CN112357827A

CN112357827A - Lifting type AGV, AGV-based goods taking and placing position posture detection method and goods taking and placing method

Info

Publication number: CN112357827A
Application number: CN202011117456.8A
Authority: CN
Inventors: 方牧; 李陆洋; 鲁豫杰; 郑帆; 张徐; 杨秉川
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-02-12
Anticipated expiration: 2040-10-19
Also published as: CN112357827B

Abstract

The invention relates to a lifting AGV, a goods taking and placing position and posture detection method based on the AGV and a goods taking and placing method, wherein the lifting AGV comprises a vehicle body and a fork, the fork is arranged on the vehicle body, and the lifting AGV further comprises: the extensible member, laser scanner set up the flexible end on the extensible member. The above-mentioned scheme that this application provided, the height that the tray was subtracted to the distance that gets goods highly equals laser scanner apart from the horizontal plane, simultaneously among the position appearance detection method of goods putting, the position appearance detection method of goods highly equals the fork and highly subtracts the distance of expansion piece along fork place horizontal plane downstream for the horizontal plane, consequently, high-rise goods in this application is when getting, the deflection of high-rise goods need not rely on the fork, all results all are for the actual result of putting the storehouse position, consequently, the testing result is more accurate, more safe and reliable.

Description

Lifting type AGV, AGV-based goods taking and placing position posture detection method and goods taking and placing method

Technical Field

The invention relates to the technical field of intelligent safe transportation, in particular to a lifting AGV, a goods taking and placing position and posture detection method based on the AGV and a goods taking and placing method.

Background

At present, Automatic Guided Vehicles (AGVs) are mostly used in the market to pick and place high-rise cargos, and when the pose of the high-rise cargos is detected, the AGVs are used for reading two-dimensional code information pasted on a library position.

Because the two-dimensional code information is fixed information, and when high-rise getting is put, the yoke on the AGV probably causes the deformation because of the difference of goods weight, perhaps because the uneven factor in ground causes whole left and right deviation, these deviations are not big, but the in-process error that is transporting repeatedly can accumulate, can't eliminate. When errors are accumulated, the goods can be inserted or hit a tray when being taken, and goods can hit a goods shelf or goods beside the goods when being put, so that safety risks exist.

Disclosure of Invention

Therefore, it is necessary to provide a lifting type AGV, a method for detecting positions and postures of goods picked and placed based on the AGV, and a method for picking and placing goods, aiming at the problem that the position and posture detection of high-rise goods is inaccurate when the existing high-rise goods are picked and placed.

The invention provides a lifting AGV, which comprises a vehicle body and a fork, wherein the fork is arranged on the vehicle body, and the lifting AGV further comprises:

the telescopic piece is arranged on one side, facing the truck body, of a fork arm on the fork, and can stretch downwards along the horizontal plane where the fork is located;

the laser scanner is arranged at the telescopic end on the telescopic piece.

The invention also provides a high-rise goods picking pose detection method based on the AGV, which comprises the lifting type AGV according to the description of the embodiment of the application, and the method comprises the following steps:

the lifting AGV drives into a target cargo space and lifts the fork to rise, and meanwhile the telescopic piece drives the laser scanner to move downwards to a preset position along the horizontal plane where the fork is located;

starting the laser scanner, and stopping the fork from rising when the surface of the laser emitted by the laser scanner is higher than the tray on the cross beam;

the lifting AGV drives the fork to move downwards along the horizontal plane where the fork is located, when the laser scanner scans the tray on the cross beam, the fork stops descending, and at the moment, the distance from the laser scanner to the horizontal plane is recorded;

the goods taking height is equal to the height of the tray subtracted from the distance between the laser scanner and the horizontal plane.

The invention also provides a high-rise goods picking method, which comprises the AGV-based high-rise goods picking pose detection method in the embodiment description of the application, and the method also comprises the following steps:

lifting type AGV drives the fork rises to the height of getting goods, then drives the fork stretches into take out the goods under the tray.

The invention also provides a high-rise goods delivery pose detection method based on the AGV, which comprises the lifting type AGV according to the description of the embodiment of the application, and the method comprises the following steps:

the lifting AGV drives into a target cargo space and lifts the fork to rise, and the telescopic piece drives the laser scanner to move downwards to a preset position along the horizontal plane where the fork is located;

starting the laser scanner, and stopping the fork from rising when the surface of the laser emitted by the laser scanner is higher than the cross beam;

the lifting AGV drives the fork to move downwards along the horizontal plane where the fork is located, when the laser scanner scans the cross beam, the fork stops descending, and the height of the fork relative to the horizontal plane is recorded;

the goods placing height is equal to the height of the cross beam relative to the horizontal plane, and the height of the cross beam relative to the horizontal plane is equal to the height of the fork relative to the horizontal plane minus the distance of the telescopic piece moving downwards along the horizontal plane where the fork is located.

