to the position of the material shaft, so that the axis of the cantilever shaft (120) is aligned with the axis of the material shaft; Navigate the AGV trolley (100) to point E' so that the end of the cantilever shaft (120) is docked with the front end of the material shaft; In the process of navigating the AGV vehicle (100) to point E', the angle of the vehicle body is obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body so that the angle of the vehicle body is equal to the preset angle between point F and point E.

3. The cantilever shaft docking method according to claim 1, characterized in that: The points A, B and C are set as follows: Manually adjust the position of the body so that the body of the AGV trolley (100) is located in the middle of the material rack (200) and the cantilever shaft (120) is inserted into the reel in a manner parallel to the reel, and obtain the current body coordinates and record them as the coordinates of point A; Get the current body angle, calculate the coordinates of point B and point C based on the current body angle and the set distance between point B and point C to point A, so that the angle of the line connecting point A, point B to point C is parallel to the axis of the reel.

4. A storage medium, characterized in that: A computer program is stored, and the computer program is configured to implement the cantilever shaft docking method according to any one of claims 1 to 3 when called and executed by a processor.

5. A cantilever shaft docking control device, characterized in that: It comprises a processor and a memory, wherein the memory is electrically connected to the processor, and the processor can implement the cantilever shaft docking method according to any one of claims 1 to 3 by calling a computer program in the memory.

6. A coil material logistics system, characterized in that: The invention comprises a material rack (200) and an AGV trolley (100), wherein the AGV trolley (100) comprises a vehicle body (110), a cantilever shaft (120), a cantilever shaft lifting mechanism (130) and a control system, wherein the cantilever shaft lifting mechanism (130) is arranged on the chassis of the vehicle body (110), the cantilever shaft (120) is connected to the cantilever shaft lifting mechanism (130), the cantilever shaft lifting mechanism (130) is used to drive the cantilever shaft (120) to be lifted and lowered in a vertical direction, an identification camera (121) is arranged at the end of the cantilever shaft (120), a positioning radar (140) is arranged on the top of the vehicle body (110), obstacle avoidance radars (150) are arranged around the vehicle body (110), and the vehicle body (110) is provided with a positioning radar (140). The length direction of the chassis of the vehicle body (10) is parallel to the cantilever shaft (120), a distance sensor (160) is arranged on the chassis of the vehicle body (110), the material rack (200) is used to place the coiled material or empty roll to be taken, and a parking space (210) for inserting the chassis of the vehicle body (110) is arranged at the bottom of the material rack (200), the distance sensor (160) is used to detect the lateral vertical distance between the vehicle body (110) and the baffles (211) on both sides of the parking space (210), and the cantilever shaft lifting mechanism (130), the recognition camera (121), the positioning radar (140), the obstacle avoidance radar (150) and the distance sensor (160) are all electrically connected to the control system.

7. The coil material logistics system according to claim 6, characterized in that: The AGV trolley (100) further includes a transverse movement platform (170), wherein the transverse movement platform (170) is arranged on the chassis of the vehicle body (110), and the cantilever shaft lifting mechanism (130) is arranged on the transverse movement platform (170). The transverse movement platform (170) is used to drive the cantilever shaft lifting mechanism (130) to move transversely in the width direction of the vehicle body (110), and the transverse movement platform (170) is electrically connected to the control system.

8. The coil material logistics system according to claim 6, characterized in that: The control system comprises: an acquisition module, used for acquiring the angle of the vehicle body (110), the position coordinates of the vehicle body (110), the lateral and vertical distances between the vehicle body (110) and the baffle (211) of the parking space (210), the image of the roll on the material rack (200), and the image of the material shaft on the machine platform (300); A navigation module, used for navigating the vehicle body (110) according to the position coordinates of the parking space (210), and navigating the vehicle body (110) to a target position; A material rack (200) docking module, used to control the docking process between the vehicle body (110) and the material rack (200), to calculate the docking position of the subsequent docking process according to the actual position of the vehicle body (110) docked in front of the material rack (200), and to modify the target position of the navigation module according to the docking progress with the material rack (200); A machine (300) docking module, used to control the docking process of the vehicle (110) and the machine (300), to calculate the docking position of the subsequent docking process according to the actual position of the vehicle (110) docked in front of the machine (300), and to modify the target position of the navigation module according to the docking accuracy with the machine (300); an offset correction module, used for adjusting the angle and position of the vehicle body (110) according to the angle of the vehicle body (110) and the transverse vertical distance between the vehicle body (110) and the baffle (211) of the parking space (210), so that the vehicle body (110) is located at the center of the parking space (210) and the vehicle body (110) is parallel to the axis of the reel on the material rack (200); A roll docking module, used for identifying the real-time position of the roll from the image of the roll, and adjusting the position of the cantilever shaft (120) according to the real-time position of the roll, so that the axis of the cantilever shaft (120) is aligned with the axis of the roll; The material shaft docking module is used to identify the real-time position of the reel from the image of the material shaft and adjust the position of the cantilever shaft (120) according to the real-time position of the material shaft so that the end of the cantilever shaft (120) docks with the front end of the material shaft.

9. The coil material logistics system according to claim 6, characterized in that: The positioning radar (140) and the distance measuring sensor (160) are both laser radars.

10. The coil material logistics system according to claim 8, characterized in that: It also includes a teaching module, which is used to record the position coordinates and angle of the vehicle body (110) when it is actually docked with the material rack (200) or the machine (300), and to calculate the coordinates of other docking positions of the vehicle body (110) during the docking process with the material rack (200) or the machine.

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