CN113110440A - Latent AGV shelf automatic identification and adjustment system and method - Google Patents

Latent AGV shelf automatic identification and adjustment system and method Download PDF

Info

Publication number
CN113110440A
CN113110440A CN202110379167.3A CN202110379167A CN113110440A CN 113110440 A CN113110440 A CN 113110440A CN 202110379167 A CN202110379167 A CN 202110379167A CN 113110440 A CN113110440 A CN 113110440A
Authority
CN
China
Prior art keywords
agv
scanning area
radar scanning
safety
radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110379167.3A
Other languages
Chinese (zh)
Other versions
CN113110440B (en
Inventor
陈子瑜
娄兵兵
王俊石
詹鹏飞
王琼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Huasheng Intelligent Equipment Co.,Ltd.
Original Assignee
Huasheng Intelligent Automation Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huasheng Intelligent Automation Equipment Co ltd filed Critical Huasheng Intelligent Automation Equipment Co ltd
Priority to CN202110379167.3A priority Critical patent/CN113110440B/en
Publication of CN113110440A publication Critical patent/CN113110440A/en
Application granted granted Critical
Publication of CN113110440B publication Critical patent/CN113110440B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a hidden AGV shelf automatic identification and adjustment system and a method, wherein a laser navigator is used for detecting a center position coordinate A of an AGV; detecting whether obstacles exist in each safety radar scanning area or not by using a first obstacle avoidance radar arranged in the left front of the AGV trolley and a second anti-collision radar arranged in the right rear of the AGV trolley; and the controller determines the working mode of the AGV according to the central position coordinates, and then utilizes whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar to realize automatic identification and adjust the AGV shelf to take goods according to the original set route according to the working mode. By adopting the technical scheme disclosed by the invention, the left and right position deviation of the goods shelf can be within 15cm, the front and back position deviation theoretically has no upper limit, and the angle deviation is within 3 degrees, so that the correction can be realized.

