CN104709696A

CN104709696A - Goods placing and taking method, device and system for tray piling trolley

Info

Publication number: CN104709696A
Application number: CN201410856490.5A
Authority: CN
Inventors: 王金玉; 丁宁; 徐泽贤; 于练; 熊丹; 张钦丽; 吴晖
Original assignee: Shenzhen Jinlin Technology Co Ltd
Current assignee: Shenzhen Zhongzhi Weian Robot Technology Co.,Ltd.
Priority date: 2014-12-31
Filing date: 2014-12-31
Publication date: 2015-06-17
Anticipated expiration: 2034-12-31
Also published as: CN104709696B

Abstract

The invention discloses a goods placing and taking method, device and system for a tray piling trolley. The method comprises the steps that an upper computer obtains static three-dimensional coordinates of a position where goods need to be placed or taken; movable three-dimensional coordinates of a fork body of the piling trolley are obtained in real time; according to the opposite position relation between the static three-dimensional coordinates and the movable three-dimensional coordinates, the piling trolley is controlled to work, when the distance from the static three-dimensional coordinates to the movable three-dimensional coordinates is smaller than a preset assigned distance, it is judged that the static three-dimensional coordinates coincide with the movable three-dimensional coordinates, and the fork body is controlled to place or take the goods. Staff do not need to determine the placing/taking position through the eyes, the goods are automatically placed to the assigned position or taken from the assigned position, the speed of goods placing and taking is increased, the accuracy of goods placing and taking is improved, and labor intensity of the staff is relieved.

Description

The method of pallet stacking car placement/discharging of goods, device and system

Technical field

The present invention relates to portage field, particularly relate to a kind of method of pallet stacking car placement/discharging of goods, device and system.

Background technology

Wireless technology is most typical in the application of positioning field is exactly satellite-based position fixing system, for example GPS position fixing system, Muscovite GLONASS position fixing system, the Chinese Beidou II navigation positioning system of the U.S., these systems are applied very extensive in navigation and outdoor positioning, but these systems at the positioning precision of civil area about 10-15 rice, do not meet people to demand that is indoor or Special Areas high fix, people are very unripe to application such as indoor positioning, short range location and Special Areas location.

Indoor positioning technologies based on wireless network mainly comprises the technology such as UWB, Wi-Fi, ZigBee, BlueTooth, active RFID, is widely applied in the every aspect of the popular lifes such as office, family, factory, park.

Pallet stacking car is also known as forklift, pallet forklift, and International Standardization Organization ISO/TC110 is called industrial vehicle.Being applicable to the operation in slype and finite space, is high rack warehouse, supermarket, the ideal tools of workshop handling and Wo 2008091717 goods.

Carrier-and-stacker generally comprises manual carrier-and-stacker and electric piling car, and wherein, electric piling car, is divided into again half electronic and all-electric.It is no matter which kind of carrier-and-stacker, when stacking goods, staff is all needed conscientiously to confirm the position of goods stacking, nonetheless, still there will be irregular situation that goods is stacked, goods disposablely can not be placed on assigned address by the mistake even visually produced due to staff, just goods must can be placed on shelf by adjustment repeatedly.In above-mentioned stacking procedure, have that staff's stacking goods speed is slow, energy consumption serious, a problem such as at the bottom of stacking cargo location accuracy.Therefore how location technology is applied to pallet stacking car and realizes the technical matters that placement or discharging of goods automatically become this area urgent need solution.

Summary of the invention

Main purpose of the present invention for provide a kind of can automatically by goods stacking to assigned address or to the method for pallet stacking car placement/discharging of goods of assigned address discharging of goods, device and system.

In order to realize foregoing invention object, first the present invention proposes a kind of method of pallet stacking car placement/discharging of goods, comprising:

Obtain the quiet three-dimensional coordinate of the position that goods will be placed/extract;

The dynamic three-dimensional coordinate of the fork body of Real-time Obtaining carrier-and-stacker;

The position relationship relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control the placement/discharging of goods of fork body.

Further, the step of the dynamic three-dimensional coordinate of the fork body of described Real-time Obtaining carrier-and-stacker, comprising:

Receive the locating base station that the first positioning electronic tag real time emission first radiofrequency signal by being pre-installed on described fork body is extremely preset, locating base station generates the first corresponding return signal according to described first radiofrequency signal;

According to described first return signal, calculate the dynamic three-dimensional coordinate of described first positioning electronic tag.

Further, described locating base station comprises at least two groups, when at least two group locating base station receive the first radiofrequency signal of described first positioning electronic tag respectively, first return signal described in corresponding generation at least two groups, calculate at least two groups according at least two group first return signals and move three-dimensional coordinate, at least two groups are moved three-dimensional coordinate average treatment, obtains final dynamic three-dimensional coordinate.

Further, described acquisition goods will place/step of the quiet three-dimensional coordinate of extracting position, comprising:

Receive the quiet three-dimensional coordinate of the goods placement/extracting position of outside input; Or,

Receive will place by being pre-installed on described goods/the second positioning electronic tag of extracting position launches the second radiofrequency signal to the locating base station preset, locating base station generates the second corresponding return signal according to described second radiofrequency signal;

According to described second return signal, calculate the three-dimensional coordinate of described second positioning electronic tag.

