Intelligent cargo carrying auxiliary device and method for holding-clamping-type AGV

The invention provides an intelligent cargo carrying auxiliary device and method for a holding-clamping-type AGV. The auxiliary device comprises a binocular vision sensor arranged on an AGV head, filmpressure sensors arranged on the inner sides of holding arms at equal intervals, infrared photoelectric sensors and 77 GHz millimeter wave radar sensors which are arranged below the holding arms, travel switches arranged at the roots of the holding arms and an MCU module. The auxiliary device helps the holding-clamping-type AGV to keep accurate goods clamping of the holding arms in the goods carrying process, goods sliding caused by too small force of the holding arms or goods damage caused by too large force of the holding arms are avoided, the holding arms are prevented from colliding withobstacles, and an artificial intelligence function is achieved. 本发明提出了一种智能型抱夹式AGV货物搬运辅助装置和方法，该辅助装置包括设置于AGV车头的双目视觉传感器、在抱臂内侧等间隔设置的薄膜压力传感器、在抱臂下方设置的红外光电传感器和77GHz毫米波雷达传感器、在抱臂根部设置的行程开关以及MCU模块。本发明辅助装置帮助抱夹式AGV在货物搬运过程中保持抱臂对货物的准确夹持，避免因抱