Deviation rectifying method, device and equipment for AGV butt joint of stacking vehicle and storage medium
阅读说明：本技术 堆垛车agv对接的纠偏方法、装置、设备以及存储介质 (Deviation rectifying method, device and equipment for AGV butt joint of stacking vehicle and storage medium ) 是由 陈盛 毕运锋 穆方波 于 2019-10-12 设计创作，主要内容包括：本发明实施例提供了一种堆垛车AGV对接的纠偏方法、装置、计算机设备以及存储介质,其中,该方法包括：控制堆垛车AGV运行到预设对接位置；确定待对接的栈板的真实长度与投影长度的第一差值,其中,投影长度为真实长度在参考平面上的投影的长度,参考平面是垂直于堆垛车AGV的朝向的平面；调整堆垛车AGV的位置,以使得第一差值在预设差值范围内。通过本发明,解决了相关技术中待对接物体在放置时存在相应偏差,导致堆垛车AGV到达目标状态时与待对接物体进行对接会出现堆垛车AGV上的货叉撞到栈板的问题,降低了堆垛车AGV货叉与栈板的碰撞风险,提高了堆垛车AGV与栈板对接的安全性。(The embodiment of the invention provides a deviation rectifying method, a deviation rectifying device, computer equipment and a storage medium for AGV butt joint of a stacking vehicle, wherein the method comprises the following steps: controlling an AGV to run to a preset butt joint position; determining a first difference value between the actual length of the pallet to be butted and the projection length, wherein the projection length is the projection length of the actual length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the Automatic Guided Vehicle (AGV); and adjusting the position of the stacking vehicle AGV so that the first difference value is within the preset difference value range. According to the invention, the problem that the pallet is collided by the pallet fork on the stacking vehicle AGV when the stacking vehicle AGV is in a target state due to corresponding deviation of the object to be butted when being placed in the related technology is solved, the collision risk of the pallet fork on the stacking vehicle AGV and the pallet is reduced, and the safety of the butt joint of the stacking vehicle AGV and the pallet is improved.)
1. A deviation rectifying method for AGV butt joint of a stacking vehicle is characterized by comprising the following steps:
controlling an AGV to run to a preset butt joint position;
determining a first difference value between the real length of the pallet to be butted and a projected length, wherein the projected length is the length of the projection of the real length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the stacker AGV;
and adjusting the position of the stacker AGV so that the first difference value is within a preset difference value range.
2. The method of claim 1, wherein determining a first difference between the true length and the projected length of the pallet to be docked comprises:
acquiring a first image of the orientation of the stacker AGV, which is shot by a TOF camera of the stacker AGV, wherein the TOF camera is positioned on a first central line parallel to the orientation of the stacker AGV;
identifying a first pallet image in the first image corresponding to the pallet;
determining the projection length corresponding to the length of the first pallet image according to a first preset proportional relation and the first pallet image;
and calculating a first difference value between the projection length and the real length according to the projection length.
3. The method of claim 1, wherein after adjusting the position of the stacker AGV such that the first difference is within a predetermined range of differences, the method further comprises:
determining a first distance between the left side of the pallet and the left side of the field of view of a TOF camera of the stacker AGV and a second distance between the right side of the pallet and the right side of the field of view of the TOF camera;
adjusting the position of the stacker AGV such that the first distance is within the first predetermined distance range and the second distance is within the second predetermined distance range.
4. The method of claim 3, wherein determining a first distance from a left side of the pallet to a left side of a field of view angle of a TOF camera and a second distance from a right side of the pallet to a right side of the field of view angle of the TOF camera comprises:
acquiring a second image of the orientation of the AGV to the stacker, which is shot by the TOF camera;
identifying a second pallet image in the second image corresponding to the pallet;
determining a third distance between the left side of the second pallet image and the left side of the second image, and determining a fourth distance between the right side of the second pallet image and the right side of the second image;
and determining a first distance according to a second preset proportional relation and the third distance, and determining a second distance according to the second preset proportional relation and the fourth distance.
5. The method of claim 1, wherein after adjusting the position of the stacker AGV such that the first difference is within a predetermined range of differences, the method further comprises:
determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet;
adjusting the position of the stacker AGV such that the fifth distance is within a third predetermined distance range.