The invention also provides a high-rise goods putting method, which comprises the AGV-based high-rise goods putting pose detection method in the embodiment of the application, and the method also comprises the following steps:

the lifting AGV drives goods to be stored on the fork to rise to the goods placing height, and then drives the fork to place the goods to be stored on the tray onto the cross beam.

In some embodiments, after the lifting AGV lifts the load to be stored on the forks to the load level, the method further comprises:

the laser scanner scans the upright columns at two ends of the beam and calculates the distance between the two upright columns;

the lifting AGV drives the goods to be stored on the fork to move to the middle positions of the two upright posts.

the laser scanner scans the tray on the stored goods on the cross beam and the upright posts at two ends of the cross beam, calculates a first distance from one side of the tray on the stored goods to one of the upright posts and calculates a second distance from the other side of the tray on the stored goods to the other upright post;

a processor on the laser scanner compares the first distance and the second distance with the width of a tray on the goods to be stored respectively;

when the first distance is larger than the distance of the width of the tray on the goods to be stored, the lifting AGV drives the goods to be stored on the fork to move to the first distance;

when the second distance is greater than the distance of the width of the tray to be stored on the goods, the lifting AGV drives the goods to be stored on the fork to move to the second distance.

In some embodiments, the method for moving the load to be stored on the forks to a first distance by the lifting AGV includes:

the lifting AGV drives the goods to be stored on the fork to move to the middle position of the first distance.

In some embodiments, the method further comprises the step of the lifting AGV lifting the load to be stored on the forks to a load level of the load:

turning on the laser scanner, and when the laser scanner vertically irradiates one side of the beam along the length direction, calculating a vertical distance between the laser scanner and the beam by a processor on the laser scanner;

and calculating the vertical distance between one end of the fork, far away from the fork arm, and one side of the cross beam along the length direction, wherein the vertical distance between one end of the fork, far away from the fork arm, and one side of the cross beam along the length direction is equal to the vertical distance between the laser scanner and the cross beam minus the length of the fork.

In some embodiments, after the re-bringing the forks to place the goods to be stored on the pallet onto the cross member, the method further comprises:

and the lifting AGV controls the fork to restore to the initial state.

The beneficial effects of the invention include:

in the method for detecting the position and posture of the goods, the goods taking height is equal to the distance between the laser scanner and the horizontal plane minus the height of the tray, and meanwhile, in the method for detecting the position and posture of the goods, the goods placing height is equal to the distance between the fork and the horizontal plane minus the downward movement distance of the telescopic piece along the horizontal plane where the fork is located, so that when the high-rise goods are taken and placed, the position and posture detection of the high-rise goods does not depend on the deformation amount of the fork, and all results are actual results relative to the goods placing warehouse, so that the detection result is more accurate and safer and more reliable; furthermore, the detection method in the application can be adjusted according to actual conditions, and compared with the two-dimensional code identification of traditional fixed information, the detection method is more intelligent.

Drawings

FIG. 1 is a flowchart of AGV based detection of a pickup pose according to an embodiment of the present invention;

FIG. 2 is a flowchart of AGV based put pose detection provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a raised AGV according to one embodiment of the present invention;

FIG. 4 is a schematic view of a measurement of FIG. 3;

FIG. 5 is another measurement schematic of FIG. 3;

fig. 6 is a schematic view of another measurement of fig. 3.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

As shown in fig. 3, in an embodiment of the present invention, a lifting AGV is provided, which includes a vehicle body 01 and forks 02, wherein the forks 02 are disposed on the vehicle body 01, and further includes a telescopic member 03 and a laser scanner 04, wherein the telescopic member 03 is disposed on a side of a fork arm 021 of the forks 02 facing the vehicle body 01, and the telescopic member 03 can be extended and retracted downward along a horizontal plane where the forks 02 are located, and the laser scanner 04 is disposed on an extension end of the telescopic member 03.

According to the lifting AGV, data scanned by the laser scanner 04 can be transmitted to the controller on the vehicle body 01, and the controller controls the motion of the vehicle body 01 and the fork 02 according to the received data.

As shown in fig. 1, the present invention further provides a method for detecting a pose of a high-rise cargo pickup based on AGVs, including a lifting AGV as described in the embodiments of the present application, where the method includes:

step 110: the lifting type AGV drives into a target cargo space and lifts the fork to rise, and the telescopic piece drives the laser scanner to move downwards to a preset position along the horizontal plane where the fork is located;

step 120: starting the laser scanner, and stopping the fork from rising when the surface of the laser emitted by the laser scanner is higher than the tray on the cross beam;

step 130: the lifting AGV drives the pallet fork to move downwards along the horizontal plane where the pallet fork is located, when the laser scanner scans the tray on the cross beam, the pallet fork stops descending, and at the moment, the distance from the laser scanner to the horizontal plane is recorded;

step 140: the pick-up height of the cargo is equal to the distance of the laser scanner from the horizontal minus the height of the pallet.

