CN212333654U

CN212333654U - AGV carrying goods shelf positioning system

Info

Publication number: CN212333654U
Application number: CN202021165185.9U
Authority: CN
Inventors: 肖勇民; 邹胜宇
Original assignee: Shanghai Fawang Cloud Logistics Technology Co ltd
Current assignee: Shanghai Fawang Cloud Logistics Technology Co ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2021-01-12
Anticipated expiration: 2030-06-22

Abstract

The utility model relates to a AGV transport goods shelves positioning system, including AGV transport trolley and goods shelves, AGV transport trolley top is provided with the jacking dish that is used for jack-up goods shelves, is provided with the infrared induction frame on the jacking dish, the goods shelves bottom is provided with the vertical probe that is used for triggering the infrared induction frame. After the infrared induction frame senses the probe, the current corresponding in-frame X and Y coordinate values can be output to determine the offset of the probe relative to the infrared induction frame, and further determine the offset of the AGV trolley and the goods shelf.

Description

AGV carrying goods shelf positioning system

Technical Field

The utility model relates to a storage commodity circulation equipment technical field, concretely relates to goods shelves positioning method, especially AGV warehouse field.

Background

AGVs (automated guided vehicles) are a sub-category in the industrial robot industry, are equipped with automatic guide devices such as electromagnetic and optical devices, can travel along a predetermined guide path, and are used mainly for transportation in practice. AGV often uses in logistics storage transports the goods shelves of placing the article that need sort to manual sorting platform, carries out the transport task.

AGV warehouse transport field needs AGV to lift transport goods shelves after arriving goods shelves below, and common technique is for goods shelves below center subsides including the identification code such as the two-dimensional code of position and ID information, and a yard camera is swept in AGV dolly upper portion assembly, acquires goods shelves X, Y skew position according to sweeping a yard camera reading information.

The problems existing in the prior art are as follows:

1. the code scanning camera is expensive and inconvenient to maintain.

2. The two-dimensional code under the goods shelf is pasted to have an error and is not easy to maintain.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the problem that exists among the prior art is overcome to the purpose, provides a AGV transport goods shelves positioning system.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the utility model provides a AGV transport goods shelves positioning system, includes AGV transport trolley and goods shelves, AGV transport trolley top is provided with the jacking dish that is used for jacking up goods shelves, is provided with infrared induction frame on the jacking dish, installs a probe of inverting in goods shelves bottom, and the head of this probe presents for sharp-pointed shape, and when goods shelves were by the jack-up, the sharp-pointed part of this probe head can pass the plane of infrared induction frame to this shelters from infrared light for infrared frame can respond to the position of probe head.

The infrared induction frame is quadrilateral, and the infrared induction frame is horizontally arranged.

The infrared induction frame is rectangular, and the diagonal dimension of the infrared induction frame is 10-100 cm. .

The infrared induction frame is square, and the side length is 10-100 cm.

The probe is positioned on the central point of the bottom surface of the goods shelf.

The diameter of the probe is 1-3mm, and the length is 2-5 mm.

An AGV carrying goods shelf positioning method comprises the following steps:

when the AGV carrying trolley reaches the lower part of the goods shelf, a jacking disc on the AGV carrying trolley is lifted;

when the jacking plate rises, the plastic probe reaches the infrared induction frame, and a sensor on the infrared induction frame acquires the induced data;

and converting the data returned by the induction frame into the offset values of the X and Y horizontal planes to obtain the offset value of the goods shelf relative to the AGV carrying trolley.

Has the advantages that: the shelf positioning is realized by combining the infrared induction frame and the probes, the cost can be reduced to one tenth of that of the conventional scheme, the cost is greatly reduced, and the probes are better maintained than the two-dimensional codes.

Drawings

FIG. 1 is a schematic structural diagram of an AGV transporting rack positioning system according to the present invention;

wherein, 1, AGV floor truck, 2, goods shelves, 3, infrared induction frame, 4, probe.

Detailed Description

The present invention will be further described with reference to the following specific examples.

Referring to fig. 1, a square infrared induction frame 3 is arranged on a jacking plate at the center of an AGV carrying trolley 2, and the center of the infrared induction frame is the center of the trolley.