Description

Latent AGV shelf automatic identification and adjustment system and method
Technical Field
The invention relates to the technical field of identification and adjustment, in particular to a hidden AGV shelf automatic identification and adjustment system and method.
Background
The most widely used Automatic Guided Vehicle (AGV) is a latent AGV (Automated Guided Vehicle) that drills into the bottom of a rack for lifting and conveying. However, no matter in production logistics or storage logistics, if the shelf conveying in the previous link is abnormal, the position and the angle of the shelf deviate from the preset value, the traditional AGV collision avoidance mode has the following defects: firstly, when the situation that the AGV cannot normally enter the current shelf position is judged, the AGV gives an alarm and needs manual processing, so that logistics are interrupted, and automatic identification and adjustment cannot be realized; secondly, when the current goods shelf position AGV can enter, after the AGV takes goods according to the original set route, unbalance loading is possibly caused, the dumping risk is generated in the conveying process, or the goods shelf position deviation is brought to the next conveying link, so that automatic identification and adjustment cannot be realized.
Disclosure of Invention
The invention aims to provide a hidden AGV shelf automatic identification and adjustment system and a hidden AGV shelf automatic identification and adjustment method, so as to realize automatic identification and adjustment of AGV shelves to pick up goods according to an original set route.
In order to achieve the above object, the present invention provides a latent AGV shelf automatic identification adjustment system, which includes:
the laser navigator is used for detecting a center position coordinate A of the AGV;
the first obstacle avoidance radar is arranged in front of the AGV left side;
the second anti-collision radar is arranged at the right rear side of the AGV; the first obstacle avoidance radar and the second anti-collision radar are used for detecting whether obstacles exist in each safety radar scanning area or not;
the controller is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision radar; the controller includes:
the working mode determining module is used for determining the working mode of the AGV according to the central position coordinates;
and the adjustment control module is used for adjusting and controlling the AGV according to a working mode by utilizing whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar.
Optionally, the working mode determining module specifically includes:
a first operation mode determining unit for when the distance between A, B points is >1/2AGV car length +1/2 shelf length, the AGV car being in a first operation mode; b is a final parking coordinate point of the AGV;
the second working mode determining unit is used for setting the AGV in a second working mode when the set length is less than or equal to the distance between two points of A, B and the AGV car length is less than or equal to 1/2 and the shelf length is less than or equal to 1/2;
and a third operation mode determination unit for setting the AGV car in the third operation mode when the distance between the two points 0< A, B < the set length.
Optionally, the adjusting control module specifically includes:
the first safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the left side leg of the goods shelf as a first safety radar scanning area when the AGV works in a first working mode;
the second safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the right side leg of the goods shelf as a second safety radar scanning area when the AGV works in the first working mode;
the third safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a third safety radar scanning area when the AGV trolley works in the first working mode;
the first adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the second adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the third adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in a third safety radar scanning area transmitted by the first obstacle avoidance radar;
the fourth safety radar scanning area determining unit is used for setting areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas when the AGV works in the second working mode;
the fifth safety radar scanning area determining unit is used for setting an area, which is formed by the AGV trolley body to the inner sides of the left and right side supporting legs of the goods shelf and has a width smaller than that of the fourth safety radar scanning area, as a fifth safety radar scanning area when the AGV trolley works in the second working mode;
the sixth safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a sixth safety radar scanning area when the AGV trolley works in the second working mode;
the fourth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in a fourth safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the fifth adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the fourth safety radar scanning area transmitted by the second obstacle avoidance radar has an obstacle, and controlling the AGV to adjust the driving track rightwards;
the sixth adjustment control unit is used for indicating that the AGV cannot be adjusted automatically and controlling the AGV to stop when the controller receives that an obstacle exists in a fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar;
the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar;
the seventh safety radar scanning area determining unit is used for setting the area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area when the AGV works in the third working mode; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley;
and the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist.
Optionally, the set length is any value of 50-100 mm.
The invention also provides a latent AGV shelf automatic identification and adjustment system, which comprises:
the laser navigator is used for detecting a center position coordinate A of the AGV;
the first obstacle avoidance radar is arranged at the right front of the AGV;
the second anti-collision radar is arranged at the left rear part of the AGV; the first obstacle avoidance radar and the second anti-collision radar are used for detecting whether obstacles exist in each safety radar scanning area or not;
the controller is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision radar; the controller includes:
the working mode determining module is used for determining the working mode of the AGV according to the central position coordinates;
and the adjustment control module is used for adjusting and controlling the AGV according to a working mode by utilizing whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar.
Optionally, the working mode determining module specifically includes:
a first operation mode determining unit for when the distance between A, B points is >1/2AGV car length +1/2 shelf length, the AGV car being in a first operation mode; b is a final parking coordinate point of the AGV;
the second working mode determining unit is used for setting the AGV in a second working mode when the set length is less than or equal to the distance between two points of A, B and the AGV car length is less than or equal to 1/2 and the shelf length is less than or equal to 1/2;
and a third operation mode determination unit for setting the AGV car in the third operation mode when the distance between the two points 0< A, B < the set length.
Optionally, the adjusting control module specifically includes:
the first safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the right side leg of the goods shelf as a first safety radar scanning area when the AGV works in a first working mode;
the second safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the left side leg of the goods shelf as a second safety radar scanning area when the AGV works in the first working mode;
the third safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a third safety radar scanning area when the AGV trolley works in the first working mode;
the first adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the second adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the third adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in a third safety radar scanning area transmitted by the first obstacle avoidance radar;
the fourth safety radar scanning area determining unit is used for setting areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas when the AGV works in the second working mode;
the fifth safety radar scanning area determining unit is used for setting an area, which is formed by the AGV trolley body to the inner sides of the left and right side supporting legs of the goods shelf and has a width smaller than that of the fourth safety radar scanning area, as a fifth safety radar scanning area when the AGV trolley works in the second working mode;
the sixth safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a sixth safety radar scanning area when the AGV trolley works in the second working mode;
the fourth adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in a fourth safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the fifth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the fourth safety radar scanning area transmitted by the second obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the sixth adjustment control unit is used for indicating that the AGV cannot be adjusted automatically and controlling the AGV to stop when the controller receives that an obstacle exists in a fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar;
the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar;
the seventh safety radar scanning area determining unit is used for setting the area, exceeding the goods shelf, of the right side of the AGV body as a seventh safety radar scanning area when the AGV works in the third working mode; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the right side of the AGV trolley;
