CN203520162U - AGV lifting correcting system based on guide path - Google Patents
AGV lifting correcting system based on guide path Download PDFInfo
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- CN203520162U CN203520162U CN201320564932.XU CN201320564932U CN203520162U CN 203520162 U CN203520162 U CN 203520162U CN 201320564932 U CN201320564932 U CN 201320564932U CN 203520162 U CN203520162 U CN 203520162U
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Abstract
The utility model relates to an AGV lifting correcting system based on a guide path. The main technical characteristics of the AGV lifting correcting system is that the AGV lifting correcting system includes a cargo tray in a tray storing area, a regular graphic code positioning controller installed on an AGV, a tray label code reader installed in a central area of the AGV body, a ground label code reader installed on the lower surface of the AGV, a ground regular graphic code label laid on the ground and a tray regular graphic code label laid on the lower surface of the cargo tray. The regular graphic code positioning controller is connected with the tray label code reader and the ground label code reader respectively. The regular graphic code positioning controller analyzes and processes regular graphic code images that are read and corrects a position of the lifting cargo tray. The AGV lifting correcting system provided by the utility model is reasonable in design. A cargo tray correcting function is realized in a process that the AGV lifts the cargo tray based on the guide path. Errors of the AGV relative to the cargo tray are reduced and reliability and stability of AGV transportation are guaranteed.
Description
Technical field
The utility model belongs to AGV technical field, especially a kind of AGV lifting corrective system based on guide path.
Background technology
AGV is a kind of unpiloted full-automatic carrier, can be widely used in intelligent storage or intelligent parking lot.Under normal circumstances, the working method of AGV is: before carrying cargo, cargo pallet is deposited in to the appointed area on AGV guide path, on the ground at this center, appointed area, be laid with two-dimension code label, before AGV lifts goods, by the two-dimension code label correction self of pallet storing district center and the pose of cargo pallet, in the time of before AGV arrival impact point puts down goods, be by the two-dimension code label at center, impact point ground, to proofread and correct the pose of cargo storage too.Because AGV is in operational process, subtasking allows the error of 1 centimetre from starting point to impact point each time, when continuous subtasking, can produce cumulative errors.For example, before AGV lifting cargo pallet, if the error with 1 centimetre is lifted goods, now, cargo pallet is equivalent to the error that AGV will produce 1 centimetre, when arriving impact point, AGV distance objective point also can produce the error of 1 centimetre again, and cargo pallet is equivalent to the cumulative errors that AGV will produce 2 centimetres.In order to control cumulative errors, need AGV when each subtasking, eliminate cargo pallet with respect to the error of AGV, in order to reduce the cumulative errors of cargo pallet as far as possible.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of AGV lifting corrective system based on guide path is provided, the error problem producing with respect to cargo pallet for solving AGV lifting cargo pallet process.
The utility model solves existing technical matters and takes following technical scheme to realize:
A kind of AGV lifting corrective system based on guide path, comprise the cargo pallet in pallet storing district, be arranged on the rule schema shape code register control on AGV, be arranged on the label tray code reader in AGV car body central area, be arranged on the ground label code reader of AGV car lower surface, ground ground rule schema shape code label and the pallet rule schema shape code label of cargo pallet lower surface of being laid in are laid in, rule schema shape code register control is connected with ground label code reader with label tray code reader respectively, label tray code reader and ground label code reader read respectively pallet rule schema shape code label and ground rule schema shape code label and send rule schema shape code register control to, by rule schema shape code register control, the rule schema shape code image reading is carried out to analyzing and processing and lifting cargo pallet position is proofreaied and correct.
And described pallet rule schema shape code label and ground rule schema shape code label are two-dimension code label, described label tray code reader and ground label code reader are Quick Response Code code reader.
And described pallet storing district is the rectangular region on AGV guide path.
And, the be laid in center of cargo pallet lower surface of described pallet rule schema shape code label, the be laid in center in pallet storing district of described ground rule schema shape code label.
