Cantilever shaft butt joint method and device and storage medium

Abstract

The present application relates to the technical field of coil logistics, and discloses a cantilever shaft butt joint method, device and storage medium, wherein the butt joint method guides AGV and a rack to butt joint through preset A point, B point and C point. After each stop, the coordinates of the next stop point are calculated according to the actual stop point and the relative position relationship between the preset points, so as to avoid the influence of the stop error on the butt joint process. In the butt joint process, the AGV needs to acquire the angle of the vehicle body and the lateral vertical distance between the vehicle body and the baffle of the rack in real time, adjust the angle of the vehicle body according to the real-time angle of the vehicle body, so that the angle of the vehicle body is equal to the angle between the preset C point and A point, and adjust the position of the vehicle body or the cantilever shaft 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. The method can avoid setting ground magnetic strips and two-dimensional codes on the ground, and reduce the maintenance cost of the logistics system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coil logistics, in particular to a cantilever shaft docking method, device and storage medium. BACKGROUND

[0002] In the industrial production process, in order to facilitate the storage, transportation and management of production materials, part of the materials are often stored and transported in the form of coils. In order to improve the degree of automation of the workshop, the existing workshop has begun to widely use AGV trolleys with cantilever shafts to complete the feeding and discharging of coils. The existing trackless docking scheme of the cantilever shaft AGV trolley often needs to set ground magnetic strips or two-dimensional codes in front of the racks or machines to guide the AGV trolley to complete docking with the racks or machines. The ground magnetic strips or two-dimensional codes may be damaged or contaminated after long-term use, resulting in a decrease in the accuracy of the position information obtained by the AGV trolley through the ground magnetic strips or two-dimensional codes, which may cause docking failure, resulting in damage to the materials and affecting product quality, increasing production cost. SUMMARY

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a cantilever shaft docking method which can complete high-precision docking with racks without setting ground magnetic strips or two-dimensional codes on the ground of the workshop, improve the service life of the coil logistics system, and reduce the maintenance cost of the coil logistics system.

[0004] To solve the above problems, the technical scheme adopted by the present application is as follows: a cantilever shaft docking method, comprising a rack docking process, the rack docking process comprising the following steps:

[0005] navigating the AGV trolley to a preset C point, rotating the body of the AGV trolley according to the angle between the preset C point and B point, so that the angle of the body of the AGV trolley is equal to the angle between the preset C point and B point, and obtaining the actual parking position C' of the AGV trolley after stopping;

[0006] calculating the coordinates of B' point according to the angle and distance between the preset C point and B point, and combining the coordinates of the actual parking position C';

[0007] navigating the AGV trolley to B' point, and obtaining the actual parking position B" of the AGV trolley after stopping;

[0008] calculating the coordinates of A" point according to the angle and distance between the preset B point and A point, combining the coordinates of the actual parking position B", identifying the position of the coil drum on the rack, adjusting the position of the cantilever shaft according to the position of the coil drum, and aligning the axis of the cantilever shaft with the axis of the coil drum;

[0009] navigating the AGV trolley to A" point, so that the cantilever shaft extends into the coil drum by a certain length;

[0010] In the process of navigating the AGV to the B' point and the A" point, the angle of the vehicle body and the transverse vertical distance between the vehicle body and the baffle of the rack are acquired in real time, 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 the C point and the A point, and 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 rack, so that the transverse vertical distance between the cantilever shaft and the rack remains unchanged.

[0011] Compared with the prior art, the beneficial effects of the present application are that, in the docking process, the transverse vertical distance between the vehicle body and the side baffle of the rack is acquired in real time during the docking process, and the position of the cantilever shaft is adjusted according to the transverse vertical distance, so that the axis of the cantilever shaft can be aligned with the axis of the reel during the docking process, thereby ensuring the docking accuracy with the rack without relying on the ground magnetic stripe or two-dimensional code, so as to avoid the failure of docking caused by the damage or dirt of the ground magnetic stripe or two-dimensional code. The docking method also adjusts the angle of the vehicle body by comparing the angle between the real-time angle of the vehicle body and the connecting line of the preset docking point, so that the cantilever shaft can be parallel to the reel during the docking process, further improving the success rate of docking. By using the docking method, it is not necessary to set the magnetic stripe or two-dimensional code on the ground, thereby reducing the maintenance cost of the material logistics system and improving the service life of the system.