6. The method of claim 5, wherein determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet comprises:
acquiring a third image shot by the TOF camera of the stacking car AGV towards the stacking car AGV;
identifying a third pallet image of the third image that corresponds to the pallet;
determining a sixth distance between the centerline of the third pallet image and the centerline of the third image;
and determining the fifth distance according to a third preset proportional relation and the sixth distance.
7. The method of claim 1, wherein prior to controlling the stacker AGV to travel to the preset docking position, the method further comprises:
adjusting the position of the AGV according to a control instruction of a user;
determining a second difference M of the real length and a projected length of a projection of the real length onto the reference plane0；
Determining the preset difference range as [ - | M [ ]0|，+|M0|]；
Determining a seventh distance B between the left side of the pallet and the left side of the field of view of the TOF camera0And an eighth distance C between the right side of the pallet and the right side of the angle of view of the TOF camera0；
Determining the preset distance range to be [0, D0]Wherein D is0Is B0And C0The larger of them.
8. The utility model provides a deviation correcting device of stacker AGV butt joint which characterized in that includes:
the control module is used for controlling the Automatic Guided Vehicle (AGV) to run to a preset butt joint position;
the system comprises a determining module, a first difference value determining module, a second difference value determining module, a third difference value determining module and a fourth difference value determining module, wherein the first difference value is used for determining a first difference value between a real length of a pallet to be butted and a projected length, the projected length is the length of the projection of the real length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the stacker AGV;
and the adjusting module is used for adjusting the position of the AGV so that the first difference value is within a preset difference value range.
9. Computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the computer program carries out a method for AGV docking deviation correction for a stacker according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method for AGV docking deviation correction of a stacker according to one of claims 1 to 7.
Technical Field
The application relates to the technical field of automatic handling, in particular to a deviation rectifying method and device for AGV butt joint of a stacking vehicle, computer equipment and a readable storage medium.
Background
With the development of science and technology, the application of science and technology is ubiquitous. At present, Automatic Guided Vehicles (AGVs) are widely applied to the field of automatic transport due to the characteristics of high automation degree and high intelligent level. Wherein, piling car AGV (also known as piling car AGV, fork piling car AGV) has two fork characteristics, and the main function is the empty pallet in the transport mill place or the pallet of having put the goods, and the pallet bottom has two passageways and is used for the fork to get into and lift the pallet specially, and before getting into two passageways in the pallet bottom, the butt joint problem of fork and pallet is related to. If the butt joint is not good, the fork of the AGV has the risk of colliding the pallet, or the AGV enters the channel and then moves askew, so that the fork collides the interior of the pallet channel.
In the related technology, the vertical distance, the horizontal distance, the AGV running speed value and the position relation among all driving components of the AGV are determined by analyzing a guide mark in a shot image according to an image shot by an image sensor, then the control information required by the AGV running from the current state to the target state is determined according to the vertical distance, the horizontal distance value required by the AGV running to reach the target state, the AGV running speed value and the position relation among all driving components of the AGV, and the AGV runs to the target state under the control of the control information, so that the deviation rectification of the route of the AGV reaching the target state is realized.
The inventor finds that the method achieves route rectification of the AGV in the process of reaching the target state, but when the AGV reaches the target state, the position of the guide mark is unchanged, and the object to be butted has an angle deviation when being placed, so that when the AGV reaches the target state, the risk that a pallet fork on the AGV collides with a pallet can occur when the AGV is butted with the object to be butted.
Disclosure of Invention
Based on the fact that in the related art, an angle deviation exists when an object to be butted is placed, and therefore when the stacking vehicle AGV reaches a target state, the problem that a pallet fork on the AGV collides with a pallet when the stacking vehicle AGV is butted with the object to be butted is caused, a deviation rectifying method, a deviation rectifying device, computer equipment and a computer readable storage medium for the stacking vehicle AGV are provided.
According to an aspect of the embodiment of the invention, a deviation rectifying method for AGV butt joint of a stacking vehicle is provided, which comprises the following steps:
controlling an AGV to run to a preset butt joint position;
determining a first difference value between the real length of the pallet to be butted and a projected length, wherein the projected length is the length of the projection of the real length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the stacker AGV;
and adjusting the position of the stacker AGV so that the first difference value is within a preset difference value range.
