The invention relates to the technical field of coil material logistics, and discloses a cantilever shaft butt joint method and device and a storage medium, and the butt joint method guides an AGV to be in butt joint with a material frame through a preset point A, a preset point B and a preset point C. After each time of parking, the coordinates of the next parking point position need to be calculated according to the actual parking point position in combination with the preset relative position relation between the point positions, so that the situation that the docking process is affected by the parking error is avoided. Wherein in the docking process of the AGV, the angle of a vehicle body and the transverse vertical distance between the vehicle body and a baffle of a material frame need to be obtained in real time, and the angle of the vehicle body is adjusted according to the real-time angle of the vehicle body, so that the angle of the vehicle body is equal to the angle between a preset point C and a preset point A; the position of the vehicle body or the cantilever shaft is adjusted according to the real-time transverse vertical distance between the vehicle body and the baffle of the material frame, so that the transverse vertical distance between the cantilever shaft and the material frame is kept unchanged. According to the method, arrangement of a ground magnetic stripe and a two-dimensional code on the ground can be avoided, and the maintenance cost of the logistics system is reduced.

    本发明涉及卷料物流技术领域,公开了一种悬臂轴对接方法、装置及存储介质,其中对接方法通过预设的A点、B点和C点来指引AGV小车与料架对接。每次停靠后,需要根据实际停靠的点位,结合预设的点位之间的相对位置关系推算下一次停靠的点位的坐标,以避免停靠误差影响对接过程。其中,将AGV小车在对接过程中,需要实时获取车身的角度以及车身距离料架的挡板之间的横向垂直距离,并根据车身的实时角度调节车身角度,使车身的角度与预设的C点至A点之间的角度相等,根据车身距离料架的挡板之间的实时横向垂直距离调节车身或悬臂轴的位置,使悬臂轴与料架的横向垂直距离保持不变。该方法能避免在地面设置地面磁条和二维码,降低物流系统的维护成本。


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    Title :

    Cantilever shaft butt joint method and device and storage medium


    Additional title:

    一种悬臂轴对接方法、装置及存储介质


    Contributors:
    ZOU JIASHUAI (author) / ZAN XUEYAN (author) / LIU DAN (author) / LI FAPIN (author) / TANG LONG (author) / LIU CHUAN (author) / JIANG GANSHENG (author) / XU BO (author)

    Publication date :

    2025-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS



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