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

[0013] The AGV is navigated to the preset F point, the vehicle body of the AGV is rotated according to the angle between the preset F point and the E point, so that the angle of the vehicle body of the AGV is equal to the angle between the preset F point and the E point, and the actual parking position F' of the AGV is acquired after stopping;

[0014] The coordinates of the E' point are calculated according to the angle and distance between the preset F point and the E point, in combination with the coordinates of the actual parking position F', the position of the material shaft on the machine is identified, the position of the cantilever shaft is adjusted according to the position of the material shaft, so that the axis of the cantilever shaft is aligned with the axis of the material shaft;

[0015] The AGV is navigated to the E' point, so that the end of the cantilever shaft is docked with the front end of the material shaft;

[0016] In the process of navigating the AGV to the E' point, the angle of the vehicle body is acquired 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 the preset F point and the E point.

[0017] The cantilever shaft docking method described above, the A point, the B point and the C point are set by the following method:

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

[0019] Obtain the current vehicle body angle, and calculate the coordinates of points B and C according to the current vehicle body angle and the set distance between points B, C and A, so that the angle of the line connecting points A, B and C is parallel to the axis of the reel.

[0020] A storage medium storing a computer program, which is configured to be called and executed by a processor to implement the above-described cantilever shaft docking method.

[0021] A cantilever shaft docking control device, comprising a processor and a memory, the memory being electrically connected to the processor, and the processor being able to implement the above-described cantilever shaft docking method by calling the computer program in the memory.

[0022] A coil logistics system, comprising a rack and an AGV, the AGV comprising a vehicle body, a cantilever shaft, a cantilever shaft lifting mechanism and a control system, the cantilever shaft lifting mechanism being arranged on the chassis of the vehicle body, the cantilever shaft being connected to the cantilever shaft lifting mechanism, the cantilever shaft lifting mechanism being used to drive the cantilever shaft to lift in the vertical direction, the end of the cantilever shaft being provided with an identification camera, the top of the vehicle body being provided with a positioning radar, the periphery of the vehicle body being provided with an obstacle avoidance radar, the length direction of the chassis of the vehicle body being parallel to the cantilever shaft, the chassis of the vehicle body being provided with a distance measuring sensor, the rack being used to place the coil to be taken or the empty reel, the bottom of the rack being provided with a parking space for the chassis of the vehicle body to be inserted, the distance measuring sensor being used to detect the transverse and vertical distance between the vehicle body and the two side baffles of the parking space, the cantilever shaft lifting mechanism, the identification camera, the positioning radar, the obstacle avoidance radar and the distance measuring sensor being electrically connected to the control system.

[0023] The above-mentioned coil logistics system, the AGV further comprising a transverse platform, the transverse platform being arranged on the chassis of the vehicle body, the cantilever shaft lifting mechanism being arranged on the transverse platform, the transverse platform being used to drive the cantilever shaft lifting mechanism to move transversely in the width direction of the vehicle body, the transverse platform being electrically connected to the control system.

[0024] The control system of the coil material logistics system comprises: an acquisition module for acquiring the angle of the vehicle body, the position coordinates of the vehicle body, the transverse vertical distance between the vehicle body and the baffle of the parking space, the image of the coil on the rack, and the image of the material shaft on the machine table; a navigation module for navigating the vehicle body to a target position according to the position coordinates of the parking space; a rack docking module for controlling the docking process of the vehicle body and the rack, calculating the parking position of the subsequent docking process according to the actual position of the vehicle body parked in front of the rack, and modifying the target position of the navigation module according to the docking progress with the rack; a machine table docking module for controlling the docking process of the vehicle body and the machine table, calculating the parking position of the subsequent docking process according to the actual position of the vehicle body parked in front of the machine table, and modifying the target position of the navigation module according to the docking progress with the machine table; an offset correction module for adjusting the angle and position of the vehicle body according to the angle of the vehicle body and the transverse 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 axis of the vehicle body is parallel to the axis of the coil on the rack; a coil docking module for identifying the real-time position of the coil from the image of the coil, and adjusting the position of the cantilever shaft according to the real-time position of the coil, so that the axis of the cantilever shaft is aligned with the axis of the coil; and a material shaft docking module for identifying the real-time position of the coil from the image of the material shaft, and adjusting the position of the cantilever shaft according to the real-time position of the material shaft, so that the end of the cantilever shaft is docked with the front end of the material shaft.