In one embodiment, determining a first difference between the actual length and the projected length of the pallet to be docked comprises:
acquiring a first image of the orientation of the stacker AGV, which is shot by a TOF camera of the stacker AGV, wherein the TOF camera is positioned on a first central line parallel to the orientation of the stacker AGV;
identifying a first pallet image in the first image corresponding to the pallet;
determining the projection length corresponding to the length of the first pallet image according to a first preset proportional relation and the first pallet image;
and calculating a first difference value between the projection length and the real length according to the projection length.
In one embodiment, after adjusting the position of the stacker AGV such that the first difference is within a predetermined range of differences, the method further comprises:
determining a first distance between the left side of the pallet and the left side of the field of view of a TOF camera of the stacker AGV and a second distance between the right side of the pallet and the right side of the field of view of the TOF camera;
adjusting the position of the stacker AGV such that the first distance is within the first predetermined distance range and the second distance is within the second predetermined distance range.
In one embodiment, determining a first distance from the left side of the pallet to the left of the TOF camera's field of view and a second distance from the right side of the pallet to the right of the TOF camera's field of view comprises:
acquiring a second image of the orientation of the AGV to the stacker, which is shot by the TOF camera;
identifying a second pallet image in the second image corresponding to the pallet;
determining a third distance between the left side of the second pallet image and the left side of the second image, and determining a fourth distance between the right side of the second pallet image and the right side of the second image;
and determining a first distance according to a second preset proportional relation and the third distance, and determining a second distance according to the second preset proportional relation and the fourth distance.
In one embodiment, after adjusting the position of the stacker AGV such that the first difference is within a predetermined range of differences, the method further comprises:
determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet;
adjusting the position of the stacker AGV such that the fifth distance is within a third predetermined distance range.
In one embodiment, determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet includes:
acquiring a third image shot by the TOF camera of the stacking car AGV towards the stacking car AGV;
identifying a third pallet image of the third image that corresponds to the pallet;
determining a sixth distance between the centerline of the third pallet image and the centerline of the third image;
and determining the fifth distance according to a third preset proportional relation and the sixth distance.
In one embodiment, prior to controlling the stacker AGV to travel to the preset docking position, the method further includes:
adjusting the position of the AGV according to a control instruction of a user;
determining a second difference M of the real length and a projected length of a projection of the real length onto the reference plane0；
Determining the preset difference range as [ - | M [ ]0|，+|M0|]；
Determining a seventh distance B between the left side of the pallet and the left side of the field of view of the TOF camera0And an eighth distance C between the right side of the pallet and the right side of the angle of view of the TOF camera0；
Determining the preset distance range to be [0, D0]Wherein D is0Is B0And C0The larger of them.
According to another aspect of the embodiment of the invention, a deviation rectifying device for AGV docking of a stacker is further provided, which includes:
the control module is used for controlling the Automatic Guided Vehicle (AGV) to run to a preset butt joint position;
the system comprises a determining module, a first difference value determining module, a second difference value determining module, a third difference value determining module and a fourth difference value determining module, wherein the first difference value is used for determining a first difference value between a real length of a pallet to be butted and a projected length, the projected length is the length of the projection of the real length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the stacker AGV;
and the adjusting module is used for adjusting the position of the AGV so that the first difference value is within a preset difference value range.
According to another aspect of the embodiment of the invention, a computer device is further provided, which includes a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the deviation rectifying method for AGV docking of a stacker.
According to still another aspect of the embodiment of the invention, a computer-readable storage medium is further provided, on which a computer program is stored, and the program is executed by a processor to implement the deviation rectifying method for AGV docking of a stacker.
