Four-way shuttle vehicle continuous positioning system and method

Abstract

A four-way shuttle vehicle continuous positioning system comprises a goods shelf channel. A coding strip is installed at the bottom of the goods shelf channel. A QR code is pasted at a specified position on the coding strip; the QR code faces upwards and faces the bottom of the four-way shuttle vehicle; an industrial camera is arranged below the four-way shuttle vehicle; and the industrial camera is connected with the controller. The positioning method comprises the steps that (1) the coding strip is installed at the bottom of a goods shelf channel, the two-dimensional code is pasted on the coding strip, the two-dimensional code faces upwards to the bottom of the four-way shuttle vehicle, and an industrial camera is arranged at the bottom of the four-way shuttle vehicle; (2) the industrial camera obtains two-dimensional code image information on the coding bar and transmits the two-dimensional code image information to the vehicle-mounted controller; (3) the vehicle-mounted controller obtains the coordinate value of the two-dimensional code in a world coordinate system and the coordinate value of the center of the two-dimensional code in a camera coordinate system; (4) coordinate values of the four-way shuttle vehicle in a world coordinate system are obtained through calculation of the vehicle-mounted controller, and a positioning result is output. The method has the characteristics of no accumulated error, no need of self-calibration operation and accurate positioning.

Description

Technical field [0001] The invention belongs to the technical field of four-way shuttle, and more particularly to a four-way shuttle continuous positioning system and method. Background technique [0002] In the rapidly developing logistics warehousing industry, in order to improve the storage efficiency, cost-effective, non-humanized warehousing is an inevitable trend in the development of the industry. In the shelf stereo storage system, intelligent four-way shuttle is a smart handling device in one integrating four-dimensional (front, post, left, right), original reversing, automatic loading and unloading, intelligent monitoring in the horizontal. . On the cross track, it can travel in the direction of the longitudinal orbit, can also travel in the horizontal track, it can reach any one of the labels, not limited to the site limit, adapt to various working environment, terminal free dispatch, to achieve automatic Unattended. [0003] The main requirements of the traveling oper...

AI Technical Summary

Problems solved by technology

[0004] At present, the positioning methods of storage shuttle vehicles mainly include: 1) Use the wheel speed encoder to calculate the position. Due to the large changes in the body and cargo weight of the shuttle vehicle, there is an error when the encoder calculates the position, and the error will increase with the travel time. Continuous accumulation leads to excessive positioning errors; 2) Add an absolute position indicating device to automatically calibrate the encoder positioning to eliminate accumulated errors and prevent inaccurate positioning caused by accumulated errors. For example, a proximity switch is installed at the bottom of the shuttle and used The beam on the track between the racks is calibrated by the encoder, but the encoder positioning error between the absolute positions still exists; 3) The positioning method based on the distance meter is easily blocked by other shuttle vehicles, so continuous Stable positioning results; 4) The positioning method of the shuttle car based on the two-dimensional code on the side is based on the principle of geographic coding, and a one-to-one corresponding two-dimensional code is made for each position of the shelf, and the optical code reader installed on the side of the shuttle car The QR code on the shelf guide rail is scanned to accurately locate the position of the shuttle during operation

Because this method sticks the pre-prepared two-dimensional code tape on the side wall of the shelf guide rail, and the optical code reader is also installed on the side of the shuttle car, so there will be broken codes at places such as cross track intersections, which will cause positioning Results are inconsistent or unlocatable

Excessive positioning error, discontinuity or inability to locate will cause the four-way shuttle vehicle to fail to reach the designated intersection or designated cargo location smoothly and accurately, and then cannot complete the reversing driving and loading and unloading operations, and even collision accidents may occur, resulting in Equipment damage, causing serious economic losses

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