[0025] The positioning radar and the distance measuring sensor of the coil material logistics system are both laser radars.

[0026] The coil material logistics system further comprises a teaching module for recording the position coordinates and angle of the vehicle body when it is actually docked with the rack or the machine table, and calculating the coordinates of other parking positions in the docking process of the vehicle body and the rack or the machine table.

[0027] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The flowchart of the rack docking process of the embodiment of the application;

[0029] Figure 2 The flowchart of the machine table docking process of the embodiment of the application;

[0030] Figure 3 The front view of the AGV of the embodiment of the application;

[0031] Figure 4 The side view of the AGV of the embodiment of the application;

[0032] Figure 5 A front view of a rack according to an embodiment of the present application.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 100 AGV, 110 vehicle body, 120 cantilever shaft, 121 recognition camera, 130 cantilever shaft lifting mechanism, 140 positioning radar, 150 obstacle avoidance radar, 160 distance measuring sensor, 170 horizontal moving platform, 200 rack, 210 parking space, 211 baffle, 300 machine table. DETAILED DESCRIPTION

[0035] Embodiments of the present application will be described in detail below with reference to Figure 1 Embodiments of the present application provide a cantilever shaft docking method, including a rack docking process, the rack docking process comprising the following steps:

[0036] The AGV 100 is navigated to a preset C point, the vehicle body of the AGV 100 is rotated according to the angle between the preset C point and the B point, so that the angle of the vehicle body of the AGV 100 is equal to the angle between the preset C point and the B point, and the actual parking position C' of the AGV 100 is obtained after stopping;

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

[0038] The AGV 100 is navigated to the B' point, and the actual parking position B" of the AGV 100 is obtained after stopping;

[0039] The coordinates of the A" point are calculated according to the angle and distance between the preset B point and the A point, combined with the coordinates of the actual parking position B", and the position of the reel on the rack 200 is recognized, the position of the cantilever shaft 120 is adjusted according to the position of the reel, so that the axis of the cantilever shaft 120 is aligned with the axis of the reel;

[0040] The AGV 100 is navigated to the A" point, so that the cantilever shaft 120 extends into the reel by a certain length;

[0041] In the process of navigating the AGV 100 to the B' point and the A" point, 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 angle between the preset C point and the A point, 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 rack 200, so that the lateral vertical distance between the cantilever shaft 120 and the rack 200 remains unchanged.

[0042] The method, in the process that the AGV 100 moves from the preset stop point C to the point A, obtains the real-time angle of the vehicle body and the real-time transverse vertical distance between the vehicle body and the baffle 211 of the rack 200, adjusts the angle of the vehicle body 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 C point, B point and A point, and the position of the cantilever shaft 120 can be adjusted according to the real-time transverse vertical distance, so that the axis of the cantilever shaft 120 is aligned with the axis of the winding drum. Since the line connecting the preset C point, B point and A point is parallel to the rack 200, the angle of the vehicle body is kept equal to the angle of the line connecting the preset C point and A point during the docking process, so that the cantilever shaft 120 is kept parallel to the winding drum on the rack 200 during the docking process, and the success rate of docking is improved. By using the method to control the docking of the AGV 100 and 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, so that the ground magnetic strip or two-dimensional code is not needed to be arranged on the ground in front of the rack 200 to guide the docking of the AGV 100 and the rack 200, the docking failure caused by the damage or dirt of the ground magnetic strip or two-dimensional code is avoided, the service life of the winding material logistics system is reduced, and the maintenance cost of the winding material logistics system is reduced.

