CN112340339A - Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car - Google Patents
Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car Download PDFInfo
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- CN112340339A CN112340339A CN202011241445.0A CN202011241445A CN112340339A CN 112340339 A CN112340339 A CN 112340339A CN 202011241445 A CN202011241445 A CN 202011241445A CN 112340339 A CN112340339 A CN 112340339A
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- fork
- agv
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- shuttle
- tunnel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a control system and a control method for accurately placing a roadway by a fork AGV (automatic guided vehicle), which comprises the following steps: the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf; the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle. Therefore, when the fork type AGV carries and places the shuttle car, the actual position of the corresponding roadway can be obtained through the industrial camera, and the fork is controlled to automatically laterally move, so that the shuttle car can be accurately and stably placed in the specified roadway; and can be stably placed no matter how many layers are.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a control system and a control method for accurately placing a roadway by a fork type AGV (automatic guided vehicle) carrying shuttle vehicle.
Background
The AGV, which is called an Automated Guided Vehicle, is generally applied to a logistics system or a factory, and is used for automatically transporting goods to a destination according to a user instruction, and also transporting a shuttle to a specified lane on a specified shelf. When the number of the tunnel layers on the goods shelf is small, for example, when only two layers exist, the AGV generally can accurately place the shuttle car to the specified tunnel. However, when the number of the lanes on the rack is large, for example, more than three layers, if the ground is slightly uneven, the AGV (or the rack) may incline at a certain angle (left-right inclination or front-back inclination), even if the ground is inclined at a small angle, the positional deviation of the fork relative to the rack will gradually increase with the rise of the AGV fork, and the placement of the shuttle vehicle has a high requirement on the accuracy. This problem needs to be solved.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a control system and a control method for accurately and stably placing a fork AGV transporting shuttle vehicle of the shuttle vehicle in a roadway.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a control system for a fork AGV handling shuttle to accurately place a roadway, the control system comprising:
the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf;
the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle.
Further, still be equipped with fork side on the fork AGV and move motor and lateral position feedback device, the AGV controller with the fork side control speed send for the fork side move the motor with the automatic side of control fork and move, lateral position feedback device feedback fork lateral position gives the AGV controller, the AGV controller moves to the automatic side of fork and carries out closed-loop control.
Further, still be equipped with laser navigation device on the fork AGV, laser navigation device with the AGV controller cooperation is right fork AGV carries out navigation motion control.
Further, the industrial camera is an infrared camera.
Further, the AGV controller is connected with the industrial camera through a GigE Vision protocol or a USB 3.0 Vision protocol.
A control method for accurately placing a roadway by a fork AGV (automatic guided vehicle) carrying shuttle car comprises the following steps:
a fork AGV is configured, an AGV controller is arranged on the fork AGV, the fork AGV is controlled to carry a shuttle to run to an appointed position according to an instruction, and the shuttle is placed on an appointed roadway on an appointed goods shelf;
configuring an industrial camera, arranging the industrial camera on a fork type AGV, shooting a roadway on a goods shelf, and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle.
Further, still be equipped with fork side on the fork AGV and move motor and lateral position feedback device, the AGV controller with the fork side control speed send for the fork side move the motor with the automatic side of control fork and move, lateral position feedback device feedback fork lateral position gives the AGV controller, the AGV controller moves to the automatic side of fork and carries out closed-loop control.
Further, still be equipped with laser navigation device on the fork AGV, laser navigation device be used for with the AGV controller cooperation is right fork AGV carries out navigation motion control.
The invention discloses a control system and a method for accurately placing a roadway by a fork AGV (automatic guided vehicle), which comprises the following steps: the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf; the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle. Therefore, when the fork type AGV carries and places the shuttle car, the actual position of the corresponding roadway can be obtained through the industrial camera, and the fork is controlled to automatically laterally move, so that the shuttle car can be accurately and stably placed in the specified roadway; and can be stably placed no matter how many layers are.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a control system for a fork AGV transporting shuttle vehicle to accurately place a roadway according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a control system for a fork AGV transporting shuttle to accurately place a lane according to an embodiment of the present invention. Fork AGV carries shuttle accurate control system who places tunnel includes: the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf; the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle. Therefore, when the fork type AGV carries and places the shuttle car, the actual position of the corresponding roadway can be obtained through the industrial camera, and the fork is controlled to automatically laterally move, so that the shuttle car can be accurately and stably placed in the specified roadway; and can be stably placed no matter how many layers are.