and the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist.
The invention also provides a latent AGV shelf automatic identification and adjustment method, which comprises the following steps:
step S1: acquiring a center position coordinate A of the AGV;
step S2: determining the working mode of the AGV according to the central position coordinates;
step S3: determining a safe radar scanning area in each working mode;
step S4: and judging whether barriers exist in each safety radar scanning area or not, and adjusting and controlling the AGV.
Optionally, determining the operating mode of the AGV according to the center position coordinate specifically includes:
when the distance between the A, B points is >1/2AGV car length +1/2 shelf length, the AGV car is in the first mode of operation; b is a final parking coordinate point of the AGV;
when the set length is less than or equal to 1/2AGV car length +1/2 shelf length when the distance between two points of A, B, the AGV car is in the second working mode;
when the distance between the two points 0< A, B < the set length, the AGV car is in the third mode of operation.
Optionally, the determining a safe radar scanning area in each working mode specifically includes:
when the AGV works in a first working mode, setting a region from the head of the AGV to the inner side of the left side leg of the goods shelf as a first safety radar scanning region, setting a region from the head of the AGV to the inner side of the right side leg of the goods shelf as a second safety radar scanning region, and setting a region at the front end of the traveling direction of the AGV as a third safety radar scanning region;
or when the AGV works in a first working mode, setting a region from the head of the AGV to the inner side of the right side leg of the goods shelf as a first safety radar scanning region, setting a region from the head of the AGV to the inner side of the left side leg of the goods shelf as a second safety radar scanning region, and setting a region at the front end of the traveling direction of the AGV as a third safety radar scanning region;
when the AGV car works in a second working mode, setting the areas from the car body of the AGV car to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas, setting the areas from the car body of the AGV car to the inner sides of the left and right side supporting legs of the goods shelf, wherein the width of the areas is smaller than that of the fourth safety radar scanning areas as fifth safety radar scanning areas, and setting the area at the front end in the moving direction of the AGV car as sixth safety radar scanning areas;
when the AGV works in the third working mode, setting the area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley;
or when the AGV works in the third working mode, setting the area of the right side of the AGV body, which exceeds the goods shelf, as a seventh safety radar scanning area; and the width of the seventh safety radar scanning area is greater than or equal to the width from the right side of the goods shelf to the left side of the AGV trolley.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a hidden AGV shelf automatic identification and adjustment system and a method, wherein a laser navigator is used for detecting a center position coordinate A of an AGV; detecting whether obstacles exist in each safety radar scanning area or not by using a first obstacle avoidance radar arranged in the left front of the AGV trolley and a second anti-collision radar arranged in the right rear of the AGV trolley; and the controller determines the working mode of the AGV according to the central position coordinates, and then utilizes whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar to realize automatic identification and adjust the AGV shelf to take goods according to the original set route according to the working mode. By adopting the technical scheme disclosed by the invention, the left and right position deviation of the goods shelf can be within 15cm, the front and back position deviation theoretically has no upper limit, and the angle deviation is within 3 degrees, so that the correction can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 to obtain other drawings without inventive exercise.
FIG. 1 is a top view of a latent AGV shelf automatic identification adjustment system according to an embodiment of the present invention 1;
FIG. 2 is a three-dimensional view of a shelf according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of three safety radar scanning areas of an AGV car in a first operating mode according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of three safety radar scanning areas of an AGV according to embodiment 1 of the present invention in a second operating mode;
FIG. 5 is a schematic diagram of three safety radar scanning areas of an AGV according to embodiment 1 of the present invention in a third operating mode;
fig. 6 is a flowchart of an automatic identification and adjustment method for a latent AGV rack according to embodiment 3 of the present invention.
Description of the symbols: 1. laser navigator, 2, first obstacle avoidance radar, 3, second anticollision radar, 4, a controller, 5, lift the crossbeam, 6, first safe radar scanning area, 7, second safe radar scanning area, 8, third safe radar scanning area, 9, fourth safe radar scanning area, 10, fifth safe radar scanning area, 11, sixth safe radar scanning area, 12, seventh safe radar scanning area, 13, eighth safe radar scanning area, 14, ninth safe radar scanning area.
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.
The invention aims to provide a hidden AGV shelf automatic identification and adjustment system and a hidden AGV shelf automatic identification and adjustment method, so as to realize automatic identification and adjustment of AGV shelves to pick up goods according to an original set route.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the present invention discloses a latent AGV shelf automatic identification and adjustment system, which comprises:
and the laser navigator 1 is used for detecting the center position coordinate A of the AGV.
First obstacle-avoiding radar 2 is arranged in the left front of the AGV.
The second anti-collision radar 3 is arranged at the right rear side of the AGV; and the first obstacle avoidance radar and the second anti-collision radar are used for detecting whether obstacles exist in each safety radar scanning area.
The controller 4 is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision radar; the controller includes: an operation mode determining module and an adjustment control module,
the working mode determining module is used for determining the working mode of the AGV according to the central position coordinates; the working modes of the AGV comprise a first working mode, a second working mode and a third working mode.
The working mode determining module specifically includes: the device comprises a first working mode determining unit, a second working mode determining unit and a third working mode determining unit; the first operation mode determining unit is used for determining that the AGV trolley is in the first operation mode when the distance between A, B points is more than 1/2AGV trolley length +1/2 shelf length; and B is a final parking coordinate point of the AGV. The second operation mode determining unit is used for setting the AGV in the second operation mode when the set length is less than or equal to the distance between A, B points and less than or equal to 1/2AGV car length +1/2 shelf length. The third operating mode determining unit is adapted to set the AGV cart in the third operating mode when the distance between the two points 0< A, B < the set length. In this embodiment, the set length is selected empirically, and the empirical value is any value of 50-100 mm. The goods shelf comprises a lifting beam 5, and the specific structure diagram is shown in figure 2.
And the adjustment control module is used for adjusting and controlling the AGV according to a working mode by utilizing whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar.
The scanning length of the first obstacle avoidance radar 2 and the second anti-collision radar 3 is generally determined according to the space size of the actual working condition, the larger the space is, the farther the distance the anti-collision radar can be set is, and the scanning length of the general anti-collision radar is less than or equal to 4 meters. The scan width is an empirical value and is generally less than the inboard width of the 1/2 shelf legs. And the distance between the positioning device and the inner side of the support leg of the goods shelf is 10mm, so that the positioning precision is ensured to be within 10 mm.
The adjustment control module is composed of the following units, specifically as follows:
and the first safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the left side leg of the goods shelf as a first safety radar scanning area 6 when the AGV works in the first working mode, as shown in (a) in FIG. 3.
And the second safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the right leg of the goods shelf as a second safety radar scanning area 7 when the AGV works in the first working mode, as shown in (b) in FIG. 3.
And a third safety radar scanning area determining unit, configured to set an area at the front end in the traveling direction of the AGV cart as a third safety radar scanning area 8 when the AGV cart operates in the first operating mode, as shown in fig. 3 (c).
And the first adjustment control unit is used for explaining that the AGV deflects rightwards relative to the goods shelf when the controller receives that the first safety radar scanning area 6 transmitted by the first obstacle avoidance radar has a barrier, and controlling the AGV to adjust the driving track rightwards.