Compared with the prior art, the deviation rectifying method, the deviation rectifying device, the computer equipment and the storage medium for the AGV butt joint of the stacking vehicle provided by the embodiment of the invention control the AGV of the stacking vehicle to run to the preset butt joint position; determining a first difference value between the actual length of the pallet to be butted and the projection length, wherein the projection length is the projection length of the actual length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the Automatic Guided Vehicle (AGV); the position of adjustment piling car AGV to make first difference at the mode of predetermineeing the difference within range, there is corresponding deviation when placing waiting to dock the object in having solved the correlation technique, lead to piling car AGV arrive when target state with wait to dock the object and dock the problem that the fork on the piling car AGV can appear hitting the pallet, reduced the collision risk of piling car AGV fork and pallet, improved the security of piling car AGV and pallet butt joint.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in related arts, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flowchart of a deviation rectifying method for AGV docking of a stacker according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a stacker AGV configuration in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an AGV interfacing with a pallet according to an embodiment of the present invention;
fig. 4 is a schematic view of a stacking vehicle and pallet interface according to an embodiment of the invention;
FIG. 5 is a flowchart of a deviation rectifying method for AGV docking of a stacker according to an embodiment of the present invention;
FIG. 6 is a block diagram of a deviation rectifying device for AGV docking of a stacker according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the term "first/second/third" referred to in the embodiments of the present invention only distinguishes similar objects, and does not represent a specific ordering for the objects, and it should be understood that "first/second/third" may interchange a specific order or sequence when allowed. It is to be understood that the terms "first/second/third" are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein.
In one embodiment, a deviation rectifying method for AGV docking of a stacker is provided. Fig. 1 is a flowchart of a deviation rectifying method for AGV docking of a stacker according to an embodiment of the present invention, where as shown in fig. 1, the flowchart includes:
step S102, controlling an AGV to run to a preset butt joint position;
step S104, determining a first difference value between the actual length of the pallet to be butted and the projection length, wherein the projection length is the projection length of the actual length on a reference plane, and the reference plane is a plane perpendicular to the orientation of the stacking vehicles AGV;
and S106, adjusting the position of the stacking car AGV so that the first difference value is within a preset difference value range.
Through the steps, the first difference value of the actual length and the projection length of the pallet to be butted is determined, and the position of the AGV of the stacking vehicle is adjusted according to the first difference value, so that the first difference value is adjusted to be within the preset deviation range, the problem that the AGV reaches the target state according to the guide mark in the related technology is solved, the guide mark is unchanged, the rotation deviation with the guide mark as the center exists in the pallet to be butted, the problem that the AGV collides with the pallet due to the fact that the AGV collides with the pallet on the AGV when the object to be butted is solved, the collision risk of the AGV pallet fork and the pallet to be butted is further reduced, and the butting safety of the AGV and the pallet is improved.
In this step, the preset docking position is a position for the stacker AGV to determine whether the first difference value between the actual length of the pallet to be docked and the projection length is within the preset deviation range before the pallet fork of the stacker AGV enters the channel of the pallet to be docked. If the first difference value is not within the preset deflection angle range, the preset butt joint position is convenient for providing a position for the Automatic Guided Vehicle (AGV) in an adjusting process. Wherein, the preset butt joint position can be set according to the actual situation.
Due to the principle of taking an image by a camera, an object is projected onto a reference plane perpendicular to the center line of the camera, and the projected image is scaled to a fixed size to obtain a taken image. Therefore, the projection length of the projection of the real length of the pallet on the reference plane can be determined after the projection length is amplified according to a certain proportion according to the image shot by the camera.
In one embodiment, determining the first difference in S104 comprises:
acquiring a first image of the orientation of the AGV towards the stacking car shot by a TOF camera of the AGV, wherein the TOF camera is positioned on a first central line parallel to the orientation of the AGV;
identifying a first pallet image in the first image corresponding to the pallet;
determining a projection length corresponding to the length of the first pallet image according to the first preset proportional relation and the first pallet image;
according to the projection length, a first difference value between the projection length and the real length is calculated.
The first preset proportional relation can be respectively set according to different preset butt joint positions. The first preset proportional relationship refers to a proportional relationship between the length of a first pallet image of the pallet and the projection length of the real pallet projected on the reference plane in a first image of a fixed size captured by the TOF camera at a certain preset docking position, for example, when the first preset proportion at a certain preset docking position is 1:100, the first pallet image of 1.98cm in length in the first image captured by the TOF camera represents the projection length of the real pallet on the reference plane as 198cm, and if the real length is 200cm, the first difference can be calculated as 2 cm.
The length of the first pallet image in the first image may also be represented using pixels. For example, assuming that at the preset docking position, the first image captured by the TOF camera is an image with a resolution of 1280 × 960, and it is recognized that the length of the first pallet image in the first image is 990 pixels, if the first preset proportional relationship preset by the user is that 5 pixels represent that the projection length of the real pallet on the reference plane is 1cm, the projection length of the real pallet on the reference plane can be calculated to be 990 pixels ÷ 5 pixels × 1cm — 198cm, and assuming that the real length is 200cm, the first difference can be calculated to be 2 cm. In the above manner, a method for determining the projection length of the real pallet on the reference plane is provided.
