The invention discloses an AGV high-position stacking operation device based on hybrid navigation and a control method. The AGV high-position stacking operation device based on hybrid navigation comprises an AGV body, a PLC and a visual perception system, and the PLC is connected with a laser navigation device and a two-dimensional code reader; the AGV body comprises a pallet fork, a movable sliding block device is arranged at the fork root position of the pallet fork, and the sliding block device is used for achieving angle deviation adjustment of stacked goods. According to the invention, laser/two-dimensional code hybrid navigation switching is realized, laser navigation realizes automatic carrying operation outside a warehouse, and two-dimensional code navigation realizes accurate navigation and positioning under large scene change and dense shielding of materials in a storage environment; the visual perception system recognizes the relative poses of the cargoes during stacking operation, front-back, left-right and angle deviation errors of the cargoes on the pallet forks are flexibly adjusted through the forward movement and lateral movement functions of the pallet forks and the sliding block device, and high-precision high-position stacking operation under the dense storage complex environment is achieved.

    本发明公开了一种基于混合导航的AGV高位堆叠作业的装置及控制方法,包括AGV车体、PLC控制器和视觉感知系统,PLC控制器分别连接有激光导航装置和二维码读取器;AGV车体包括货叉,货叉的叉根位置设有可活动滑块装置,滑块装置用于实现堆叠货物角度偏移调整。本发明实现激光/二维码混合导航切换,激光导航实现仓库外的自动化搬运作业,二维码导航实现仓储环境内场景变化大、物料密集遮挡下的精准导航定位;视觉感知系统在进行堆叠作业时识别货物的相对位姿,通过货叉前移、侧移功能及滑块装置灵活调整货叉上货物的前后、左右及角度偏移误差,实现密集仓储复杂环境下高精度的高位堆叠作业。


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    Titel :

    AGV high-position stacking operation device based on hybrid navigation and control method


    Weitere Titelangaben:

    一种基于混合导航的AGV高位堆叠作业的装置及控制方法


    Beteiligte:
    WANG ZHIJIE (Autor:in) / JIN HUASHU (Autor:in) / ZHOU YUNFENG (Autor:in) / LIU BIN (Autor:in) / ZHAO YONGKANG (Autor:in)

    Erscheinungsdatum :

    2023-07-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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