And the second adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the second safety radar scanning area 7 transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards.
And the third adjustment control unit is used for controlling the AGV to stop when the controller receives the obstacle in the third safety radar scanning area 8 transmitted by the first obstacle avoidance radar.
And the fourth safety radar scanning area determining unit is used for setting the areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas 9 when the AGV works in the second working mode, as shown in (a) in FIG. 4.
And the fifth safety radar scanning area determining unit is used for setting an area, which is from the body of the AGV to the inner sides of the left and right side legs of the shelf and has a width smaller than that of the fourth safety radar scanning area, as a fifth safety radar scanning area 10 when the AGV operates in the second operating mode, as shown in (b) of fig. 4.
And a sixth safety radar scanning area determining unit configured to set an area of a front end in a traveling direction of the AGV cart as a sixth safety radar scanning area 11 when the AGV cart operates in the second operation mode, as shown in fig. 4 (c).
And the fourth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the fourth safety radar scanning area 9 transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards.
And the fifth adjustment control unit is used for explaining that the AGV deflects rightwards relative to the goods shelf when the fourth safety radar scanning area 9 transmitted by the second obstacle avoidance radar is received by the controller and has a barrier, and controlling the AGV to adjust the driving track rightwards.
And the sixth adjustment control unit is used for indicating that the AGV cannot be automatically adjusted when the controller receives that the obstacle exists in the fifth safety radar scanning area 10 transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar, and controlling the AGV to stop.
And the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in the sixth safety radar scanning area 11 transmitted by the first obstacle avoidance radar.
The seventh safety radar scanning area determining unit is used for setting an area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area 12 when the AGV works in the third working mode; and the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley. A seventh safety radar scan area is shown in fig. 5.
And the eighth safety radar scanning area determining unit is used for setting the area from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf, wherein the width of the area is smaller than that of the fourth safety radar scanning area 9, as an eighth safety radar scanning area 13 when the AGV works in the third working mode, as shown in FIG. 5.
And a ninth safety radar scanning area determining unit, configured to set an area of a front end in a traveling direction of the AGV cart as a ninth safety radar scanning area 14 when the AGV cart operates in the third operating mode, as shown in fig. 5.
And the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives whether the obstacle in the seventh safety radar scanning area 12 transmitted by the first obstacle avoidance radar exists or not.
The ninth adjustment control unit is used for controlling the AGV to stop and processing the position of the goods shelf when the controller receives that the eighth safety radar scanning area 13 transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar has an obstacle, which indicates that the deviation of the goods shelf is overlarge and the AGV cannot be adjusted by self; the processing of the shelf positions can be either manual or automatic.
And the tenth adjustment control unit is used for controlling the AGV to stop when the controller receives the obstacle in the ninth safety radar scanning area 14 transmitted by the first obstacle avoidance radar.
Example 2
This embodiment will be first keep away the right front of barrier radar setting at the AGV dolly, and second anticollision radar sets up the left rear at the AGV dolly.
The adjustment control module specifically includes:
and the first safety radar scanning area determining unit is used for setting the area from the head of the AGV to the inner side of the right side leg of the goods shelf as a first safety radar scanning area when the AGV works in the first working mode.
And the second safety radar scanning area determining unit is used for setting the area from the head of the AGV to the inner side of the left side leg of the goods shelf as a second safety radar scanning area when the AGV works in the first working mode.
And the third safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a third safety radar scanning area when the AGV trolley works in the first working mode.
And the first adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards.
And the second adjustment control unit is used for explaining that the AGV deflects rightwards relative to the goods shelf when the controller receives the obstacle in the second safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards.
And the third adjustment control unit is used for controlling the AGV to stop when the controller receives the obstacle in the third safety radar scanning area transmitted by the first obstacle avoidance radar.
And the fourth safety radar scanning area determining unit is used for setting the areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas when the AGV works in the second working mode.
And the fifth safety radar scanning area determining unit is used for setting the area from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf and with the width smaller than that of the fourth safety radar scanning area as a fifth safety radar scanning area when the AGV works in the second working mode.
And the sixth safety radar scanning area determining unit is used for setting the area at the front end in the advancing direction of the AGV trolley as a sixth safety radar scanning area when the AGV trolley works in the second working mode.
And the fourth adjustment control unit is used for explaining that the AGV deflects rightwards relative to the goods shelf when the controller receives that the fourth safety radar scanning area transmitted by the first obstacle avoidance radar has obstacles, and controlling the AGV to adjust the driving track rightwards.
And the fifth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the fourth safety radar scanning area transmitted by the second obstacle avoidance radar has an obstacle, and controlling the AGV to adjust the driving track leftwards.
And the sixth adjustment control unit is used for indicating that the AGV cannot be adjusted automatically and controlling the AGV to stop when the controller receives the obstacle in the fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar.
And the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives the obstacle in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar.
The seventh safety radar scanning area determining unit is used for setting the area, exceeding the goods shelf, of the right side of the AGV body as a seventh safety radar scanning area when the AGV works in the third working mode; and the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the right side of the AGV trolley.
And the eighth safety radar scanning area determining unit is used for setting the area from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf and with the width smaller than that of the fourth safety radar scanning area as an eighth safety radar scanning area when the AGV works in the third working mode.
And the ninth safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a ninth safety radar scanning area when the AGV trolley works in the third working mode.
And the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist.
The ninth adjustment control unit is used for indicating that the deviation of the goods shelf is overlarge and the AGV cannot be adjusted by self when the controller receives that an obstacle exists in an eighth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar, controlling the AGV to stop and processing the position of the goods shelf; the processing of the shelf positions can be either manual or automatic.
And the tenth adjustment control unit is used for controlling the AGV to stop when the controller receives the obstacle in the ninth safety radar scanning area transmitted by the first obstacle avoidance radar.
Except for this, the positions and functions of the devices are the same as those of embodiment 1, and are not described in detail here.
Example 3
As shown in fig. 6, the present invention further provides a method for automatically identifying and adjusting a latent AGV rack, where the method includes:
step S1: acquiring a center position coordinate A of the AGV;
step S2: determining the working mode of the AGV according to the central position coordinates;
step S3: determining a safe radar scanning area in each working mode;
step S4: and judging whether barriers exist in each safety radar scanning area or not, and adjusting and controlling the AGV.
In this embodiment, determining the operating mode of the AGV according to the center position coordinates is the same as that in embodiment 1, and is not described herein again.
Step S3: determining a safe radar scanning area in each working mode, specifically comprising:
when the AGV dolly work in first mode, set up the locomotive of AGV dolly to the inboard region of goods shelves left side branch leg to first safety radar scanning area, set up the locomotive of AGV dolly to the inboard region of goods shelves right side branch leg to second safety radar scanning area, set up the region of AGV dolly advancing direction front end to third safety radar scanning area.
Or when the AGV dolly works in a first working mode, the area from the head of the AGV dolly to the inner side of the right side leg of the goods shelf is set as a first safety radar scanning area, the area from the head of the AGV dolly to the inner side of the left side leg of the goods shelf is set as a second safety radar scanning area, and the area from the front end of the advancing direction of the AGV dolly is set as a third safety radar scanning area.
