CN104670773A - Shuttle vehicle automatic walking position measuring method - Google Patents

Abstract

The invention provides a shuttle vehicle automatic walking position measuring method. A rotary encoder is arranged on a shuttle vehicle, the length of goods of shelves and clearances formed between the goods are combined, and the accurate position relationship between the shuttle vehicle and the goods positions can be acquired according to the output data of the rotary encoder corresponding to the shuttle vehicle driving distance.

Description

The automatic walking position method of measurement of shuttle

Technical field

The present invention relates to shelf design field, a kind of location measurement method of the shuttle especially shelf used.

Background technology

Shuttle formula warehousing system, adds high precision guide rail by traditional shelves, shuttle can be allowed at smooth running above, and guide rail bears goods conveying and goods memory function simultaneously, thus very big raising storage space degree of utilization.Shuttle is walked tasks such as realizing picking, transport, placement on shelf, shuttle mainly contains two kinds of forms in Storage and circulation equipment: shuttle formula goes out Input System and shuttle formula warehousing system, in reciprocal or winding mode, the chassis that trapped orbit runs, by goods handling to appointed place or equipment of plugging into.

Due in current warehousing system because description of cargo is more and more diversified, the walking position accuracy requirement of shuttle is also more and more higher, and existing shuttle is difficult to meet the demands, therefore needs a kind of new shuttle location measurement method to meet accuracy requirement.

Summary of the invention

For solving the problem, the invention provides the automatic walking position method of measurement of a kind of shuttle, the positional precision of shuttle can be improved.

For achieving the above object, shuttle of the present invention automatic walking position method of measurement can adopt following technical scheme:

Be positioned over by this shuttle on the track of tunnel, this tunnel overall length is L, and the goods length that tunnel is placed is L ₁, the gap between adjacent goods is l ₁; Described shuttle is provided with rotary encoder, and shuttle whole process of passing by the track of tunnel obtains the output numerical value of rotary encoder, and by distance that corresponding for the output numerical value M of rotary encoder shuttle is passed by; The distance corresponding as the output numerical value M of rotary encoder is less than 1 × l ₁+ 1 × L ₁; Then give tacit consent to shuttle and be positioned at first goods scope; When the value of rotary encoder is greater than (n-1) × l ₁+ (n-1) × L ₁and be less than n × l ₁+ n × L ₁time, just acquiescence is within the scope of the n-th goods yard, wherein n be greater than 1 natural number.

The present invention is by arranging rotary encoder on shuttle, and in conjunction with the setting in gap between the goods length on shelf and goods, obtain the position relationship between shuttle and goods yard by the output data of the corresponding shuttle operating range of rotary encoder, the position relationship between shuttle and goods yard can be measured more accurately relative to prior art.

Accompanying drawing explanation

Fig. 1 is that in the present invention, shuttle is positioned at the schematic diagram in shelf rail.

Detailed description of the invention

Refer to shown in Fig. 1, the invention discloses a kind of shuttle and automatically to walk rectification method of measurement.First, be positioned on tunnel track 1 by this shuttle 2, this tunnel overall length is L, and the goods length 3 that tunnel is placed is L ₁, the gap between adjacent goods 3 is l ₁; Described shuttle 2 is provided with rotary encoder, and shuttle whole process of passing by tunnel track 1 obtains the output numerical value of rotary encoder, and by distance that corresponding for the output numerical value M of rotary encoder shuttle is passed by.

The distance corresponding as the output numerical value M of rotary encoder is less than 1 × l ₁+ 1 × L ₁; Then give tacit consent to shuttle and be positioned at first goods scope; When the value of rotary encoder is greater than (n-1) × l ₁+ (n-1) × L ₁and be less than n × l ₁+ n × L ₁time, just acquiescence within the scope of the n-th goods yard (wherein n be greater than 1 natural number).Obtain the position relationship accurately between shuttle and goods yard by the output data of the corresponding shuttle operating range of rotary encoder like this, thus be conducive to handling goods and use shuttle to carry out accuracy rate and the accuracy rate of goods checking.As, shuttle is also provided with bar code scanner and automatically makes an inventory work to realize carrying out goods by shuttle.

Further, be the position that dolly is positioned at goods yard center-point more accurately.In the present invention, when the distance that the output numerical value M of rotary encoder is corresponding is positioned at 1 × l ₁+ 1/2 × L ₁during position, then shuttle is positioned at first goods yard center-point; The distance that the output numerical value M of rotary encoder is corresponding is positioned at n × l ₁+ (n-1+1/2) × L ₁time, then shuttle is positioned at the n-th goods yard center-point.