[0043] It can be understood that after the docking is completed, the cantilever shaft 120 extends into the winding drum of the rack 200, and the AGV 100 drives the cantilever shaft 120 to lift a certain height to lift the winding material from the rack 200. After the winding material is lifted to a certain height, the AGV 100 can perform the action in reverse to the action during docking, and sequentially separates from the rack 200 in the order of the preset A point, B point and C point.

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

[0045] The AGV 100 is navigated to the preset F point, the vehicle body of the AGV 100 is rotated according to the angle between the preset F point and E point, so that the angle of the vehicle body of the AGV 100 is equal to the angle between the preset F point and E point, and the actual stop position F' of the AGV 100 is obtained after stopping;

[0046] The coordinates of the E' point are calculated according to the angle and distance between the preset F point and E point, combined with the coordinates of the actual stop position F', the position of the material shaft on the machine table 300 is identified, 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;

[0047] The AGV 100 is navigated to the E' point, so that the end of the cantilever shaft 120 is docked with the front end of the material shaft;

[0048] In the process of guiding the AGV 100 to the point E, the angle of the vehicle body is acquired 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 the preset points F and E.

[0049] Since the docking accuracy between the cantilever shaft 120 and the material shaft of the machine table 300 is lower than that between the cantilever shaft 120 and the material rack 200, it is only necessary to ensure that the end of the cantilever shaft 120 is substantially aligned with the front end of the material shaft on the machine table 300, so that the AGV 100 does not need to acquire the lateral and vertical relative distance between the vehicle body and the machine table 300 during docking with the machine table 300, but only needs to acquire the real-time angle of the vehicle body, and adjust the angle of the vehicle body to be equal to the angle between the preset points F and E, so as to ensure that the cantilever shaft 120 is parallel to the material shaft after docking, so that the material on the cantilever shaft 120 can be moved to the material shaft along the cantilever shaft 120. It can be understood that the cantilever shaft 120 can also perform the reverse action of docking to complete the separation from the machine table 300 after moving the material to the material shaft of the machine table 300.

[0050] In the actual docking process, since there is an error between the actual stopping position and the preset point position each time the AGV 100 stops, the AGV 100 needs to calculate the coordinates of the position to be stopped in the subsequent docking process according to the actual stopping position coordinates after stopping at the preset point position each time. For example, when stopping at the point C, the actual coordinates of the point B to be stopped next, i.e., the coordinates of the point B', are calculated according to the actual stopping position C' of the point C, according to the relative position relationship between the preset points C and B, so that the length of the line connecting the points C' and B' is equal to the length of the line connecting the preset points C and B, and the angles are parallel. Similarly, after stopping at the points B' and F', the coordinates of the points A" and E' to be stopped next are also calculated according to the actual stopping position coordinates B" and F' respectively, according to the relative position relationship between the preset points B and A and the relative position relationship between the preset points F and E, so that the length of the line connecting the points B" and A" is equal to the length of the line connecting the preset points B and A, the angles are parallel, and the length of the line connecting the points F' and E' is equal to the length of the line connecting the preset points F and E, and the angles are parallel.

[0051] It can be understood that the preset C point, B point and A point should be located on the extension line of the central axis of the rack 200, and the F point and E point should be located on the extension line of the axis of the material shaft of the machine table 300. The distance between the C point, B point and A point, and the distance between the F point and E point should be set according to the length of the body of the AGV trolley 100, the length of the cantilever shaft 120, the length of the reel, and the detection distance required by the sensor for identifying the position of the material shaft or the reel, etc. In the embodiment, the distance between the B point and the A point is the length of the reel + the distance required for the cantilever shaft 120 to extend after insertion + the shooting distance of the camera for identifying the reel, and the distance between the C point and the B point and the distance between the F point and the E point are preferably greater than the length of the body of the AGV trolley 100, so as to ensure that the AGV trolley 100 does not collide with other structures during turning.