When the AGV dolly works in the second working mode, the area from the body of the AGV dolly to the inner sides of the left and right side supporting legs of the goods shelf is set as the fourth safety radar scanning area, the area from the body of the AGV dolly to the inner sides of the left and right side supporting legs of the goods shelf and with the width smaller than the fourth safety radar scanning area is set as the fifth safety radar scanning area, and the area from the traveling direction front end of the AGV dolly is set as the sixth safety radar scanning area.
When the AGV works in the third working mode, setting the area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area; and the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley. Or when the AGV works in the third working mode, setting the area of the right side of the AGV body, which exceeds the goods shelf, as a seventh safety radar scanning area; and the width of the seventh safety radar scanning area is greater than or equal to the width from the right side of the goods shelf to the left side of the AGV trolley.
When the AGV trolley works in the third working mode, the area from the body of the AGV trolley to the inner sides of the left and right side supporting legs of the goods shelf and with the width smaller than the fourth safety radar scanning area is set as an eighth safety radar scanning area. And when the AGV works in the third working mode, setting the area at the front end of the advancing direction of the AGV as a ninth safety radar scanning area.
Step S4: judge whether each safe radar scanning area has the barrier, and then the adjustment control AGV dolly specifically includes:
when the controller receives that the first safety radar scanning area transmitted by the first obstacle avoidance radar has the obstacle, the controller indicates that the AGV deflects rightwards relative to the goods shelf, and controls the AGV to adjust the driving track rightwards. Or when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, the controller indicates that the AGV deflects leftwards relative to the goods shelf, and controls the AGV to adjust the driving track leftwards.
When the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, the controller indicates that the AGV deflects leftwards relative to the goods shelf, and controls the AGV to adjust the driving track leftwards. Or when the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, the controller indicates that the AGV deflects rightwards relative to the goods shelf, and controls the AGV to adjust the driving track rightwards.
And when the controller receives that the obstacle exists in the third safety radar scanning area transmitted by the first obstacle avoidance radar, controlling the AGV to stop.
When the controller receives that the fourth safety radar scanning area transmitted by the first obstacle avoidance radar has an obstacle, the controller indicates that the AGV trolley deflects leftwards relative to the goods shelf, and controls the AGV trolley to adjust the driving track leftwards. Or when the controller receives that the fourth safety radar scanning area transmitted by the first obstacle avoidance radar has the obstacle, the controller indicates that the AGV trolley deflects rightwards relative to the goods shelf, and controls the AGV trolley to adjust the driving track rightwards.
When the controller receives that the fourth safety radar scanning area transmitted by the second obstacle avoidance radar has an obstacle, the controller indicates that the AGV trolley deflects rightwards relative to the goods shelf, and controls the AGV trolley to adjust the driving track rightwards. Or when the controller receives that the fourth safety radar scanning area transmitted by the second obstacle avoidance radar has an obstacle, the controller indicates that the AGV trolley deflects leftwards relative to the goods shelf, and controls the AGV trolley to adjust the driving track leftwards.
When the controller receives that an obstacle exists in a fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar, the fact that the deviation of the goods shelf is too large and the AGV cannot be adjusted automatically is indicated, the AGV is controlled to stop, and the position of the goods shelf is processed; the processing of the shelf positions can be either manual or automatic.
And when the controller receives that the obstacle exists in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar, controlling the AGV to stop.
And when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist, controlling the AGV to stop.
When the controller receives that an obstacle exists in an eighth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar, the fact that the deviation of the goods shelf is too large and the AGV cannot be adjusted automatically is indicated, the AGV is controlled to stop, and the position of the goods shelf is processed; the processing of the shelf positions can be either manual or automatic.
And when the controller receives that the ninth safety radar scanning area transmitted by the first obstacle avoidance radar has an obstacle, controlling the AGV to stop.
The method disclosed by the invention detects the position of the goods shelf to be taken by utilizing different area shapes of the safety radar, and adjusts the AGV advancing track of the final parking position by the goods shelf position detected by the safety radar, thereby achieving the effect of deviation rectification and improving the goods taking precision and the fault tolerance rate. In addition, the technical scheme disclosed by the invention can ensure that the left and right position deviation of the goods shelf is within 15cm, the front and back position deviation theoretically has no upper limit, and the angle deviation is within 3 degrees, so that the correction can be realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to assist in understanding the core concepts of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A latent AGV shelf auto-id adjustment system, comprising:
the laser navigator is used for detecting a center position coordinate A of the AGV;
the first obstacle avoidance radar is arranged in front of the AGV left side;
the second anti-collision radar is arranged at the right rear side of the AGV; the first obstacle avoidance radar and the second anti-collision radar are used for detecting whether obstacles exist in each safety radar scanning area or not;
the controller is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision radar; the controller includes:
the working mode determining module is used for determining the working mode of the AGV according to the central position coordinates;
and the adjustment control module is used for adjusting and controlling the AGV according to a working mode by utilizing whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar.
2. The automatic latent AGV rack recognition adjustment system of claim 1, wherein the operation mode determination module specifically comprises:
a first operation mode determining unit for when the distance between A, B points is >1/2AGV car length +1/2 shelf length, the AGV car being in a first operation mode; b is a final parking coordinate point of the AGV;
the second working mode determining unit is used for setting the AGV in a second working mode when the set length is less than or equal to the distance between two points of A, B and the AGV car length is less than or equal to 1/2 and the shelf length is less than or equal to 1/2;
and a third operation mode determination unit for setting the AGV car in the third operation mode when the distance between the two points 0< A, B < the set length.
3. The automatic latent AGV rack recognition regulation system of claim 2 wherein the regulation control module specifically comprises:
the first safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the left side leg of the goods shelf as a first safety radar scanning area when the AGV works in a first working mode;
the second safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the right side leg of the goods shelf as a second safety radar scanning area when the AGV works in the first working mode;
the third safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a third safety radar scanning area when the AGV trolley works in the first working mode;
the first adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the second adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the third adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in a third safety radar scanning area transmitted by the first obstacle avoidance radar;
the fourth safety radar scanning area determining unit is used for setting areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas when the AGV works in the second working mode;
the fifth safety radar scanning area determining unit is used for setting an area, which is formed by the AGV trolley body to the inner sides of the left and right side supporting legs of the goods shelf and has a width smaller than that of the fourth safety radar scanning area, as a fifth safety radar scanning area when the AGV trolley works in the second working mode;
the sixth safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a sixth safety radar scanning area when the AGV trolley works in the second working mode;
the fourth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in a fourth safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the fifth adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the fourth safety radar scanning area transmitted by the second obstacle avoidance radar has an obstacle, and controlling the AGV to adjust the driving track rightwards;
the sixth adjustment control unit is used for indicating that the AGV cannot be adjusted automatically and controlling the AGV to stop when the controller receives that an obstacle exists in a fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar;