Wherein, industry camera is infrared camera, so, can be used to night or the not good occasion of light. The AGV controller is connected with the industrial camera through a GigE Vision protocol or a USB 3.0 Vision protocol.
Further, still be equipped with fork side on the fork AGV and move motor and lateral position feedback device, the AGV controller with the fork side control speed send for the fork side move the motor with the automatic side of control fork and move, lateral position feedback device feedback fork lateral position gives the AGV controller, the AGV controller moves to the automatic side of fork and carries out closed-loop control. So, AGV controller can adjust the distance that the fork moved in real time, and more accurate control fork is placed the shuttle on the tunnel.
And the fork AGV is also provided with a laser navigation device, the laser navigation device is matched with the AGV controller to control the navigation motion of the fork AGV, and the fork AGV is controlled to automatically travel according to a user instruction, so that the shuttle vehicle can be carried to an appointed goods position.
The invention also provides a control method for accurately placing a roadway by using the fork AGV to transport the shuttle, which comprises the following steps: a fork AGV is configured, an AGV controller is arranged on the fork AGV, the fork AGV is controlled to carry a shuttle to run to an appointed position according to an instruction, and the shuttle is placed on an appointed roadway on an appointed goods shelf; configuring an industrial camera, arranging the industrial camera on a fork type AGV, shooting a roadway on a goods shelf, and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle. Therefore, when the fork type AGV carries and places the shuttle car, the actual position of the corresponding roadway can be obtained through the industrial camera, and the fork is controlled to automatically laterally move, so that the shuttle car can be accurately and stably placed in the specified roadway; and can be stably placed no matter how many layers are.
Further, still be equipped with fork side on the fork AGV and move motor and lateral position feedback device, the AGV controller with the fork side control speed send for the fork side move the motor with the automatic side of control fork and move, lateral position feedback device feedback fork lateral position gives the AGV controller, the AGV controller moves to the automatic side of fork and carries out closed-loop control. So, AGV controller can adjust the distance that the fork moved in real time, and more accurate control fork is placed the shuttle on the tunnel.
And the fork AGV is also provided with a laser navigation device, the laser navigation device is used for matching with the AGV controller to control the navigation motion of the fork AGV, and the fork AGV is controlled to automatically travel according to a user instruction, so that the shuttle vehicle can be carried to an appointed goods position.
The invention discloses a control system and a method for accurately placing a roadway by a fork AGV (automatic guided vehicle), which comprises the following steps: the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf; the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle. Therefore, when the fork type AGV carries and places the shuttle car, the actual position of the corresponding roadway can be obtained through the industrial camera, and the fork is controlled to automatically laterally move, so that the shuttle car can be accurately and stably placed in the specified roadway; and can be stably placed no matter how many layers are.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention disclosed herein are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The utility model provides a control system in accurate tunnel of placing of fork AGV transport shuttle which characterized in that, control system includes:
the fork type AGV is provided with an AGV controller, controls the fork type AGV to carry the shuttle to a specified position according to the instruction, and places the shuttle on a specified tunnel on a specified goods shelf;
the industrial camera is arranged on the fork type AGV and is used for shooting a roadway on the goods shelf and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle.
2. The control system of claim 1, wherein a fork side shift motor and a lateral position feedback device are further arranged on the fork AGV, the AGV controller sends a fork side shift control speed to the fork side shift motor to control the automatic fork side shift, the lateral position feedback device feeds back a fork lateral position to the AGV controller, and the AGV controller performs closed-loop control on the automatic fork side shift.
3. The control system of claim 1, wherein said fork AGV is further provided with a laser navigation device, said laser navigation device cooperating with said AGV controller to control the navigation movement of said fork AGV.
4. The control system of claim 1, wherein the industrial camera is an infrared camera.
5. The control system of claim 1 wherein said AGV controller is connected to said industrial camera via GigE Vision protocol or USB 3.0 Vision protocol.