According to the embodiment of the invention, the first difference value can be adjusted to be within the preset difference value range, and even the first difference value is adjusted to be zero or close to zero, so that the risk that the pallet fork impacts the pallet channel after entering the pallet channel is avoided. However, in some cases, even if the first difference between the actual length and the projected length of the pallets to be docked is adjusted to zero, there may still be a problem in that the first centre line parallel to the orientation of the stacker AGV is parallel to the second centre line of the pallet and at a greater distance, resulting in the forks striking the pallet.
To address the above issues, in one embodiment, after the entire stacker AGV is positioned such that the first difference is within the preset difference range, a first distance between the left side of the pallet and the left side of the field of view of the TOF camera of the stacker AGV and a second distance between the right side of the pallet and the right side of the field of view of the TOF camera may also be determined; and adjusting the position of the stacking car AGV to enable the first distance to be within a first preset distance range and the second distance to be within a second preset distance range, wherein the first preset distance and the second preset distance can be within the distance range according to actual conditions. Adopt above-mentioned mode, first distance is too big when can avoiding first central line and second central line to be parallel, and the collision of piling car AGV and the pallet of treating the butt joint when leading to the butt joint, has further avoided the risk of fork and pallet striking.
In one embodiment, determining a first distance from the left side of the pallet to the left side of the field of view angle of the TOF camera and a second distance from the right side of the pallet to the right side of the field of view angle of the TOF camera comprises: acquiring a second image of the orientation of the AGV to the stacker, which is shot by the TOF camera; identifying a second pallet image in the second image corresponding to the pallet; determining a third distance between the left side of the second pallet image and the left side of the second image, and determining a fourth distance between the right side of the second pallet image and the right side of the second image; and determining the first distance according to the second preset proportional relation and the third distance, and determining the second distance according to the second preset proportional relation and the fourth distance.
The second preset proportional relation can be respectively set according to different preset butt joint positions. The first preset proportional relation refers to the proportional relation between the length of the second pallet image of the pallet and the projection length of the real pallet projected on the reference plane in the second image with fixed size shot by the TOF camera at a certain preset butt joint position, for example, when the second preset ratio at a certain preset docking position is 1:100, the first pallet image with the length of 1cm in the second image captured by the TOF camera represents that the projection length of the real pallet on the reference plane is 100cm, assuming that the third distance between the left side of the second pallet image and the left side of the second image is 0.5cm, and determining that a fourth distance between the right side of the second pallet image and the right side of the second image is 0.6cm, it is thus possible to determine the first distance as 50cm from the second preset proportional relationship and the third distance and the second distance as 60cm from the second preset proportional relationship and the fourth distance.
The length of the second pallet image in the second image may also be represented using pixels. For example, assuming that at the preset docking position, the first image captured by the TOF camera is an image with a resolution of 1280 × 960, it is recognized that the third distance between the left side of the second pallet image and the left side of the second image is 250 pixels, and the fourth distance between the right side of the second pallet image and the right side of the second image is 300 pixels, if the first preset proportional relationship preset by the user is that 5 pixels represent that the projection length of the real pallet on the reference plane is 1cm, the first distance of 250 pixels × 5 pixels × 1cm may be calculated to be 50cm according to the third distance and the first preset proportional relationship, and the second distance of 300 pixels × 5 pixels × 1cm may be calculated to be 60cm according to the fourth distance and the first preset proportional relationship. By adopting the mode, the method for determining the first distance and the second distance is provided, so that the first distance and the second distance are adjusted, and the risk that the pallet fork and the pallet are collided due to too large distance when the first center line and the second center line are parallel is further avoided.
According to the embodiment of the invention, the first difference value can be adjusted to be within the preset difference value range, and even the first difference value is adjusted to be zero or close to zero, so that the risk that the pallet fork impacts the pallet channel after entering the pallet channel is avoided. However, in some cases, even if the first difference between the actual length and the projected length of the pallets to be docked is adjusted to zero, there may still be a problem in that the first centre line parallel to the orientation of the stacker AGV is parallel to the second centre line of the pallet and at a greater distance, resulting in the forks striking the pallet.
