CN111620027A - AGV carrying goods shelf positioning system and positioning method - Google Patents
AGV carrying goods shelf positioning system and positioning method Download PDFInfo
- Publication number
- CN111620027A CN111620027A CN202010572247.6A CN202010572247A CN111620027A CN 111620027 A CN111620027 A CN 111620027A CN 202010572247 A CN202010572247 A CN 202010572247A CN 111620027 A CN111620027 A CN 111620027A
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- Prior art keywords
- agv
- probe
- positioning system
- infrared induction
- induction frame
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- 238000000034 method Methods 0.000 title claims description 8
- 239000000523 sample Substances 0.000 claims abstract description 43
- 230000006698 induction Effects 0.000 claims abstract description 40
- 230000032258 transport Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an AGV carrying goods shelf positioning system which comprises an AGV carrying trolley and a goods shelf, wherein a jacking plate used for jacking the goods shelf is arranged at the top of the AGV carrying trolley, an infrared induction frame is arranged on the jacking plate, and a vertical probe used for triggering the infrared induction frame is arranged at the bottom of the goods shelf. After the infrared induction frame senses the probe, the current corresponding in-frame X and Y coordinate values can be output to determine the offset of the probe relative to the infrared induction frame, and further determine the offset of the AGV trolley and the goods shelf.
Description
Technical Field
The invention relates to the technical field of warehouse logistics equipment, in particular to a goods shelf positioning method, and particularly relates to the field of AGV warehouses.
Background
AGVs (automated guided vehicles) are a sub-category in the industrial robot industry, are equipped with automatic guide devices such as electromagnetic and optical devices, can travel along a predetermined guide path, and are used mainly for transportation in practice. AGV often uses in logistics storage transports the goods shelves of placing the article that need sort to manual sorting platform, carries out the transport task.
AGV warehouse transport field needs AGV to lift transport goods shelves after arriving goods shelves below, and common technique is for goods shelves below center subsides including the identification code such as the two-dimensional code of position and ID information, and a yard camera is swept in AGV dolly upper portion assembly, acquires goods shelves X, Y skew position according to sweeping a yard camera reading information.
The problems existing in the prior art are as follows:
1. the code scanning camera is expensive and inconvenient to maintain.
2. The two-dimensional code under the goods shelf is pasted to have an error and is not easy to maintain.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an AGV carrying goods shelf positioning system and a positioning method thereof.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a AGV transport goods shelves positioning system, includes AGV transport trolley and goods shelves, AGV transport trolley top is provided with the jacking dish that is used for jacking up goods shelves, is provided with infrared induction frame on the jacking dish, installs a probe of inverting in goods shelves bottom, and the head of this probe presents for sharp-pointed shape, and when goods shelves were by the jack-up, the sharp-pointed part of this probe head can pass the plane of infrared induction frame to this shelters from infrared light for infrared frame can respond to the position of probe head.
The infrared induction frame is quadrilateral, and the infrared induction frame is horizontally arranged.
The infrared induction frame is rectangular, and the diagonal dimension of the infrared induction frame is 10-100 cm. .
The infrared induction frame is square, and the side length is 10-100 cm.
The probe is positioned on the central point of the bottom surface of the goods shelf.
The diameter of the probe is 1-3mm, and the length is 2-5 mm.
An AGV carrying goods shelf positioning method comprises the following steps:
when the AGV carrying trolley reaches the lower part of the goods shelf, a jacking disc on the AGV carrying trolley is lifted;
when the jacking plate rises, the plastic probe reaches the infrared induction frame, and a sensor on the infrared induction frame acquires the induced data;
and converting the data returned by the induction frame into the offset values of the X and Y horizontal planes to obtain the offset value of the goods shelf relative to the AGV carrying trolley.
Has the advantages that: the shelf positioning is realized by combining the infrared induction frame and the probes, the cost can be reduced to one tenth of that of the conventional scheme, the cost is greatly reduced, and the probes are better maintained than the two-dimensional codes.
Drawings
FIG. 1 is a schematic diagram of an AGV handling rack positioning system according to the present invention;
wherein, 1, AGV floor truck, 2, goods shelves, 3, infrared induction frame, 4, probe.
Detailed Description
The invention will be further illustrated with reference to the following specific examples.
Referring to fig. 1, a square infrared induction frame 3 is arranged on a jacking plate at the center of an AGV carrying trolley 2, and the center of the infrared induction frame is the center of the trolley.
The probe 4 is centrally positioned under the shelf 2.
After the infrared induction frame is adopted to sense the probe, the X and Y coordinate values in the frame corresponding to the current position can be output to determine the offset of the probe relative to the infrared induction frame, and further determine the offset of the AGV trolley and the goods shelf.
The relative position data of the center of the infrared induction frame and the center of the jacking plate are known, and the relative position data of the top of the probe for measuring the induction sharp part and the center of the shelf are known. The offset data may be scaled and measured based on known data.
The infrared induction frame can be rectangular, and the diagonal dimension of the infrared induction frame is 10-100 cm. Typically over 10.1 inches diagonal for ease of manufacturing.
The infrared induction frame can also be a square, and the side length is 10-100 cm.
The size of the infrared induction frame is adjusted according to the size of the lifting disc, so that the infrared induction frame is convenient to mount.
In this embodiment, the infrared sensing frame 3 is a square, and the side length is 18.143cm in this embodiment. By adopting the infrared induction frame with the specification, the detection precision meets the requirement, the cost performance is high, the installation position is convenient, the installation surface is large if the size is too large, the price is high, and the matching with the probe is difficult if the size is too small.