Specifically, as shown in fig. 4, the lifting AGV firstly drives in the target cargo space and lifts the fork 02 to rise, the telescopic part 03 drives the laser scanner 04 to move downwards to a preset position along the horizontal plane where the fork 02 is located, then the laser scanner 04 is started, when the laser emitted by the laser scanner 04 is higher than the tray on the cross beam 06, the fork 02 stops rising, then the lifting AGV drives the fork 02 to move downwards along the horizontal plane where the fork is located, when the laser scanner 04 scans the tray on the cross beam 06, the fork 02 stops falling, at this moment, the distance H from the laser scanner 04 to the horizontal plane is recorded, and the picking height of the last cargo is equal to the distance H from the laser scanner to the horizontal plane minus the height of the tray.

By adopting the technical scheme, the goods taking height is equal to the distance between the laser scanner and the horizontal plane minus the height of the tray, so that when the high-rise goods are taken, the pose detection of the high-rise goods does not depend on the deformation of the pallet fork, and all results are actual results relative to the goods placing warehouse, so that the detection result is more accurate and safer and more reliable; furthermore, the detection method in the application can be adjusted according to actual conditions, and compared with the two-dimensional code identification of traditional fixed information, the detection method is more intelligent.

The invention also provides a high-rise goods picking method, which comprises the position and posture detection method for high-rise goods picking based on AGV in the description of the embodiment of the application, and the method also comprises the following steps:

the lifting AGV drives the fork to rise to the goods taking height, and then drives the fork to stretch into the tray and take out the goods.

As shown in fig. 2, the present invention further provides a method for detecting a position and posture of a high-rise cargo put based on AGVs, including a lifting AGV as described in the embodiment of the present application, the method including:

step 210: the lifting type AGV drives into a target cargo space and lifts the fork to rise, and the telescopic piece drives the laser scanner to move downwards to a preset position along the horizontal plane where the fork is located;

step 220: starting the laser scanner, and stopping the fork from rising when the surface of the laser emitted by the laser scanner is higher than the cross beam;

step 230: the lifting AGV drives the fork to move downwards along the horizontal plane where the fork is located, when the laser scanner scans the cross beam, the fork stops descending, and the height of the fork relative to the horizontal plane is recorded;

step 240: the goods put height is equal to the height of the cross beam relative to the horizontal plane, and the height of the cross beam relative to the horizontal plane is equal to the height of the fork relative to the horizontal plane minus the distance of the telescopic piece moving downwards along the horizontal plane where the fork is located.

Specifically, as shown in fig. 4, the lifting AGV drives into the target cargo space and lifts the fork 02 to rise, the telescopic member 03 drives the laser scanner 04 to move downward to a preset position along the horizontal plane of the fork 02, and the distance that the telescopic member 03 moves downward relative to the horizontal plane of the fork 02 is H1; then, starting the laser scanner 04, and stopping the fork 02 to ascend when the laser surface emitted by the laser scanner 04 is higher than the cross beam 06; the lifting AGV then drives the forks 02 to move downwards along the level where the forks are located, when the laser scanner 04 scans the cross beam 06, the forks 02 stop descending, at this point the height H2 of the forks 02 relative to the level is recorded, the final delivery height of the load is equal to the height of the cross beam relative to the level, which is equal to the height H2 of the forks relative to the level minus the distance H1 of the telescopic elements moving downwards along the level where the forks are located.

By adopting the technical scheme, the goods placing height is equal to the height of the fork relative to the horizontal plane minus the distance of the telescopic piece moving downwards along the horizontal plane where the fork is located, so that when high-rise goods are placed, the pose detection of the high-rise goods does not depend on the deformation of the fork, and all results are actual results relative to the goods placing position, so that the detection result is more accurate and safer and more reliable; furthermore, the detection method in the application can be adjusted according to actual conditions, and compared with the two-dimensional code identification of traditional fixed information, the detection method is more intelligent.

the lifting type AGV drives the goods to be stored on the fork to rise to the goods placing height, and then drives the fork to place the goods to be stored on the tray on the cross beam.

In some embodiments, as shown in fig. 5, when there is no load on the cross beam 06 on the rack, in order to make the cross beam 06 integrally stable after depositing the load, the method further includes, after the lifting AGV drives the load to be deposited on the fork to rise to the stocking height of the load:

the laser scanner 04 scans the columns 05 at both ends of the beam 06, and calculates the distance between the two columns;

the lifting AGV drives the goods to be stored on the fork 02 to move to the middle position of the two uprights 05.