To address the above issues, in one embodiment, after adjusting the position of the stacker AGV such that the first skew angle is within the preset difference range, a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet may also be determined; the position of the stacker AGV is adjusted so that the fifth distance is within the third predetermined distance range. Adopt above-mentioned mode, first distance is too big when can avoiding the second central line of first central line and pallet to be parallel, and the collision of piling car AGV and the pallet of treating the butt joint when leading to the butt joint, has further avoided the risk of fork and pallet striking.
In one embodiment, determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet includes: acquiring a third image shot by the orientation of the TOF camera of the stacking car AGV to the stacking car AGV; identifying a third pallet image in the third image that corresponds to the pallet; determining a sixth distance between the centerline of the third pallet image and the centerline of the third image; and determining a fifth distance according to the third preset proportional relation and the sixth distance.
The third preset proportional relation can be set according to different preset butt joint positions. The third preset proportional relationship is a proportional relationship between a sixth distance and a fifth distance between the center lines of the third image and the third pallet image of the fixed size, which are shot by the TOF camera, at a certain preset docking position. For example, when the third preset ratio at a certain preset docking position is 1:100, the second distance between the center line of the second image captured by the TOF camera and the center line of the second pallet image in the second image is 0.02cm, and the first distance is 2cm according to the third preset ratio.
The sixth distance may also be represented in pixels. For example, assuming that the third image captured by the TOF camera at the preset docking position is an image with a resolution of 1280 × 960, the length of the third image is 1280 pixels, and 1280 pixels in the length direction of the third image are numbered from left to right as 1, 2, and 3 … … 1280, so that the center line of the third image passes through the 640 th pixel in the length direction of the sixth image when the TOF camera is located on the first center line, and the center line of the third image is the first center line. If it is recognized that the third pallet image in the third image is between 140 th pixel and 1100 th pixel in the length direction of the third image, a straight line parallel to the first center line and passing through (1100+140) ÷ 2 ═ 620 th pixel in the length direction of the third image may be taken as the second center line described above. After the positions of the first center line and the second center line in the third image are determined, a sixth distance between the first center line and the second center line of 640-. If the second predetermined proportional relationship preset by the user is 1cm where 10 pixels represent the real distance, the sixth distance can be calculated to be 2cm from 20 pixels/10 pixels × 1 cm. By adopting the mode, the method for determining the first distance between the first center line and the second center is provided, so that the first distance is adjusted, and the risk that the pallet fork and the pallet are impacted due to too large distance when the first center line and the second center line are parallel is further avoided.
In one embodiment, before controlling the stacker AGV to run to the preset docking position, the position of the stacker AGV can be adjusted according to a control instruction of a user; determining a second difference M between the real length and the projected length of the projection of the real length onto the reference plane0(ii) a Determining the preset difference range as [ - | M [)0|，+|M0|](ii) a Determining a seventh distance B between the left side of the pallet and the left side of the angle of view of the TOF camera0And an eighth distance C between the right side of the pallet and the right side of the angle of view of the TOF camera0(ii) a Determining the preset distance range as [0, D0]Wherein D is0Is B0And C0The larger of them.
In this embodiment, the user controls the position of the stacker AGV, adjusts the projection length of the projection of the real length on the reference plane, and then determines a second difference M between the projection length of the real length and the projection length of the projection of the real length on the reference plane0Assume user-determined M0And the standard error range of the superposition is set to be-2 cm to 2cm when the standard error range of the superposition is 2 cm. And determining a seventh distance B between the left side of the pallet and the left side of the field angle of the TOF camera0And an eighth distance C between the right side of the pallet and the right side of the angle of view of the TOF camera0. Suppose user-determined B050cm, defined C0Is 60cm, the predetermined range is determined to be [0, 60cm]. In addition, the user can set different preset deflection angle ranges according to different specifications and sizes of the pallets to be butted. Through the mode, the preset deflection angle range is set by a user in a mode of calibrating the coincidence standard before the pallets are automatically butted.
The embodiments of the invention will be described and illustrated with reference to the accompanying drawings and preferred embodiments.