the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar;
the seventh safety radar scanning area determining unit is used for setting the area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area when the AGV works in the third working mode; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley;
and the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist.
4. The automatic latent AGV rack recognition adjustment system of claim 2 wherein said set length is any one of 50-100 mm.
5. A latent AGV shelf auto-id adjustment system, comprising:
the laser navigator is used for detecting a center position coordinate A of the AGV;
the first obstacle avoidance radar is arranged at the right front of the AGV;
the second anti-collision radar is arranged at the left rear part of the AGV; the first obstacle avoidance radar and the second anti-collision radar are used for detecting whether obstacles exist in each safety radar scanning area or not;
the controller is respectively connected with the laser navigator, the first obstacle avoidance radar and the second anti-collision radar; the controller includes:
the working mode determining module is used for determining the working mode of the AGV according to the central position coordinates;
and the adjustment control module is used for adjusting and controlling the AGV according to a working mode by utilizing whether barriers exist in each safety radar scanning area detected by the first obstacle avoidance radar and/or the second anti-collision radar.
6. The automatic latent AGV rack recognition adjustment system of claim 5, wherein the operation mode determination module specifically comprises:
a first operation mode determining unit for when the distance between A, B points is >1/2AGV car length +1/2 shelf length, the AGV car being in a first operation mode; b is a final parking coordinate point of the AGV;
the second working mode determining unit is used for setting the AGV in a second working mode when the set length is less than or equal to the distance between two points of A, B and the AGV car length is less than or equal to 1/2 and the shelf length is less than or equal to 1/2;
and a third operation mode determination unit for setting the AGV car in the third operation mode when the distance between the two points 0< A, B < the set length.
7. The automatic latent AGV rack recognition regulation system of claim 6 wherein the regulation control module specifically comprises:
the first safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the right side leg of the goods shelf as a first safety radar scanning area when the AGV works in a first working mode;
the second safety radar scanning area determining unit is used for setting an area from the head of the AGV to the inner side of the left side leg of the goods shelf as a second safety radar scanning area when the AGV works in the first working mode;
the third safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a third safety radar scanning area when the AGV trolley works in the first working mode;
the first adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the first safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the second adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in the second safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the third adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in a third safety radar scanning area transmitted by the first obstacle avoidance radar;
the fourth safety radar scanning area determining unit is used for setting areas from the body of the AGV to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas when the AGV works in the second working mode;
the fifth safety radar scanning area determining unit is used for setting an area, which is formed by the AGV trolley body to the inner sides of the left and right side supporting legs of the goods shelf and has a width smaller than that of the fourth safety radar scanning area, as a fifth safety radar scanning area when the AGV trolley works in the second working mode;
the sixth safety radar scanning area determining unit is used for setting the area at the front end of the AGV trolley in the advancing direction as a sixth safety radar scanning area when the AGV trolley works in the second working mode;
the fourth adjustment control unit is used for indicating that the AGV deflects rightwards relative to the goods shelf when the controller receives that the obstacle exists in a fourth safety radar scanning area transmitted by the first obstacle avoidance radar, and controlling the AGV to adjust the driving track rightwards;
the fifth adjustment control unit is used for indicating that the AGV deflects leftwards relative to the goods shelf when the controller receives that the obstacle exists in the fourth safety radar scanning area transmitted by the second obstacle avoidance radar, and controlling the AGV to adjust the driving track leftwards;
the sixth adjustment control unit is used for indicating that the AGV cannot be adjusted automatically and controlling the AGV to stop when the controller receives that an obstacle exists in a fifth safety radar scanning area transmitted by the first obstacle avoidance radar or the second obstacle avoidance radar;
the seventh adjustment control unit is used for controlling the AGV to stop when the controller receives that the obstacle exists in the sixth safety radar scanning area transmitted by the first obstacle avoidance radar;
the seventh safety radar scanning area determining unit is used for setting the area, exceeding the goods shelf, of the right side of the AGV body as a seventh safety radar scanning area when the AGV works in the third working mode; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the right side of the AGV trolley;
and the eighth adjusting and controlling unit is used for controlling the AGV to stop when the controller receives that the obstacle in the seventh safety radar scanning area transmitted by the first obstacle avoidance radar exists or does not exist.
8. A latent AGV shelf automatic identification and adjustment method is characterized by comprising the following steps:
step S1: acquiring a center position coordinate A of the AGV;
step S2: determining the working mode of the AGV according to the central position coordinates;
step S3: determining a safe radar scanning area in each working mode;
step S4: and judging whether barriers exist in each safety radar scanning area or not, and adjusting and controlling the AGV.
9. The automatic latent AGV rack recognition and adjustment method according to claim 8, wherein determining the operating mode of the AGV according to the center position coordinates specifically includes:
when the distance between the A, B points is >1/2AGV car length +1/2 shelf length, the AGV car is in the first mode of operation; b is a final parking coordinate point of the AGV;
when the set length is less than or equal to 1/2AGV car length +1/2 shelf length when the distance between two points of A, B, the AGV car is in the second working mode;
when the distance between the two points 0< A, B < the set length, the AGV car is in the third mode of operation.
10. The automatic latent AGV rack recognition and adjustment method according to claim 9, wherein the determining a safety radar scanning area in each operating mode specifically includes:
when the AGV works in a first working mode, setting a region from the head of the AGV to the inner side of the left side leg of the goods shelf as a first safety radar scanning region, setting a region from the head of the AGV to the inner side of the right side leg of the goods shelf as a second safety radar scanning region, and setting a region at the front end of the traveling direction of the AGV as a third safety radar scanning region;
or when the AGV works in a first working mode, setting a region from the head of the AGV to the inner side of the right side leg of the goods shelf as a first safety radar scanning region, setting a region from the head of the AGV to the inner side of the left side leg of the goods shelf as a second safety radar scanning region, and setting a region at the front end of the traveling direction of the AGV as a third safety radar scanning region;
when the AGV car works in a second working mode, setting the areas from the car body of the AGV car to the inner sides of the left and right side supporting legs of the goods shelf as fourth safety radar scanning areas, setting the areas from the car body of the AGV car to the inner sides of the left and right side supporting legs of the goods shelf, wherein the width of the areas is smaller than that of the fourth safety radar scanning areas as fifth safety radar scanning areas, and setting the area at the front end in the moving direction of the AGV car as sixth safety radar scanning areas;
when the AGV works in the third working mode, setting the area, exceeding the goods shelf, of the left side of the AGV body as a seventh safety radar scanning area; the width of the seventh safety radar scanning area is greater than or equal to the width from the left side of the goods shelf to the left side of the AGV trolley;
or when the AGV works in the third working mode, setting the area of the right side of the AGV body, which exceeds the goods shelf, as a seventh safety radar scanning area; and the width of the seventh safety radar scanning area is greater than or equal to the width from the right side of the goods shelf to the left side of the AGV trolley.
CN202110379167.3A 2021-04-08 2021-04-08 Latent AGV shelf automatic identification and adjustment system and method Active CN113110440B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110379167.3A CN113110440B (en) 2021-04-08 2021-04-08 Latent AGV shelf automatic identification and adjustment system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110379167.3A CN113110440B (en) 2021-04-08 2021-04-08 Latent AGV shelf automatic identification and adjustment system and method

