CN103759640B - Piler data automatic measuring method - Google Patents
Piler data automatic measuring method Download PDFInfo
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- CN103759640B CN103759640B CN201410019309.5A CN201410019309A CN103759640B CN 103759640 B CN103759640 B CN 103759640B CN 201410019309 A CN201410019309 A CN 201410019309A CN 103759640 B CN103759640 B CN 103759640B
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Abstract
Disclosure one piler data automatic measuring method, method including measuring the radiation angle distance visiting goods photoelectricity: first, piler is walked primary importance, now visits goods Photoelectric Detection to the first column, and electric control system records the range data of piler walking；Piler is walked the second position, now visits goods Photoelectric Detection to the second column, and electric control system records the range data of piler walking；Actual first column of measuring is to the range data between the second column；Electric control system carries out rear computing, draw the radiation angle distance visiting goods photoelectricity, this piler data automatic measuring method visits the distance at goods photoelectricity radiation angle by measuring and calculating, and the data measured in follow-up piler walking process deduct or plus the distance at this spy goods photoelectricity radiation angle, reach the effect accurately picked and placeed being beneficial to pallet fork to pallet.
Description
Technical field
The present invention relates to automatic stereowarehouse field, particularly relate to piler secretary's method for automatic measurement of automatic stereowarehouse.
Background technology
In prior art, whether the spy goods photoelectricity of piler simply detects on shelf in stockit is available when piler picks and places goods, and the travel distance of carrier-and-stacker is to use merely electric control system to go to measure, and in actual applications, visiting goods photoelectricity and be difficult to accurately be installed on the center of pallet fork, simple use control system is controlled making piler produce certain deviation when walking.
Therefore, it is necessary to a kind of new technical scheme is to solve the problems referred to above.
Summary of the invention
It is an object of the invention to the deficiency existed for prior art, it is provided that a kind of piler data automatic measuring method with high accuracy.
For achieving the above object, piler data automatic measuring method of the present invention can adopt the following technical scheme that
A kind of piler data automatic measuring method, for obtaining piler walking accurate location value in automatic stereowarehouse, this piler includes frame, it is located at the loading platform of frame, it is located at visiting goods photoelectricity and being positioned at the pallet fork visiting goods photoelectricity both sides of loading platform, piler is provided with the electric control system for rear computing, described warehouse has the first column and the second column, pallet is equidistantly located between the first column and the second column, the width of pallet is known, visit goods photoelectricity and there is radiation angle, the method that this piler data automatic measuring method includes measuring the radiation angle distance visiting goods photoelectricity:
First, piler is walked primary importance (M), now visits goods Photoelectric Detection to the first column, and electric control system records the first data of piler walking, and range data is trailing edge data；
Then, piler is walked the second position (N), now visits goods Photoelectric Detection to the second column, and electric control system records the second data of piler walking, is rising edge data from data；
Actual first column of measuring is to the range data (L) between the second column；
Electric control system carries out rear computing, deducts, by the second data, the numerical value that the first data obtain, then deducts this numerical value by the range data (L) between the first column (4) to the second column (5) and obtain visiting the radiation angle distance of goods photoelectricity.
Compared with background technology, in the present invention, piler data automatic measuring method is by measuring and calculate the distance visiting goods photoelectricity radiation angle, and the data measured in follow-up piler walking process deduct or plus the distance at this spy goods photoelectricity radiation angle, reach the effect accurately picked and placeed being beneficial to pallet fork to pallet.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is that piler of the present invention goes to the schematic diagram of the second position from primary importance；
Fig. 3 is the schematic diagram after pallet fork of the present invention stretches out.
Detailed description of the invention
Piler data automatic measuring method of the present invention, is for obtaining piler walking accurate location value in automatic stereowarehouse.
Ginseng Fig. 1, piler data automatic measuring method of the present invention, for obtaining piler walking accurate location value in automatic stereowarehouse.This piler includes frame, is located at the loading platform 1 of frame, is located at visiting goods photoelectricity 2 and being positioned at the pallet fork 3 visiting goods photoelectricity 2 both sides of loading platform, and piler is also associated with the electric control system for rear computing.Automatic stereowarehouse has the first column 4 and the second column 5, is provided with crossbeam 7 between the first column 4 and the second column 5, and crossbeam 7 is provided with the pallet 6 being equally spaced, and the width of pallet 6 is known.Below there is the method that two pallets 6 illustrate piler data automatic measuring between the first column 4 and the second column 5:
Draw the radiation angle distance visiting goods photoelectricity 2:
Ginseng Fig. 2, first, piler is walked primary importance M, now visits goods Photoelectric Detection to the first column 4, and electric control system records the range data of piler walking, and the first data when namely visiting goods photoelectricity against column, these first data are trailing edge data；Then, piler is walked second position N, now visits goods Photoelectric Detection to the second column 5, and electric control system records the second data of piler walking, and these second data are rising edge data；Measure range data L actual between first column the 4 to the second column 5；Electric control system carries out rear computing, draws radiation angle distance (deduct, by the second data, the numerical value that the first data obtain, then deduct, with the actual range data L between first column the 4 to the second column 5, the radiation angle distance that this numerical value obtains) visiting goods photoelectricity.
Draw the deviation value visiting goods photoelectricity 2 with pallet fork 3 center:
Ginseng Fig. 3, piler is walked and is stopped after the 3rd position P between primary importance and the second position, and electric control system records the 3rd data of piler walking, and stretches out pallet fork 3；The actual center measuring pallet fork 3 is to the range data L ' between the first column 4；Electric control system carries out rear computing, draws the deviation value (deduct L ' by the 3rd data and obtain a difference, the value that this difference and the first data are subtracted each other is deviation value) visiting goods photoelectricity with pallet fork center.