In this embodiment, a schematic diagram of a stacker AGV is provided, as shown in fig. 2, the stacker AGV includes: TOF camera 1 and a
Fig. 3 is a schematic diagram of the stacking vehicle AGV docking the pallet, and as shown in fig. 3, the
Fig. 4 is a schematic diagram of a docking state of the stacker and the pallet, as shown in fig. 4, O and P are the left and right side lines of the
FIG. 5 is a flowchart of a deviation rectifying method for AGV docking of a stacker, as shown in FIG. 5, the flowchart includes the following steps:
step S502: and manually controlling the position of the AGV to a certain distance in front of the pallet, so that the pallet is within the range of the angle of field of the TOF camera.
Step S504: and manually adjusting the posture of the vehicle body to calibrate a first preset deviation range, a first preset distance range and a second preset distance range.
In this embodiment, calibrating the first preset deviation range, the first preset distance range and the second preset distance range achieves the following objectives: the deviation of the pallet length L3 detected by the TOF camera from the true pallet length is within a first preset deviation range, and 2 the distances L1 and L2 of both sides of the field angle detected by the TOF camera relative to both pallet edges are such that L1 is within the first preset distance range and such that L2 is within the second preset distance range.
Step S506: and setting a preset butt joint position.
The purpose of step S506 is to set a starting point for the stacker AGV to start automatically performing automatic pallet docking.
The deviation of pallet butt joint angle relies on the adjustment of stack car AGV's drive wheel differential operation, and stack car AGV has certain displacement forward, so predetermine the range that stack car AGV can be adjusted when the distance that the butt joint position set for is the farther then the pallet butt joint big more.
Steps S504 and S506 are relatively independent, and the execution order can be changed.
Step S508: the automatic operation of the stacking car AGV is started, and the stacking car AGV reaches a preset butt joint position.
Step S510: judging whether the deviation between the projection length and the real pallet length is within a first preset deviation range when the stacking vehicle AGV reaches a preset butt joint position, wherein the projection length is the projection length of the real length on a reference plane, the reference plane is a plane perpendicular to the orientation of the stacking vehicle AGV, if so, judging that the AGV fork is basically parallel to the pallet channel, and executing a step S514, otherwise, executing a step 512.
Step S512: the AGV controls the left and right driving wheels to perform differential motion to correct the deviation, and then performs step S510.
Step S514: judging whether the distance between the left side of the angle of view detected by the TOF camera and the left side of the pallet is within a first preset distance range and the distance between the right side of the angle of view detected by the TOF camera and the right side of the pallet is within a second preset distance range, if the distance between the left side of the angle of view detected by the TOF camera and the left side of the pallet is within the first preset distance range and the distance between the right side of the angle of view detected by the TOF camera and the right side of the pallet is within the second preset distance range, executing step S518, and if the distance between the left side of the angle of view detected by the TOF camera and the left side of the pallet is not within the first preset distance range and/or the distance between the right side of the angle of view detected and the right side of the pallet.
Step S516: the AGV controls the left and right driving wheels to perform differential motion to correct the deviation, and then performs step S514.
The purpose of step S516 is to make the distance between the left side of the field angle detected by the TOF camera and the left side of the pallet within a first preset distance range and the distance between the right side of the field angle detected by the TOF camera and the right side of the pallet within a second preset distance range, and only move left and right without changing the length of the projection of the real length on the reference plane.
Step S518: and enabling AGV forks of the stacking vehicle to enter the pallet channel to execute a carrying task.
The embodiment also provides a deviation rectifying device for AGV butt joint of the stacking vehicle. Fig. 6 is a schematic structural diagram of a deviation rectifying device for AGV docking of a stacker according to an embodiment of the present invention, as shown in fig. 6, the device includes:
the first control module 620 is used for controlling the stacking car AGV to run to a preset butt joint position;
a first determining module 640, coupled to the first control module 620, for determining a first difference between a real length of the pallet to be docked and a projected length, wherein the projected length is a length of a projection of the real length on a reference plane, and the reference plane is a plane perpendicular to an orientation of the stacker AGV;
a first adjusting module 660 is coupled to the first determining module 640 for adjusting the position of the stacker AGV such that the first difference is within a predetermined range of differences.