And described label tray code reader is arranged in the square opening of AGV car body central area, its upper surface is no more than the upper surface of AGV car body, and this label tray code reader is towards cargo pallet; Described ground label code reader has two, and two ground label code readers are arranged on respectively center line front end and the center of AGV bottom lengths direction, and two ground label code readers are towards ground.
And, described rule schema shape code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of the travelling speed of AGV, and this microprocessor is connected with label tray code reader, ground label code reader by communication interface and gathers pallet rule schema shape code label information and ground rule schema shape code label information and proofread and correct processing.
Advantage of the present utility model and good effect are:
The utility model tray label code reader and ground label code reader on ground and cargo pallet, lay respectively rule schema shape code label respectively on AGV, by rule schema shape code register control, control respectively ground rule schema shape code code reader and cargo pallet rule schema shape code code reader carries out rule schema shape code image reading, in the AGV lifting cargo pallet process of realization based on guide path for the calibration function of cargo pallet, reduce the error of AGV with respect to cargo pallet, guaranteed the reliability and stability of AGV transportation.
Accompanying drawing explanation
Fig. 1 is system connection diagram of the present utility model;
Tu2Wei pallet storing district and ground rule schema shape code label be related to schematic diagram;
Fig. 3 is the structural representation of cargo pallet lower surface;
Fig. 4 is the structural representation of AGV upper surface;
Fig. 5 is the structural representation of AGV lower surface;
Fig. 6 is the code reader position view on AGV;
In figure, 1-0:AGV upper surface, 1-1:AGV car body, 1-2:AGV wheel; 1-3: cargo pallet code reader support; 1-4: label tray code reader; 1-5: rule schema shape code register control; 1-6: the first ground label code reader; 1-7: the second ground label code reader; 2-1: cargo pallet lower surface; 2-2: cargo pallet registration holes; 2-3: cargo pallet leg; 2-4: pallet rule schema shape code label; 3: pallet storing district; 4: ground rule schema shape code label.
Embodiment
Below in conjunction with accompanying drawing, the utility model embodiment is further described.
A kind of AGV lifting corrective system based on guide path, as shown in Figure 1, comprise cargo pallet in pallet storing district, be arranged on rule schema shape code register control on AGV, be arranged on label tray code reader in AGV car body central area, be arranged on the ground label code reader of AGV car lower surface, the pallet rule schema shape code label of be laid in ground ground rule schema shape code label and the cargo pallet lower surface that is laid in.Rule schema shape code register control is connected with ground label code reader with label tray code reader respectively, label tray code reader and ground label code reader read respectively pallet rule schema shape code label and the ground ground rule schema shape code label under cargo pallet and send rule schema shape code register control to, by rule schema shape code register control, the rule schema shape code image reading is carried out to analyzing and processing, realize the calibration function to cargo pallet in AGV lifting cargo pallet process.Described rule schema shape code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of the travelling speed of AGV, this microprocessor is connected with label tray code reader, ground label code reader by communication interface and gathers pallet rule schema shape code label information and ground rule schema shape code label information, this communication interface is the interfaces such as network interface, USB interface or 1394 interfaces, and this Quick Response Code code reader is the camera with interfaces such as network interface, USB interface or 1394 interfaces.
As shown in Figure 2, in ground warehouse district or parking lot, be provided with pallet storing district 3, this pallet storing district is rectangular region, lays ground rule schema shape code label 4 in the center in pallet storing district, the path of navigation walking that AGV can set along landing ground regular figure code label.
As Fig. 3, the be laid in center of cargo pallet lower surface 2-1 of pallet rule schema shape code label 2-4, at cargo pallet lower surface, be also provided with four registration holes 2-2 and four cargo pallet leg 2-3, four registration holes 2-2 and four routine settings that cargo pallet leg 2-3 is cargo pallet, be not elaborated at this.