Publications (2)

Publication Number Publication Date
CN113110440A true CN113110440A (en) 2021-07-13
CN113110440B CN113110440B (en) 2022-11-22

Family

ID=76714611

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110379167.3A Active CN113110440B (en) 2021-04-08 2021-04-08 Latent AGV shelf automatic identification and adjustment system and method

Country Status (1)

Country Link
CN (1) CN113110440B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113848828A (en) * 2021-09-08 2021-12-28 广州杰赛科技股份有限公司 Automatic obstacle avoidance control method, device, equipment and medium for AGV trolley
CN115202350A (en) * 2022-07-15 2022-10-18 盐城工学院 Automatic transportation system of AGV dolly

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011230563A (en) * 2010-04-26 2011-11-17 Nissan Motor Co Ltd Device for supporting driving on narrow road
CN103823468A (en) * 2014-02-28 2014-05-28 西安理工大学 Sneaking type AGV navigation and location system and location method
CN105487510A (en) * 2015-12-18 2016-04-13 中国印钞造币总公司 Locus guiding method and apparatus of mobile scanning vehicle in stack zone environment
CN106363668A (en) * 2016-10-08 2017-02-01 浙江国自机器人技术有限公司 Dynamic detection safety protection method of mobile robot
CN106379684A (en) * 2016-11-11 2017-02-08 杭州南江机器人股份有限公司 Submersible AGV abut-joint method and system and submersible AGV
WO2017090108A1 (en) * 2015-11-25 2017-06-01 株式会社日立製作所 Shelf arrangement system, conveyance robot, and shelf arrangement method
CN109189066A (en) * 2018-08-31 2019-01-11 深圳市易成自动驾驶技术有限公司 AGV trolley and shelf interconnection method, device and computer readable storage medium
CN109254564A (en) * 2017-07-13 2019-01-22 杭州海康机器人技术有限公司 Article carrying method, apparatus, terminal and computer readable storage medium
CN109808686A (en) * 2019-04-02 2019-05-28 上海快仓智能科技有限公司 Vehicle obstacle-avoidance method, apparatus and vehicle
CN209037711U (en) * 2018-08-28 2019-06-28 浙江精功机器人智能装备有限公司 A kind of big load AGV omnidirectional detection system
CN110002367A (en) * 2019-03-28 2019-07-12 上海快仓智能科技有限公司 AGV form regulation system and method during AGV Transport cargo rack
CN111624618A (en) * 2020-06-09 2020-09-04 安徽意欧斯物流机器人有限公司 Positioning method and carrying platform integrating laser SLAM and two-dimensional code navigation
CN111624991A (en) * 2019-11-11 2020-09-04 深圳市荣盛智能装备有限公司 Method for driving fire-fighting robot in narrow lane
CN211920788U (en) * 2020-03-31 2020-11-13 成都星芽创新科技有限公司 L-shaped transportation robot