Compared with the prior art, the deviation correcting device for the AGV butt joint of the stacking car provided by the embodiment of the invention is used for controlling the AGV to run to the preset butt joint position through the first control module 620; a first determining module 640, configured to determine a first difference between a real length of a pallet to be docked and a projected length, where the projected length is a length of a projection of the real length on a reference plane, and the reference plane is a plane perpendicular to an orientation of the stacker AGV; the first adjusting module 660 is used for adjusting the position of the stacking car AGV, so that the method that the first difference value is within the preset difference value range solves the problem that the pallet fork on the stacking car AGV can collide with the pallet when the stacking car AGV reaches the target state and is butted with the object to be butted when the object to be butted is placed in the related technology, reduces the collision risk of the pallet fork of the stacking car AGV and the pallet, and improves the safety of the butt joint of the stacking car AGV and the pallet.
In one embodiment, the first determining module 640 is further configured to acquire a first image of an orientation of the stacker AGV captured by a TOF camera of the stacker AGV, where the TOF camera is located on a first central line parallel to the orientation of the stacker AGV, identify a first pallet image corresponding to a pallet in the first image, determine a projection length corresponding to a length of the first pallet image according to a first preset proportional relationship and the first pallet image, and calculate a first difference between the projection length and a real length according to the projection length.
In one embodiment, the apparatus further comprises: the second determining module is used for determining a first distance between the left side of the pallet and the left side of the field angle of view of the TOF camera of the AGV, and a second distance between the right side of the pallet and the right side of the field angle of view of the TOF camera; and the second adjusting module is used for adjusting the position of the stacking car AGV so that the first distance is within a first preset distance range and the second distance is within a second preset distance range.
In one embodiment, the second determining module is further configured to acquire a second image of the orientation of the AGV to the stacker, identify a second pallet image corresponding to the pallet in the second image, determine a third distance between the left side of the second pallet image and the left side of the second image, determine a fourth distance between the right side of the second pallet image and the right side of the second image, determine the first distance according to a second preset proportional relationship and the third distance, and determine the second distance according to the second preset proportional relationship and the fourth distance.
In one embodiment, the apparatus further comprises: a third determining module for determining a fifth distance between the first centerline parallel to the orientation of the stacker AGV and the second centerline of the pallet; and the third adjusting module is used for adjusting the position of the stacking car AGV so that the fifth distance is within a third preset distance range.
In one embodiment, the third determining module is further configured to acquire a third image of the stacking vehicle AGV captured by the TOF camera of the stacking vehicle AGV towards the stacking vehicle AGV, identify a third pallet image corresponding to the pallet in the third image, determine a sixth distance between a center line of the third pallet image and a center line of the third image, and determine the fifth distance according to a third preset proportional relationship and the sixth distance.
In one embodiment, the apparatus further comprises: the second control module is used for adjusting the position of the stacking car AGV according to a control instruction of a user; a fourth determination module for determining a second difference M between the real length and the projected length of the projection of the real length onto the reference plane0(ii) a A fifth determination module for determiningThe preset difference range is [ - | M [)0|，+|M0|](ii) a A sixth determining module for determining a seventh distance B between the left side of the pallet and the left side of the angle of view of the TOF camera0And an eighth distance C between the right side of the pallet and the right side of the angle of view of the TOF camera0(ii) a A seventh determining module for determining the preset distance range as [0, D0]Wherein D is0Is B0And C0The larger of them.
The deviation rectifying device for the AGV butt joint of the stacking vehicles provided by the embodiment of the invention corresponds to the deviation rectifying method for the AGV butt joint of the stacking vehicles one by one, and the technical characteristics and the beneficial effects explained in the embodiment of the deviation rectifying device for the AGV butt joint of the stacking vehicles are both suitable for the embodiment of the deviation rectifying method for the AGV butt joint of the stacking vehicles.
The embodiment also provides computer equipment which comprises a memory and a processor, wherein the memory stores an executable program, and the processor executes the executable program to realize the steps of the deviation rectifying method for AGV docking of the stacking vehicle.
Those skilled in the art will appreciate that all or part of the processes for implementing the deviation rectifying method for AGV docking of a stacker according to the above embodiments may be implemented by a computer program, which may be stored in a non-volatile computer readable storage medium, for example, in an embodiment, the program may be stored in a storage medium of a computer system and executed by at least one processor of the computer system to implement the processes including the above-described embodiments of the deviation rectifying method for AGV docking of a stacker. The storage medium may be a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or the like.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as 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 application, 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 concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
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