The probe 4 is placed at the center of the bottom surface of the shelf 2.

After the infrared induction frame is adopted to sense the probe, the X and Y coordinate values in the frame corresponding to the current position can be output to determine the offset of the probe relative to the infrared induction frame, and further determine the offset of the AGV trolley and the goods shelf.

The relative position data of the center of the infrared induction frame and the center of the jacking plate are known, and the relative position data of the top of the probe for measuring the induction sharp part and the center of the shelf are known. The offset data may be scaled and measured based on known data.

The infrared induction frame can be rectangular, and the diagonal dimension of the infrared induction frame is 10-100 cm. Typically over 10.1 inches diagonal for ease of manufacturing.

The infrared induction frame can also be a square, and the side length is 10-100 cm.

The size of the infrared induction frame is adjusted according to the size of the lifting disc, so that the infrared induction frame is convenient to mount.

In this embodiment, the infrared sensing frame 3 is a square, and the side length is 18.143cm in this embodiment. By adopting the infrared induction frame with the specification, the detection precision meets the requirement, the cost performance is high, the installation position is convenient, the installation surface is large if the size is too large, the price is high, and the matching with the probe is difficult if the size is too small.

The diameter of the probe is 1-3mm, the length of the probe is 2-5mm, and the probe is a plastic probe or a stainless steel probe. The size of the sharp-pointed part at the top of the probe for measuring and positioning is determined according to the positioning accuracy, the shape of the probe is cylindrical, the length of the probe is determined according to the distance between an AGV disc and a goods shelf, and the diameter of the probe is 2mm and the length of the probe is 4 mm.

The probe can carry out size adjustment according to actual conditions, and it is enough to satisfy actual conditions.

An AGV carrying goods shelf positioning method comprises the following steps:

AGV reachs goods shelves below, and AGV jacking dish has certain distance apart from AGV.

2. A plastic probe is assembled under the center of the goods shelf, and the length of the plastic probe is slightly smaller than the distance between the jacking disc and the bottom of the goods shelf.

3, lifting the jacking plate of the AGV, fixing the infrared induction frame on the jacking plate, and lifting the jacking plate.

4. Along with the lifting of the jacking disc, the plastic probe reaches the infrared induction frame, and the sensor on the infrared induction frame acquires the sensed data.

5. And converting the data returned by the induction frame into the offset value of X and Y, and obtaining the offset value of the goods shelf relative to the AGV.

The AGV carrying trolley can execute the shelf deviation rectifying logic processing according to the deviation value.

The shelf positioning is realized by combining the infrared induction frame and the probes, the cost can be reduced to one tenth of that of the conventional scheme, the cost is greatly reduced, and the probes are better maintained than the two-dimensional codes.

If the infrared induction frame 3 is not located in the center of the AGV carrying trolley, the offset of the infrared induction frame is added when the offset value is calculated.

Similarly, if the plastic probe is not located at the center of the bottom of the shelf, the offset of the plastic probe needs to be added when calculating the offset value.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a AGV transport goods shelves positioning system, includes AGV transport trolley and goods shelves, characterized by, AGV transport trolley top is provided with the jacking dish that is used for jack-up goods shelves, is provided with the infrared induction frame on the jacking dish, installs a probe of inverting in goods shelves bottom, and the head of this probe presents for sharp-pointed shape, and when goods shelves were by jack-up, the sharp-pointed part of this probe head can pass the plane of infrared induction frame to this shelters from infrared light, makes the position that the probe head can be responded to infrared frame.

2. The AGV handling rack positioning system of claim 1, wherein the infrared sensor frames are quadrilateral and horizontally arranged.

3. The AGV transport rack positioning system of claim 1, wherein the infrared sensor frame is rectangular with a diagonal dimension of 10-100 cm.

4. The AGV handling rack positioning system of claim 1, wherein the infrared sensor frames are square with a side length of 10-30 cm.

5. The AGV transport rack positioning system of claim 1 wherein the probes are located on the bottom surface of the rack.

6. The AGV transport rack positioning system of claim 1 wherein the probes are 1-3mm in diameter and 2-5mm in length.