To in the concrete calculating of M, in order to further survey precision can be improved, consider the error that the shuttle plate car speed of travel may exist time different, therefore can preferably adopt the method for weighted calculation to improve precision to M:

If it is v that shuttle designs the maximum speed of travel _max, note when shuttle with speed walk twice time rotary encoder export numerical value m1, m2, when shuttle with walk twice time rotary encoder export numerical value m3, m4, when shuttle is with v _maxwalk twice time rotary encoder export numerical value be m5, m6; Due to the difference of the percentage error that high low speed occurs, being therefore calculated as follows of percentage error △ m:

$\begin{array}{c}\mathrm{\Δm}=\frac{{\mathrm{\Δ}}_{m2-m1}\frac{1}{5}{v}_{\max }+{\mathrm{\Δ}}_{m4-m3}\frac{1}{2}{v}_{\max }+{\mathrm{\Δ}}_{m6-m5}{v}_{\max }}{\frac{1}{5}{v}_{\max }+\frac{1}{2}{v}_{\max }+v_{\max }}\\ =\frac{2{\mathrm{\Δ}}_{m2-m1}+5{\mathrm{\Δ}}_{m4-m3}+10{\mathrm{\Δ}}_{m6-m5}}{17}\end{array}$

Therefore, the value of rotary encoder $M=\frac{(m1+m2)+(m3+m4)+(m5+m6)}{6}+\mathrm{\Δm}$

M is the output numerical value of the distance that the corresponding shuttle of rotary encoder is passed by.

In addition, a lot, the above is only the preferred embodiment of the present invention for concrete methods of realizing of the present invention and approach.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.The all available prior art of each component part not clear and definite in the present embodiment is realized.

Claims (4)

1. shuttle is walked a rectification method of measurement automatically, and it is characterized in that: be positioned over by this shuttle on the track of tunnel, this tunnel overall length is L, and the goods length that tunnel is placed is L ₁, the gap between adjacent goods is l ₁; Described shuttle is provided with rotary encoder, and shuttle whole process of passing by the track of tunnel obtains the output numerical value of rotary encoder, and by distance that corresponding for the output numerical value M of rotary encoder shuttle is passed by;

The distance corresponding as the output numerical value M of rotary encoder is less than 1 × l ₁+ 1 × L ₁; Then give tacit consent to shuttle and be positioned at first goods scope; When the value of rotary encoder is greater than (n-1) × l ₁+ (n-1) × L ₁and be less than n × l ₁+ n × L ₁time, just acquiescence is within the scope of the n-th goods yard, wherein n be greater than 1 natural number.

2. shuttle according to claim 1 is walked rectification method of measurement automatically, it is characterized in that: the distance corresponding as the output numerical value M of rotary encoder is positioned at 1 × l ₁+ 1/2 × L ₁during position, then shuttle is positioned at first goods yard center-point; The distance that the output numerical value M of rotary encoder is corresponding is positioned at n × l ₁+ (n-1+1/2) × L ₁time, then shuttle is positioned at the n-th goods yard center-point.

3. shuttle according to claim 1 and 2 is walked rectification method of measurement automatically, it is characterized in that: described shuttle is also provided with bar code scanner.

4. shuttle according to claim 1 and 2 is walked rectification method of measurement automatically, it is characterized in that: set shuttle to design the maximum speed of travel as v _max, note when shuttle with speed walk twice time rotary encoder export numerical value m1, m2, when shuttle with walk twice time rotary encoder export numerical value m3, m4, when shuttle is with v _maxwalk twice time rotary encoder export numerical value be m5, m6; Due to the difference of the percentage error that high low speed occurs, being therefore calculated as follows of percentage error △ m:

$\begin{array}{c}\mathrm{\Δm}=\frac{{\mathrm{\Δ}}_{m2-m1}\frac{1}{5}{v}_{\max }+{\mathrm{\Δ}}_{m4-m3}\frac{1}{2}{v}_{\max }+{\mathrm{\Δ}}_{m6-m5}{v}_{\max }}{\frac{1}{5}{v}_{\max }+\frac{1}{2}{v}_{\max }+v_{\max }}\\ =\frac{{2\mathrm{\Δ}}_{m2-m1}+{5\mathrm{\Δ}}_{m4-m3}+{10\mathrm{\Δ}}_{m6-m5}}{17}\end{array}$

Therefore, the value of rotary encoder $M=\frac{(m1+m2)+(m3+m4)+(m5+m6)}{6}+\mathrm{\Δm}$

M is the output numerical value of the distance that the corresponding shuttle of rotary encoder is passed by.