[0052] In the embodiment, after the AGV trolley 100 is parked at the B point and the F point, the reel or the material shaft is photographed by a camera or the like, and the position of the reel and the material shaft is obtained by identifying the center of the circle of the reel and the material shaft or the two-dimensional code of the end of the material 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 material shaft, so as to further improve the success rate of docking, thereby avoiding the setting of ground magnetic strips or two-dimensional codes. Figure 3 and Figure 4 The cantilever shaft 120 is usually arranged on the vehicle body 110 of the AGV trolley 100 by a cantilever shaft lifting mechanism 130, and the position of the cantilever shaft 120 in the vertical direction is adjusted by 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, or by arranging the cantilever shaft lifting mechanism 130 on a transverse platform 170 to directly adjust the lateral position of the cantilever shaft 120 by the transverse platform 170.

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

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

[0055] Specifically, the setting process of points A to C is as follows:

[0056] The position of the vehicle body is manually adjusted so that the vehicle body of the AGV 100 is located in the middle of the rack 200 and the cantilever shaft 120 is inserted into the winding drum in a parallel manner with the winding drum, the current coordinates of the vehicle body are obtained and recorded as the coordinates of the point A;

[0057] The current angle of the vehicle body is obtained, and the coordinates of the points B and C are calculated according to the current angle of the vehicle body and the set distance between the points B and C and the point A, so that the angle of the line connecting the points A, B and C is parallel to the axis of the winding drum.

[0058] The setting process of points E and F is similar to that of points A to C, except that when the position of point E is taught, the end of the cantilever shaft 120 needs to be aligned with the front end of the material shaft of the machine table 300, and the cantilever shaft 120 is parallel to the material shaft, and then the coordinates of point F are calculated according to the preset distance between points F and E and the angle of the vehicle body, so that the line connecting points F and E is parallel to the axis of the material shaft.

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

[0060] Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the cantilever shaft docking method described above.

[0061] In some possible implementation manners, various aspects of the cantilever shaft docking method provided by the present application can also be implemented in the form of a program product, which includes program codes for causing the control device to perform the steps of the cantilever shaft docking method according to various exemplary embodiments of the present application described above in the specification when the program product is run on the device.

[0062] Based on the same inventive concept, the embodiments of the present application also provide a control device for implementing the cantilever shaft docking method described above, which includes a processor and a memory, the memory is electrically connected with the processor, and the processor is used to execute a computer program stored in the memory to implement the cantilever shaft docking method described above.

[0063] In a possible design, the processor can include one or more processing units, and the processor and the memory can be implemented on the same chip or on separate chips. The processor can 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 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the cantilever shaft docking method disclosed in combination with the embodiments of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0064] The memory, as a non-volatile computer readable storage medium, 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, can include flash memory, hard disk, multimedia card, card type memory, random access memory (RAM), static random access memory (SRAM), programmable read only memory (PROM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. The memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and / or data.

[0065] By designing and programming the processor, the code corresponding to the cantilever shaft docking method introduced in the foregoing embodiments can be fixed into the chip, so that the chip can execute the steps of the cantilever shaft docking method of the embodiments shown in the present application at runtime. How to design and program the processor is a technology known to those skilled in the art, which will not be described here.

[0066] Reference Figures 3 to 5, based on the same inventive concept, the real-time example of the present application also provides a coil logistics system, which comprises a rack 200 and an AGV 100. The AGV 100 comprises 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, the cantilever shaft 120 is connected with the cantilever shaft lifting mechanism 130, and the cantilever shaft lifting mechanism 130 is used to drive the cantilever shaft 120 to lift in the vertical direction. The end of the cantilever shaft 120 is provided with an identification camera 121, the top of the vehicle body 110 is provided with a positioning radar 140, the periphery of the vehicle body 110 is provided with an obstacle avoidance radar 150, and the length direction of the chassis of the vehicle body 110 is parallel to the cantilever shaft 120. A distance measuring sensor 160 is also arranged on the chassis of the vehicle body 110. The rack 200 is used to place the coil to be taken or the empty coil drum. The bottom of the rack 200 is provided with a parking space 210 for the chassis of the vehicle body 110 to be inserted. The distance measuring sensor 160 is used to detect the transverse vertical distance between the vehicle body 110 and the baffle 211 on both sides of the parking space 210 when the AGV 100 is docked with the rack 200. The cantilever shaft lifting mechanism 130, the identification camera 121, the positioning radar 140, the obstacle avoidance radar 150 and the distance measuring sensor 160 are electrically connected with the control system.