Specifically, after lifting type AGV drives the goods of waiting to deposit on the fork 02 and moves to the intermediate position of two stands 05, then drive fork 02 again and put the goods of waiting to deposit on the tray on crossbeam 06, because the goods of waiting to deposit is located crossbeam 06 along length direction's intermediate position, consequently, whole goods shelves are more stable.

In some embodiments, as shown in fig. 5, when the stored goods 07 is placed on the cross beam 06 on the shelf, and then the goods 08 to be stored is placed on the cross beam 06, in order to avoid collision between the goods 08 to be stored and the stored goods 07, the method further includes, after the lifting AGV drives the goods to be stored on the fork to rise to the goods placing height:

the laser scanner 04 scans the trays 071 on the stored goods 07 on the cross beam 06 and the columns 05 at the two ends of the cross beam 06, and calculates a first distance from one side of the tray 071 on the stored goods 07 to one of the columns and calculates a second distance from the other side of the tray on the stored goods to the other of the columns;

comparing the first distance and the second distance with the width of the tray on the goods 08 to be stored by a processor on the laser scanner 04;

and when the second distance is greater than the distance of the width of the pallet to be stored on the goods, the lifting AGV drives the goods to be stored on the fork to move to the second distance.

Further, as shown in fig. 5, in order to stabilize the entire rack after the goods 08 to be stored are placed on the cross beam 06 of the stored goods 07, the present embodiment includes, when the lifting AGV drives the goods to be stored on the forks to move to the first distance:

the lifting AGV drives the goods to be stored on the fork to move to an intermediate position of a first distance, at this time, the distance between one side of a tray to be stored on the goods to be stored 08 placed on the cross beam 06 and one side close to the tray on the stored goods 07 is a first distance 09, the distance between the other side of the tray to be stored on the goods to be stored 08 and the adjacent upright column 05 is a second distance 010, and preferably, the first distance 09 is equal to the second distance 010.

In some embodiments, as shown in fig. 6 in combination with fig. 4, when the lifting AGV is located right in front of the rack, in order to avoid the rising fork 02 hitting the bottom surface of the cross beam 06 during the loading process, the method further includes, before the lifting AGV drives the goods to be stored on the fork to rise to the loading height of the goods:

turning on the laser scanner 04, and when the laser scanner 04 vertically irradiates one side of the cross beam 06 in the length direction, calculating a vertical distance between the laser scanner 04 and the cross beam 06 by a processor on the laser scanner;

the vertical distance between the end of the fork 02 far from the fork arm 021 and one side of the cross beam 06 in the length direction is calculated, and the vertical distance between the end of the fork 02 far from the fork arm 021 and one side of the cross beam 06 in the length direction is equal to the vertical distance between the laser scanner 04 and the cross beam 06 minus the length of the fork 02.

When the vertical distance H3 between one end of the fork 02 far from the fork arm 021 and one side of the cross beam 06 in the length direction is calculated, the lifting type AGV drives the goods to be stored on the fork to be larger than H3, the fork is lifted, the goods placing height of the goods is known, and at the moment, the lifting fork 02 can be prevented from touching the bottom surface of the cross beam 06.

In some embodiments, after the lifting AGV has moved the forks to deposit a load on the pallet onto the crossbar, the method further comprises:

the lifting AGV controls the forks to return to the initial state.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a formula AGV lifts, includes automobile body (01) and fork (02), fork (02) set up on automobile body (01), its characterized in that still includes:

the telescopic piece (03) is arranged on one side, facing the truck body (01), of a fork arm (021) of the fork (02), and the telescopic piece (03) can stretch downwards along a horizontal plane where the fork (02) is located;

the laser scanner (04) is arranged at a telescopic end on the telescopic piece (03).

2. A position and posture detection method for high-rise cargo pickup based on AGVs, comprising the lifting AGV of claim 1, wherein the method comprises:

3. A high-rise freight pickup method comprising the AGV-based high-rise freight pickup pose detection method according to claim 2, the method further comprising:

4. A method for detecting the position and attitude of a high-rise cargo put based on AGVs, comprising the lifting AGV of claim 1, the method comprising:

5. A high-rise cargo put method comprising the AGV-based high-rise cargo put pose detection method of claim 4, the method further comprising:

6. The high level load put method of claim 5, wherein said lifting AGV raises said load to be stored on said forks to said load put height, and further comprising:

7. The high level load put method of claim 5, wherein said lifting AGV raises said load to be stored on said forks to said load put height, and further comprising:

8. The high level load put method of claim 7, wherein said lifting AGV moving said load to be stored on said forks a first distance comprises:

9. The high level load put method of claim 5, wherein said lifting AGV moves said load to be deposited on said forks up to said load put height, and further comprising:

10. The method of stocking high-rise cargo according to claim 5, wherein after said re-engaging said forks to deposit the cargo to be stocked on the pallets onto said cross member, the method further comprises:

and the lifting AGV controls the fork to restore to the initial state.