The invention relates to an autonomous unmanned transportation robot, and discloses an AGV battery charging management method and system, and a computer readable storage medium. The method comprises:receiving a battery replacement instruction; positioning a charging bin, and acquiring battery power information in the battery tower; and determining the position of a battery in the AGV based on visual correction so as to drive the manipulator to take out the power-shortage battery from the AGV, putting the power-shortage battery into the charging bin positioned in the S2, taking out the fully-charged battery and putting the fully-charged battery into the AGV. According to the invention, the power shortage battery in the AGV can be automatically taken out to independently charge the batteryand is replaced by the full-power battery, so that the normal work of the AGV is not influenced, and the working efficiency of the AGV is effectively improved; and meanwhile, the pixel coordinates ofthe current AGV are calculated through visual correction, so that the relative deviation between the manipulator and the position of the battery on the AGV is conveniently calculated, the accurate positioning of the position when the manipulator grabs the battery on the AGV is realized, and the charging process is more stable and reliable.

    本发明涉及自主无人运输机器人,公开了AGV电池充电管理方法、系统和计算机可读存储介质,方法包括:接收电池更换指令;定位充电仓,并获取电池塔中的电池电量信息;基于视觉矫正,确定AGV中电池位置,以驱动机械手从AGV中取出缺电电池,并将缺电电池放至S2中定位的充电仓,并取出满电电池放至AGV。实现了自动将AGV中的缺电电池取出以单独对电池进行充电,并替换成满电电池,从而不影响AGV正常工作,有效提高了AGV的工作效率;同时通过视觉矫正,以计算当前AGV的像素坐标,从而便于计算机械手与AGV上电池位置的相对偏差,从而实现了机械手抓取AGV上电池时位置的精准定位,从而使充电过程更加前稳定可靠。


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    Title :

    AGV battery charging management method and system and computer readable storage medium


    Additional title:

    AGV电池充电管理方法、系统和计算机可读存储介质


    Contributors:
    WU GONG (author) / SHEN YONG (author)

    Publication date :

    2020-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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