The diameter of the probe is 1-3mm, the length of the probe is 2-5mm, and the probe is a plastic probe or a stainless steel probe. The size of the sharp-pointed part at the top of the probe for measuring and positioning is determined according to the positioning accuracy, the shape of the probe is cylindrical, the length of the probe is determined according to the distance between an AGV disc and a goods shelf, and the diameter of the probe is 2mm and the length of the probe is 4 mm.
The probe can carry out size adjustment according to actual conditions, and it is enough to satisfy actual conditions.
An AGV carrying goods shelf positioning method comprises the following steps:
AGV reachs goods shelves below, and AGV jacking dish has certain distance apart from AGV.
2. A plastic probe is assembled under the center of the goods shelf, and the length of the plastic probe is slightly smaller than the distance between the jacking disc and the bottom of the goods shelf.
3, lifting the jacking plate of the AGV, fixing the infrared induction frame on the jacking plate, and lifting the jacking plate.
4. Along with the lifting of the jacking disc, the plastic probe reaches the infrared induction frame, and the sensor on the infrared induction frame acquires the sensed data.
5. And converting the data returned by the induction frame into the offset value of X and Y, and obtaining the offset value of the goods shelf relative to the AGV.
The AGV carrying trolley can execute the shelf deviation rectifying logic processing according to the deviation value.
The shelf positioning is realized by combining the infrared induction frame and the probes, the cost can be reduced to one tenth of that of the conventional scheme, the cost is greatly reduced, and the probes are better maintained than the two-dimensional codes.
If the infrared induction frame 3 is not located in the center of the AGV carrying trolley, the offset of the infrared induction frame is added when the offset value is calculated.
Similarly, if the plastic probe is not located at the center of the bottom of the shelf, the offset of the plastic probe is added to calculate the offset value
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention patent claims is defined by the appended claims and their equivalents.
Claims (7)
1. The utility model provides a AGV transport goods shelves positioning system, includes AGV transport trolley and goods shelves, characterized by, AGV transport trolley top is provided with the jacking dish that is used for jack-up goods shelves, is provided with the infrared induction frame on the jacking dish, installs a probe of inverting in goods shelves bottom, and the head of this probe presents for sharp-pointed shape, and when goods shelves were by jack-up, the sharp-pointed part of this probe head can pass the plane of infrared induction frame to this shelters from infrared light, makes the position that the probe head can be responded to infrared frame.
2. The AGV handling rack positioning system of claim 1, wherein the infrared sensor frames are quadrilateral and horizontally arranged.
3. The AGV transport rack positioning system of claim 1, wherein the infrared sensor frame is rectangular with a diagonal dimension of 10-100 cm.
4. The AGV handling rack positioning system of claim 1, wherein the infrared sensor frames are square with a side length of 10-30 cm.
5. The AGV transport rack positioning system of claim 1 wherein the probes are located on the bottom surface of the rack.
6. The AGV transport rack positioning system of claim 1 wherein the probes are 1-3mm in diameter and 2-5mm in length.
7. An AGV carrying goods shelf positioning method is characterized by comprising the following steps:
when the AGV carrying trolley reaches the lower part of the goods shelf, a jacking disc on the AGV carrying trolley is lifted;
when the jacking plate rises, the plastic probe reaches the infrared induction frame, and a sensor on the infrared induction frame acquires the induced data;
and converting the data returned by the induction frame into the offset values of the X and Y horizontal planes to obtain the offset value of the goods shelf relative to the AGV carrying trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010572247.6A CN111620027A (en) | 2020-06-22 | 2020-06-22 | AGV carrying goods shelf positioning system and positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010572247.6A CN111620027A (en) | 2020-06-22 | 2020-06-22 | AGV carrying goods shelf positioning system and positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111620027A true CN111620027A (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010572247.6A Pending CN111620027A (en) | 2020-06-22 | 2020-06-22 | AGV carrying goods shelf positioning system and positioning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896960A (en) * | 2021-01-11 | 2021-06-04 | 珠海格力智能装备有限公司 | Conveying system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472854A (en) * | 2013-09-11 | 2013-12-25 | 无锡普智联科高新技术有限公司 | AGV hoisting correction system based on non-guided path and method thereof |
| CN207001433U (en) * | 2017-03-17 | 2018-02-13 | 上海快仓智能科技有限公司 | Storage rack, the pallet for storage rack and storage rack system |
| CN108944501A (en) * | 2018-06-11 | 2018-12-07 | 河南森源电气股份有限公司 | A kind of AGV vehicle, recharging device and charging system |
| CN110435475A (en) * | 2019-07-31 | 2019-11-12 | 珠海达明科技有限公司 | A kind of AGV automatic charge device and method |
| CN212333654U (en) * | 2020-06-22 | 2021-01-12 | 上海发网云物流科技有限公司 | AGV carrying goods shelf positioning system |
-
2020
- 2020-06-22 CN CN202010572247.6A patent/CN111620027A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472854A (en) * | 2013-09-11 | 2013-12-25 | 无锡普智联科高新技术有限公司 | AGV hoisting correction system based on non-guided path and method thereof |
| CN207001433U (en) * | 2017-03-17 | 2018-02-13 | 上海快仓智能科技有限公司 | Storage rack, the pallet for storage rack and storage rack system |
| CN108944501A (en) * | 2018-06-11 | 2018-12-07 | 河南森源电气股份有限公司 | A kind of AGV vehicle, recharging device and charging system |
| CN110435475A (en) * | 2019-07-31 | 2019-11-12 | 珠海达明科技有限公司 | A kind of AGV automatic charge device and method |
| CN212333654U (en) * | 2020-06-22 | 2021-01-12 | 上海发网云物流科技有限公司 | AGV carrying goods shelf positioning system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896960A (en) * | 2021-01-11 | 2021-06-04 | 珠海格力智能装备有限公司 | Conveying system |
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