6. A control method for accurately placing a roadway by a fork AGV (automatic guided vehicle) for transporting a shuttle car is characterized by comprising the following steps of:
a fork AGV is configured, an AGV controller is arranged on the fork AGV, the fork AGV is controlled to carry a shuttle to run to an appointed position according to an instruction, and the shuttle is placed on an appointed roadway on an appointed goods shelf;
configuring an industrial camera, arranging the industrial camera on a fork type AGV, shooting a roadway on a goods shelf, and sending a shot roadway picture to the AGV controller; the AGV controller carries out visual identification and positioning calculation according to the tunnel picture that the industry camera was shot, to the tunnel location, controls the automatic side of fork and moves, makes the accurate tunnel of placing of shuttle.
7. The control method according to claim 6, wherein a fork side-shifting motor and a lateral position feedback device are further arranged on the fork AGV, the AGV controller sends a fork side-shifting control speed to the fork side-shifting motor to control the automatic fork side-shifting, the lateral position feedback device feeds back the fork lateral position to the AGV controller, and the AGV controller performs closed-loop control on the automatic fork side-shifting.
8. The control method of claim 6, wherein said fork AGV is further provided with a laser navigation device, said laser navigation device being adapted to cooperate with said AGV controller to control the navigation movement of said fork AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241445.0A CN112340339A (en) | 2020-11-09 | 2020-11-09 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241445.0A CN112340339A (en) | 2020-11-09 | 2020-11-09 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
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| CN112340339A true CN112340339A (en) | 2021-02-09 |
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| CN202011241445.0A Pending CN112340339A (en) | 2020-11-09 | 2020-11-09 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105974922A (en) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | Tunnel automatic guide vehicle, guide system, and operating method for guide system |
| CN206075134U (en) * | 2016-06-29 | 2017-04-05 | 上海诺力智能科技有限公司 | A kind of tunnel automatic guided vehicle and guidance system |
| US20180029797A1 (en) * | 2016-07-28 | 2018-02-01 | X Development Llc | Inventory Management |
| CN109987550A (en) * | 2019-04-04 | 2019-07-09 | 北京极智嘉科技有限公司 | A kind of high position forklift, the calibration method and storage medium for giving back storage container |
| CN210366859U (en) * | 2019-01-28 | 2020-04-21 | 浙江文源信息科技有限公司 | AGV fork truck of area intelligence camera |
| CN111498755A (en) * | 2020-05-29 | 2020-08-07 | 青岛宇方机器人工业股份有限公司 | Fork truck that possesses fork automatic adjustment function |
| CN111620014A (en) * | 2020-04-30 | 2020-09-04 | 南京理工大学 | Multilayer pallet identification and obstacle avoidance device and method for storage and transportation AGV |
-
2020
- 2020-11-09 CN CN202011241445.0A patent/CN112340339A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105775544A (en) * | 2016-05-11 | 2016-07-20 | 深圳普智联科机器人技术有限公司 | Warehousing system with simple and convenient positioning function and cargo delivery method |
| CN105974922A (en) * | 2016-06-29 | 2016-09-28 | 上海诺力智能科技有限公司 | Tunnel automatic guide vehicle, guide system, and operating method for guide system |
| CN206075134U (en) * | 2016-06-29 | 2017-04-05 | 上海诺力智能科技有限公司 | A kind of tunnel automatic guided vehicle and guidance system |
| US20180029797A1 (en) * | 2016-07-28 | 2018-02-01 | X Development Llc | Inventory Management |
| CN210366859U (en) * | 2019-01-28 | 2020-04-21 | 浙江文源信息科技有限公司 | AGV fork truck of area intelligence camera |
| CN109987550A (en) * | 2019-04-04 | 2019-07-09 | 北京极智嘉科技有限公司 | A kind of high position forklift, the calibration method and storage medium for giving back storage container |
| CN111620014A (en) * | 2020-04-30 | 2020-09-04 | 南京理工大学 | Multilayer pallet identification and obstacle avoidance device and method for storage and transportation AGV |
| CN111498755A (en) * | 2020-05-29 | 2020-08-07 | 青岛宇方机器人工业股份有限公司 | Fork truck that possesses fork automatic adjustment function |
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Application publication date: 20210209 |