[0067] In some embodiments, in order to further adjust the transverse position of the cantilever shaft 120 relative to the coil drum or the coil shaft on the rack 200 when docking, with reference to Figure 3 , the AGV 100 comprises a transverse moving platform 170, which is arranged on the chassis of the vehicle body 110, and 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, and the transverse moving platform 170 is electrically connected with the control system.

[0068] In this embodiment, the positioning radar 140 and the distance measuring sensor 160 are both laser radars. The positioning radar 140 obtains the point cloud of the surrounding environment, obtains the XY angle and position coordinates of the AGV 100 through the 2D slam algorithm, and the distance measuring sensor 160 obtains the point cloud of the baffle 211 on both sides of the parking space 210 of the rack 200, thereby obtaining two straight lines of the baffle 211 on both sides. The vertical distance between the vehicle body 110 and the straight line is calculated to obtain the transverse vertical distance of the vehicle body 110 relative to the rack 200.

[0069] In the embodiment, the control system comprises an industrial computer and a single-chip microcomputer, the industrial computer is electrically connected with the single-chip microcomputer, the single-chip microcomputer is electrically connected with the cantilever shaft lifting mechanism 130 and the transverse moving platform 170, the identification camera 121, the positioning radar 140, the obstacle avoidance radar 150 and the distance measuring sensor 160 are electrically connected with the industrial computer, the industrial computer is responsible for running the slam navigation algorithm, the circle identification algorithm and the like, calculating the moving direction and distance of the AGV 100 and the moving distance of the cantilever shaft lifting mechanism 130 and the transverse moving platform 170, and generating corresponding control instructions and issuing the control instructions to the driving mechanism of the vehicle body 110 and the single-chip microcomputer, and the single-chip microcomputer controls the actions of the transverse moving platform 170 and the cantilever lifting mechanism according to the received control instructions.

[0070] The control system comprises an acquisition module, a navigation module, a rack 200 docking module, a machine table 300 docking module, an offset correction module, a reel docking module and a shaft docking module arranged in the 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 transverse vertical distance between the vehicle body 110 and the baffle 211 of the parking space 210, the image of the reel on the rack 200 and the image of the shaft on the machine table 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 of the vehicle body 110 and the rack 200, to calculate the parking position of the subsequent docking process according to the actual position of the vehicle body 110 parked in front of the rack 200, and to modify the target position of the navigation module according to the docking progress with the rack 200. The machine table 300 docking module is used to control the docking process of the vehicle body 110 and the machine table 300, to calculate the parking position of the subsequent docking process according to the actual position of the vehicle body 110 parked in front of the machine table 300, and to modify the target position of the navigation module according to the docking progress with the machine table 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 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 in the center of the parking space 210 and the axis of the vehicle body 110 is parallel to the axis of the reel on the rack 200. The reel docking module is used to identify the real-time position of the reel from the image of the reel, and to 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 shaft docking module is used to identify the real-time position of the reel from the image of the reel, and to adjust the position of the cantilever shaft 120 according to the real-time position of the reel, so that the end of the cantilever shaft 120 is docked with the front end of the shaft.