As shown in Figures 4 to 6, label tray code reader 1-4 is arranged in the square opening of AGV upper surface 1-0 central area by cargo pallet code reader support 1-3, and this label tray code reader is towards cargo pallet.Ground label code reader has two, and the first ground label code reader 1-6 and the second ground label code reader 1-7 are arranged on respectively center line front end and the center of AGV bottom lengths direction, and two ground label code readers are towards ground.Rule schema shape code register control 1-5 is arranged on the inside of AGV car body 1-1, and is connected with two ground label code readers with label tray code reader respectively.Wheel 1-2 is the routine setting of AGV, at this, is not elaborated.
In the present embodiment, rule schema shape code label is Quick Response Code, and label code reader is Quick Response Code code reader.
The course of work of the present utility model is:
1, cargo pallet requires to be placed in the pallet storing district center on AGV guide path according to specifying.
In this process, cargo pallet need to be placed in the pallet storing district on AGV guide path according to assigned address, i.e. cargo pallet central point and arbitrarily the central point coincidence in pallet storing district.
2, AGV enters the image trigger region at cargo pallet lower surface center along guide path.
In this process, AGV enters the image trigger region of cargo pallet below along guide path, and this image trigger region is the ground rule schema shape code label that ground, cargo pallet below is laid, and this ground rule schema shape code label faces cargo pallet center.
3, rule schema shape code register control sends acquisition to label tray code reader.
4, label tray code reader gathers the pallet rule schema shape code label under cargo pallet, and sends the decoded information of pallet rule schema shape code label to rule schema shape code register control;
5, rule schema shape code register control is proofreaied and correct the position and attitude error between AGV and cargo pallet according to decoded information.
In this process, the detailed method of associated machine people vision location has a detailed description in the applicant's patented claim formerly, as " indoor mobile robot positioning system and method based on Quick Response Code " (number of patent application: 201210186563.5), and " mobile robot positioning system of rule-based graphic code composite label and method " (number of patent application is 201310017927.1), do not repeat them here, the method for only register control being proofreaied and correct to the position and attitude error between AGV car body and cargo pallet according to decoded information is summarized as follows:
(1) set up following three coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly), world coordinate system (the x world, the y world);
(2) calculate under dolly coordinate system AGV with respect to deviation angle and the deviation position of the pallet rule schema shape code label at cargo pallet lower surface center;
(3) calculate pallet rule schema shape code label with respect to deviation position and the deviation angle of world coordinate system;
(4) calculate AGV with respect to deviation angle and the deviation position of world coordinate system, thereby obtain AGV with respect to rectification position and the angle of cargo pallet.
Step 6:AGV opens jacking apparatus, jacking apparatus is aimed at cargo pallet registration holes.
By the above course of work, realized in the AGV lifting cargo pallet process based on guide path the calibration function for cargo pallet.
It is emphasized that; embodiment described in the utility model is illustrative; rather than determinate; therefore the utility model comprises and is not limited to the embodiment described in embodiment; every other embodiments that drawn according to the technical solution of the utility model by those skilled in the art, belong to the scope that the utility model is protected equally.
Claims (5)
1. the AGV lifting corrective system based on guide path, it is characterized in that: comprise the cargo pallet in pallet storing district, be arranged on the rule schema shape code register control on AGV, be arranged on the label tray code reader in AGV car body central area, be arranged on the ground label code reader of AGV car lower surface, ground ground rule schema shape code label and the pallet rule schema shape code label of cargo pallet lower surface of being laid in are laid in, rule schema shape code register control is connected with ground label code reader with label tray code reader respectively, label tray code reader and ground label code reader read respectively pallet rule schema shape code label and ground rule schema shape code label and send rule schema shape code register control to, by rule schema shape code register control, the rule schema shape code image reading is carried out to analyzing and processing and lifting cargo pallet position is proofreaied and correct,
Described rule schema shape code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of the travelling speed of AGV, and this microprocessor is connected with label tray code reader, ground label code reader by communication interface and gathers pallet rule schema shape code label information and ground rule schema shape code label information and proofread and correct processing.
2. the AGV lifting corrective system based on guide path according to claim 1, it is characterized in that: described pallet rule schema shape code label and ground rule schema shape code label are two-dimension code label, and described label tray code reader and ground label code reader are Quick Response Code code reader.
