Shuttle vehicle walking positioning control method

A technology of positioning control and shuttle car, applied in the field of warehousing, can solve the problems of inaccurate walking distance acquisition and poor control effect, and achieve the effect of improving accuracy and efficiency

Active Publication Date: 2020-12-11
南京音飞储存设备(集团)股份有限公司
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Problems solved by technology

[0005] Purpose of the invention: The present invention provides a positioning control method for a shuttle car to solve the problem in the prior art that the control effect is not good due to inaccurate acquisition of the walking distance

Method used

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  • Shuttle vehicle walking positioning control method

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Embodiment Construction

[0020] The automated three-dimensional warehouse adopted in this embodiment needs to include shelves, a track on which the shuttle car travels, and a shuttle car running on the track; a positioning sensor is included on the shuttle car; The positioning hole for positioning, when the current positioning sensor detects the positioning hole, it is considered that the shuttle is in a cargo space.

[0021] Please combine figure 1 As shown, a walking positioning control method based on hole distance measurement disclosed in the present invention is applied to an automated three-dimensional warehouse. The method steps are as follows:

[0022] (1) Provide a track with a positioning mark, and each cargo space on the track has a positioning mark at the same position; provide a shuttle with a sensor, an encoder, and a walking positioning control device, and the sensor is used to detect The location identifier. The positioning mark is at least one of a positioning hole slot opened on t...

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Abstract

The invention discloses a shuttle vehicle walking positioning control method, and the method comprises the steps: measurement is performed on the distance between two adjacent positioning marks, and the segmented regularization of a walking distance is performed; in the walking process of the shuttle vehicle, the positioning identifiers are detected through a sensor, the pulse number of an encoderis obtained, the distance between every two adjacent positioning identifiers and the distance which does not reach the positioning identifiers are calculated, the corresponding distance is recognized, the walking distance is updated, and the control speed is output; according to the method, the walking wheels are prevented from being influenced by load and temperature, and the walking positioningcontrol precision and efficiency are improved.

Description

technical field [0001] The invention relates to the technical field of warehousing, in particular to a walking positioning control method based on hole distance measurement. Background technique [0002] In the shuttle car storage system, the shuttle car uses the space allocated on the roadway to pick up, transport, and release the goods. The walking positioning and control methods have a great impact on its efficiency. At present, most shuttle vehicles use holes for positioning, that is, positioning marks are set on the side of the track corresponding to the position of the goods. In order to improve the walking efficiency, it is necessary to obtain accurate distance in real time during the walking process, according to the designed speed curve (such as S-curve) Perform speed control to realize fast walking and positioning. [0003] The existing position calculation method is 1. The method of counting holes and positioning. The shuttle car detects the number of positioning...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B65G1/04
CPCG05D1/0225G05D1/0221G05D1/0223B65G1/0492G05D2201/0216
Inventor 金跃跃沈金鑫赵振南
Owner 南京音飞储存设备(集团)股份有限公司
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