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011230563A (en) * 2010-04-26 2011-11-17 Nissan Motor Co Ltd Device for supporting driving on narrow road
CN103823468A (en) * 2014-02-28 2014-05-28 西安理工大学 Sneaking type AGV navigation and location system and location method
WO2017090108A1 (en) * 2015-11-25 2017-06-01 株式会社日立製作所 Shelf arrangement system, conveyance robot, and shelf arrangement method
CN105487510A (en) * 2015-12-18 2016-04-13 中国印钞造币总公司 Locus guiding method and apparatus of mobile scanning vehicle in stack zone environment
CN106363668A (en) * 2016-10-08 2017-02-01 浙江国自机器人技术有限公司 Dynamic detection safety protection method of mobile robot
CN106379684A (en) * 2016-11-11 2017-02-08 杭州南江机器人股份有限公司 Submersible AGV abut-joint method and system and submersible AGV
CN109254564A (en) * 2017-07-13 2019-01-22 杭州海康机器人技术有限公司 Article carrying method, apparatus, terminal and computer readable storage medium
CN209037711U (en) * 2018-08-28 2019-06-28 浙江精功机器人智能装备有限公司 A kind of big load AGV omnidirectional detection system
CN109189066A (en) * 2018-08-31 2019-01-11 深圳市易成自动驾驶技术有限公司 AGV trolley and shelf interconnection method, device and computer readable storage medium
CN110002367A (en) * 2019-03-28 2019-07-12 上海快仓智能科技有限公司 AGV form regulation system and method during AGV Transport cargo rack
CN109808686A (en) * 2019-04-02 2019-05-28 上海快仓智能科技有限公司 Vehicle obstacle-avoidance method, apparatus and vehicle
CN111624991A (en) * 2019-11-11 2020-09-04 深圳市荣盛智能装备有限公司 Method for driving fire-fighting robot in narrow lane
CN211920788U (en) * 2020-03-31 2020-11-13 成都星芽创新科技有限公司 L-shaped transportation robot
CN111624618A (en) * 2020-06-09 2020-09-04 安徽意欧斯物流机器人有限公司 Positioning method and carrying platform integrating laser SLAM and two-dimensional code navigation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李岩: "基于STM32的重载AGV系统设计", 《工业控制计算机》 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113848828A (en) * 2021-09-08 2021-12-28 广州杰赛科技股份有限公司 Automatic obstacle avoidance control method, device, equipment and medium for AGV trolley
CN115202350A (en) * 2022-07-15 2022-10-18 盐城工学院 Automatic transportation system of AGV dolly
CN115202350B (en) * 2022-07-15 2023-06-09 盐城工学院 Automatic conveying system of AGV dolly

Also Published As

Publication number Publication date
CN113110440B (en) 2022-11-22

Similar Documents

Publication Publication Date Title
CN113110440B (en) Latent AGV shelf automatic identification and adjustment system and method
CN111268566B (en) Automatic container landing system and method on container truck lane based on laser
KR101356047B1 (en) Moving carriage system and interference avoiding method by moving carriage
US10315697B2 (en) Vehicle comprising a manoeuvring system
US20210316975A1 (en) Autonomous forklift truck
US9637123B2 (en) Method for operating a self-propelled mobile platform
US11708252B2 (en) Automated hitch for automated vehicle
CA2901037A1 (en) Automotive milling machine, as well as method for discharging milled material
JP6756450B2 (en) Crane control system and control method
JP7023009B2 (en) Autonomous traveling robot system
KR20220086689A (en) industrial vehicle
JP2018036723A (en) Article delivery facilities
JP7469494B2 (en) Method for controlling an automated guided vehicle and a control system configured to carry out said method - Patents.com
US11027953B2 (en) Method for monitoring the road path of a truck and a floor conveyor
CN112731920A (en) Method and device for controlling conveying equipment, conveying equipment and storage medium
JP2007323478A (en) Truck
JP2002182744A (en) Approach guide device for unmanned carrier to pallet
CN215516523U (en) Omnidirectional movement forklift capable of being intelligently aligned and positioned
JP2003073093A (en) Automated forklift
US11667502B2 (en) Industrial truck, configured for driverless, autonomously acting operation for a load to be transported
KR101689779B1 (en) System and method for automatic guided vehicle
JP2023154902A (en) Obstacle detection device and traveling control device
CN106516989A (en) Container collision preventing method and system
CN208271028U (en) A kind of control system of the secondary accurate positioning suitable for AGV
CN214523535U (en) Floor truck and radiation inspection system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address

Address after: 266000 C1 / F, Zone C, Qingdao Industrial Technology Research Institute, 17 Songyuan Road, high tech Zone, Qingdao, Shandong Province

Patentee after: Qingdao Huasheng Intelligent Equipment Co.,Ltd.

Country or region after: China

Address before: 266000 C1 / F, Zone C, Qingdao Industrial Technology Research Institute, 17 Songyuan Road, high tech Zone, Qingdao, Shandong Province

Patentee before: Huasheng intelligent automation equipment Co.,Ltd.

Country or region before: China

CP03 Change of name, title or address