Draw the gap width between pallet 6 and the first column 4:
Because the width of pallet 6 is known, the second data deduct the first data and obtain the actual range data L between the first column 4 and the second column 5 plus radiation angle distance.Calculating the gap width between pallet and column, actual range L obtains this gap width divided by number of gaps (tray number adds 1) after deducting the overall width (width of pallet is multiplied by the quantity of pallet) of pallet 6.
Draw the accurate location value of pallet 6:
First calculate the tray center position distance (that is, the width of pallet 6 divided by 2) to tray edge；
It is obtain plus the first data plus the distance of tray center position to tray edge plus gap width by deviation value that PLC electric control system calculates the accurate location value of pallet.
Claims (4)
1. a piler data automatic measuring method, for obtaining piler walking accurate location value in automatic stereowarehouse, this piler includes frame, it is located at the loading platform (1) of frame, it is located at spy goods photoelectricity (2) of loading platform and is positioned at the pallet fork (3) visiting goods photoelectricity (2) both sides, piler is provided with the electric control system for rear computing, described warehouse has the first column (4) and the second column (5), pallet (6) is equidistantly located between the first column (4) and the second column (5), the width of pallet is known, visit goods photoelectricity and there is radiation angle, it is characterized in that: the method that this piler data automatic measuring method includes measuring the radiation angle distance visiting goods photoelectricity:
First, piler is walked primary importance (M), now visits goods Photoelectric Detection to the first column, and electric control system records the first data of piler walking, and range data is trailing edge data；
Then, piler is walked the second position (N), now visits goods Photoelectric Detection to the second column, and electric control system records the second data of piler walking, and range data is rising edge data；
Actual first column of measuring is to the range data (L) between the second column；
Electric control system carries out rear computing, deduct, by the second data, the numerical value that the first data obtain, then deduct this numerical value by the range data (L) between the first column (4) to the second column (5) and obtain visiting the radiation angle distance of goods photoelectricity.
2. piler data automatic measuring method as claimed in claim 1, it is characterised in that: this piler data automatic measuring method includes measuring the method visiting goods photoelectricity with pallet fork center deviation difference:
Piler is walked and is stopped behind the 3rd position (P), and electric control system is recorded the range data of piler walking and stretches out pallet fork (3)；
The actual center measuring pallet fork (3) is to the range data (L ') between the first column；
Electric control system carries out rear computing, draws the deviation value visiting goods photoelectricity with pallet fork center.
3. the piler data automatic measuring method as described in Arbitrary Term in claim 2, it is characterised in that: the method that this piler data automatic measuring method includes obtaining the gap width between pallet and column:
Electric control system calculates the gap width between pallet and column.
4. piler data automatic measuring method as described in claim 3, it is characterised in that: the method that this piler data automatic measuring method includes obtaining tray position value:
Electric control system first calculates the center distance to pallet (6) edge of pallet (6)；
Electric control system calculates the positional value of pallet (6).
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| CN201410019309.5A CN103759640B (en) | 2014-01-16 | 2014-01-16 | Piler data automatic measuring method |
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| CN201410019309.5A CN103759640B (en) | 2014-01-16 | 2014-01-16 | Piler data automatic measuring method |
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| CN103759640B true CN103759640B (en) | 2016-07-06 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347996A (en) * | 2016-08-31 | 2017-01-25 | 山东日发纺织机械有限公司 | Tray type part supplying device and supplying method thereof |
| CN107765595A (en) * | 2017-11-10 | 2018-03-06 | 昆明昆船物流信息产业有限公司 | A kind of goods yard self-operated measuring unit and method |
| CN108609334B (en) * | 2018-05-10 | 2020-05-05 | 西安航天精密机电研究所 | Stacker and stacker self-adaptive adjustment method based on stacker |
| CN113970297A (en) * | 2021-11-19 | 2022-01-25 | 江苏智库智能科技有限公司 | Calibration measurement method for goods location column data of stacker |
| CN117125391A (en) * | 2023-09-27 | 2023-11-28 | 无锡中鼎集成技术有限公司 | Visual-based stereoscopic warehouse position data measurement system and method |
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| CN202562477U (en) * | 2012-04-28 | 2012-11-28 | 上海海事大学 | Device for detecting dangerous container stockpiling manner at container terminal storage yard |
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| JP3783569B2 (en) * | 2001-03-05 | 2006-06-07 | 株式会社ダイフク | Load detection device |
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| JPH1082662A (en) * | 1996-09-10 | 1998-03-31 | N K K Plant Kensetsu Kk | Detecting method for position of high-speed moving body |
| JP2000229706A (en) * | 1999-02-12 | 2000-08-22 | Daifuku Co Ltd | Travel gear for movable body |
| DE19938345C1 (en) * | 1999-08-13 | 2001-02-15 | Isocom Automationssysteme Gmbh | Method and device for detecting the position of a vehicle in a predetermined area, in particular a storage facility, and warehouse management method and system |
| JP2002211709A (en) * | 2001-01-12 | 2002-07-31 | Murata Mach Ltd | Position recognition system for carriage |
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Address after: 211102 No. 470 Yin Hua Street, Jiangning economic and Technological Development Zone, Jiangsu, Nanjing Patentee after: Nanjing flying storage equipment (Group) Limited by Share Ltd Address before: 211102 No. 470 Yin Hua Street, Jiangning economic and Technological Development Zone, Jiangsu, Nanjing Patentee before: NANJING INFORM STORAGE EQUIPMENT CO., LTD. |