[0071] It can be understood that the reel docking module and the spool docking module can obtain the position of the reel or the spool by recognizing the circle in the image of the reel or the image of the spool. In practice, since the spool is a solid shaft, the spool docking module can also recognize the position of the spool by recognizing the features printed or arranged on the front end of the spool. In the embodiment, the reel docking module comprises a circle recognition module, which recognizes the center of the end face of the reel in the image of the reel collected and calculates the difference between the center and the calibrated coordinates, and controls the horizontal moving platform 170 and the cantilever shaft lifting mechanism 130 to act according to the difference, so that the recognized center coincides with the calibrated coordinates. The spool docking module comprises a two-dimensional code correction module, which recognizes the position of the correction two-dimensional code printed on the end of the spool to obtain the position of the axis of the spool, calculates the difference between the actual position of the correction two-dimensional code and the calibrated position, and controls the horizontal moving platform 170 and the cantilever shaft lifting mechanism 130 to act according to the difference, so that the recognized position of the correction two-dimensional code coincides with the calibrated position.

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

[0073] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams 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 apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks. Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks.

[0074] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The device that implements the functions specified in one flow or multiple flows and / or blocks.Figure 1 the function specified in the one or more blocks.

[0075] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable devices to generate a computer implemented process, so that the instructions executed on the computer or other programmable devices provide a process for implementing the flowchart Figure 1 the flowchart or flowcharts and / or a block Figure 1 the steps of the function specified in the one or more blocks.

[0076] It should be noted that in the description of the present application, if there is a description of orientation, such as the orientation or position relationship indicated by the above, below, front, back, left, right and the like, it is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed or operated in a particular orientation, and cannot be understood as a limitation on the present application.

[0077] In the description of the present application, the meaning of several is one or more, the meaning of multiple is two and more than two, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number. If there is a description of first or second and the like, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0078] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0079] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by the person skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A cantilever shaft docking method, characterized in that: The process includes a rack docking process, which 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 point C and point B, so that the body angle of the AGV trolley (100) is equal to the angle between point C and 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. 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 transverse 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 angle between the preset point C and point A. The position of the vehicle body or the cantilever shaft (120) is adjusted according to the real-time transverse vertical distance between the vehicle body and the baffle (211) of the material rack (200) so that the transverse 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 the machine is also included, and the process of docking the machine includes the following steps: Navigate the AGV trolley (100) to a preset point F, rotate the body of the AGV trolley (100) according to the preset angle between point F and point E, so that the body angle of the AGV trolley (100) is equal to the angle between point F and point E, and obtain 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 docking position F', and the position of the material shaft on the machine (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 car (100) to point E', the angle of the car body is obtained in real time, and the angle of the car body is adjusted according to the real-time angle of the car body so that the angle of the car 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, obtain the current body coordinates and record them as the coordinates of point A; Get the current body angle, calculate the coordinates of points B and C based on the current body angle and the set distances between points B and C and point A, so that the angle of the line connecting points A, B and 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: The device 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), and the cantilever shaft lifting mechanism (130) is used to drive the cantilever shaft (120) to move up and down in the 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 bottom of the vehicle body (110) is provided with a plurality of radars. The length direction of the disk is parallel to the cantilever shaft (120); a distance sensor (160) is provided 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; a parking space (210) for inserting the chassis of the vehicle body (110) is provided at the bottom of the material rack (200); 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); 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, wherein the control system includes: an acquisition module, for acquiring 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 material rack (200), and the image of the material shaft on the machine platform (300); A navigation module, configured to navigate the vehicle body (110) according to the position coordinates of the parking space (210), and to navigate the vehicle body (110) to a target position; a material rack (200) docking module, for controlling the docking process between the vehicle body (110) and the material rack (200), calculating the docking position of the subsequent docking process based on the actual position of the vehicle body (110) docked in front of the material rack (200), and modifying the target position of the navigation module based on the docking progress with the material rack (200); a docking module for the machine (300), for controlling the docking process between the vehicle (110) and the machine (300), calculating the docking position of the subsequent docking process based on the actual position of the vehicle (110) docked in front of the machine (300), and modifying the target position of the navigation module based on the docking progress with the machine (300); an offset correction module 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, for identifying the real-time position of the roll from an 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.

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

8. 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.

9. The coil material logistics system according to claim 6, characterized in that: The teaching module is further included, and the teaching module is used to record the position coordinates and angles 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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