Method for precise positioning of shuttle vehicle moving in dense storage warehouse

A technology for precise positioning and shuttle vehicles, which is applied in vehicle position/route/height control, two-dimensional position/channel control, non-electric variable control, etc., to achieve the effect of precise positioning

Inactive Publication Date: 2017-05-10
上海精星仓储设备工程有限公司 +1
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

Due to the increasingly diverse types of goods in the current warehousing system, the requirements for the accuracy of the shuttle's walking position are getting higher and higher, and the existing shuttles are difficult to meet the requirements.

Method used

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  • Method for precise positioning of shuttle vehicle moving in dense storage warehouse
  • Method for precise positioning of shuttle vehicle moving in dense storage warehouse
  • Method for precise positioning of shuttle vehicle moving in dense storage warehouse

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Embodiment Construction

[0022] In order to make the present invention more comprehensible, preferred embodiments are described in detail below with accompanying drawings.

[0023] S-curve acceleration and deceleration refers to the fact that the speed curve of the system in the acceleration and deceleration phase is S-shaped. The shuttle car is under acceleration and deceleration control, and the derivative of its acceleration is a constant, which can be minimized by controlling the jerk value. The instability caused by inertial load parking improves the accuracy.

[0024] The present invention applies the S-curve to the shuttle car, and its principle is introduced as follows:

[0025] Under normal circumstances, the running process of the shuttle car can be divided into 7 sections: jerk section AB, uniform acceleration section BC, acceleration and deceleration section CD, constant velocity section DE, acceleration and deceleration section EF, uniform deceleration section FG, and deceleration section...

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Abstract

The invention relates to a method for the precise positioning of a shuttle vehicle moving in a dense storage warehouse. An S-curve acceleration and deceleration algorithm is employed for the adjustment of the real-time speed of the shutter vehicle in a process of precise positioning, thereby achieving the high-speed and precise positioning. The S-curve acceleration and deceleration is indicated by the S-shaped speed curve of a system at the stage of acceleration and deceleration. When the shuttle vehicle carries out the acceleration and deceleration control, the derivative of acceleration is a constant. Through the control of the acceleration value, the method reduces the instability, caused by an inertia load, to maximum degree, and improves the precision.

Description

technical field [0001] The invention relates to a method for precise positioning of a shuttle car during high-speed operation. Background technique [0002] In the warehousing and logistics system, the shuttle car is generally the core equipment of the entire conveying system, and its efficiency directly determines the operating efficiency of the entire system. Therefore, the reasonable speed control and precise positioning technology of the shuttle car are particularly important. The purpose of the control program is to make the shuttle car start smoothly, run quickly, and accurately locate. This is especially important in reducing the bottleneck effect of the conveying system and improving the overall operating efficiency of the warehousing and logistics system. The shuttle car is a kind of pallet handling equipment used in dense storage three-dimensional warehouses. Due to the use of through-type shelves to eliminate the working lanes, it can maximize the utilization rat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 张启中黄曦崔雄杨光辉周晓晓
Owner 上海精星仓储设备工程有限公司
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