3. the AGV lifting corrective system based on guide path according to claim 1, is characterized in that: described pallet storing district is the rectangular region on AGV guide path.
4. according to the AGV lifting corrective system based on guide path described in claim 1 or 2 or 3, it is characterized in that: the be laid in center of cargo pallet lower surface of described pallet rule schema shape code label, the be laid in center in pallet storing district of described ground rule schema shape code label.
5. according to the AGV lifting corrective system based on guide path described in claim 1 or 2 or 3, it is characterized in that: described label tray code reader is arranged in the square opening of AGV car body central area, its upper surface is no more than the upper surface of AGV car body, and this label tray code reader is towards cargo pallet; Described ground label code reader has two, and two ground label code readers are arranged on respectively center line front end and the center of AGV bottom lengths direction, and two ground label code readers are towards ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320564932.XU CN203520162U (en) | 2013-09-11 | 2013-09-11 | AGV lifting correcting system based on guide path |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320564932.XU CN203520162U (en) | 2013-09-11 | 2013-09-11 | AGV lifting correcting system based on guide path |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472827A (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 guide path and method thereof |
| CN105775544A (en) * | 2016-05-11 | 2016-07-20 | 深圳普智联科机器人技术有限公司 | Warehousing system with simple and convenient positioning function and cargo delivery method |
| CN106023799A (en) * | 2016-06-02 | 2016-10-12 | 刘哲 | Method for putting surface marks |
| CN107479553A (en) * | 2017-09-07 | 2017-12-15 | 南京昱晟机器人科技有限公司 | A kind of robot autonomous operation locating and monitoring place |
| CN107670997A (en) * | 2017-08-28 | 2018-02-09 | 广东美的智能机器人有限公司 | Bin direction-controlling method and robot |
| CN108455492A (en) * | 2018-03-31 | 2018-08-28 | 深圳市有光图像科技有限公司 | Correct the method and fork truck for tilting brought error come the camera of fork truck by load-strap |
-
2013
- 2013-09-11 CN CN201320564932.XU patent/CN203520162U/en not_active Withdrawn - After Issue
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472827A (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 guide path and method thereof |
| CN103472827B (en) * | 2013-09-11 | 2016-04-20 | 无锡普智联科高新技术有限公司 | Based on AGV lifting corrective system and the method thereof of guide path |
| CN105775544A (en) * | 2016-05-11 | 2016-07-20 | 深圳普智联科机器人技术有限公司 | Warehousing system with simple and convenient positioning function and cargo delivery method |
| CN105775544B (en) * | 2016-05-11 | 2018-05-11 | 深圳普智联科机器人技术有限公司 | Warehousing system and discharging of goods method with easy positioning function |
| CN106023799A (en) * | 2016-06-02 | 2016-10-12 | 刘哲 | Method for putting surface marks |
| CN106023799B (en) * | 2016-06-02 | 2019-10-18 | 锥能机器人（上海）有限公司 | A method of placing land marking |
| CN107670997A (en) * | 2017-08-28 | 2018-02-09 | 广东美的智能机器人有限公司 | Bin direction-controlling method and robot |
| CN107670997B (en) * | 2017-08-28 | 2020-03-03 | 广东美的智能机器人有限公司 | Material rack direction control method and robot |
| CN107479553A (en) * | 2017-09-07 | 2017-12-15 | 南京昱晟机器人科技有限公司 | A kind of robot autonomous operation locating and monitoring place |
| CN107479553B (en) * | 2017-09-07 | 2018-07-17 | 南京昱晟机器人科技有限公司 | A kind of monitoring field positioning device for robot autonomous operation |
| CN108455492A (en) * | 2018-03-31 | 2018-08-28 | 深圳市有光图像科技有限公司 | Correct the method and fork truck for tilting brought error come the camera of fork truck by load-strap |
| CN108455492B (en) * | 2018-03-31 | 2021-03-23 | 深圳市有光图像科技有限公司 | Method for correcting errors caused by inclination of camera of forklift due to load and forklift |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140402 Effective date of abandoning: 20160420 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |