AGV attitude adjusting method applied to tray identification/positioning

The invention discloses an AGV attitude adjusting method applied to tray identification/positioning. The method comprises the following steps: S1, moving an AGV to a front point of a tray; S2, scanning the position and posture of the tray through a 3D visual sensor, and transmitting data to a controller; S3, enabling the controller to receive the data, control the AGV body to rotate in situ according to the angular deviation data of the tray and adjust the direction of the AGV body until the pallet fork is perpendicular to the fork entering direction of the tray; and S4, after the state of the AGV body is adjusted to make the fork entering direction completely perpendicular to the fork entering face of the tray with the center line of the AGV does not coinciding with the center line of the tray at the moment, enabling the 3D vision sensor to scan again and transmit data to the controller. According to the invention, the combined use of 3D visual data and a navigation algorithm is not needed any more, and the