Further, described locating base station comprises at least two groups, when at least two group locating base station receive the second radiofrequency signal of the second positioning electronic tag respectively, second return signal described in corresponding generation at least two groups, the quiet three-dimensional coordinate of at least two groups is calculated according at least two group second return signals, by the quiet three-dimensional coordinate average treatment of at least two groups, obtain final three-dimensional coordinate.

The present invention also provides a kind of device of pallet stacking car placement/discharging of goods, comprising:

First acquisition module, will place/quiet the three-dimensional coordinate of extracting position for obtaining goods;

Second acquisition module, for the dynamic three-dimensional coordinate of the fork body of Real-time Obtaining carrier-and-stacker;

Control module, for the position relationship relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control the placement/discharging of goods of fork body.

Further, described second acquisition module, comprising:

First receiving element, the locating base station that the first positioning electronic tag real time emission first radiofrequency signal for receiving by being pre-installed on described fork body is extremely preset, locating base station generates the first corresponding return signal according to described first radiofrequency signal;

First calculating unit, for according to described first return signal, calculates the dynamic three-dimensional coordinate of described first positioning electronic tag.

Further, described second acquisition module, also comprises:

First averaging unit, for when described locating base station comprises at least two groups, receive the first radiofrequency signal of the first positioning electronic tag respectively, first return signal described in corresponding generation at least two groups, calculate at least two groups according at least two group first return signals and move three-dimensional coordinate, at least two groups are moved three-dimensional coordinate average treatment, obtains final dynamic three-dimensional coordinate.

Further, described first acquisition module, comprising:

Acquiring unit, will place/quiet the three-dimensional coordinate of extracting position for the goods receiving outside input; Or, comprising:

Second receiving element, launches the second radiofrequency signal to the locating base station preset for the second positioning electronic tag received by being pre-installed on described goods placement/extracting position, and locating base station generates the second corresponding return signal according to described second radiofrequency signal;

Second calculating unit, for according to described second return signal, calculates the quiet three-dimensional coordinate of described second positioning electronic tag.

Further, described first acquisition module also comprises:

Second averaging unit, for when described locating base station comprises at least two groups, when receiving the second radiofrequency signal of the second positioning electronic tag respectively, second return signal described in corresponding generation at least two groups, the quiet three-dimensional coordinate of at least two groups is calculated according at least two group second return signals, by at least two group three-dimensional coordinate average treatment, obtain final quiet three-dimensional coordinate.

The present invention also provides a kind of system of pallet stacking car placement/discharging of goods, comprises registration device and upper computer;

Described upper computer obtains goods will be placed/the quiet three-dimensional coordinate of extracting position; By the dynamic three-dimensional coordinate of the fork body of carrier-and-stacker described in described registration device Real-time Obtaining;

The position relationship that described upper computer is relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control the placement/discharging of goods of fork body.

The method of pallet stacking car placement/discharging of goods of the present invention, device and system, / quiet the three-dimensional coordinate of extracting position will be placed by the goods obtained, and after the dynamic three-dimensional coordinate of the fork body of Real-time Obtaining carrier-and-stacker, according to the position relationship of quiet three-dimensional coordinate and dynamic three-dimensional coordinate, control carrier-and-stacker works, fork body is made to move to assigned address, goods is positioned over assigned address, or goods is extracted at assigned address, placement/extracting position is confirmed by human eye without the need to staff, improve the speed and accuracy of placing/extracting, reduce the labour intensity of staff.

Accompanying drawing explanation

Fig. 1 is the diagram of circuit of the method for pallet stacking car placement/discharging of goods in one embodiment of the invention;

Fig. 2 is the diagram of circuit of the dynamic three-dimensional coordinate of the fork body of acquisition carrier-and-stacker in one embodiment of the invention;

Fig. 3 is the diagram of circuit of the quiet three-dimensional coordinate of acquisition placement/discharging of goods in one embodiment of the invention;

Fig. 4 is the structured flowchart of the pallet stacking car in one embodiment of the invention;

Fig. 5 is the distribution schematic diagram of the anchor base station in one embodiment of the invention;

Fig. 6 is the structured flowchart of the device of pallet stacking car placement/discharging of goods in one embodiment of the invention;

Fig. 7 is the structured flowchart of the second acquisition module in one embodiment of the invention;

Fig. 8 is the structured flowchart of the first acquisition module in one embodiment of the invention;

Fig. 9 is the structured flowchart of the system of pallet stacking car placement/discharging of goods in one embodiment of the invention;

Figure 10 is the system schematic of the pallet stacking car placement/discharging of goods in one embodiment of the invention.

The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.

Detailed description of the invention

Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

With reference to Fig. 1, in the embodiment of the present invention, a kind of method of pallet stacking car placement/discharging of goods is provided, comprises step:

The quiet three-dimensional coordinate of the position that S1, acquisition goods will be placed/extract;

The dynamic three-dimensional coordinate of the fork body 31 of S2, Real-time Obtaining carrier-and-stacker;

S3, the position relationship relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate and pitch body 31, control fork body 31 and place/discharging of goods.

The order of above-mentioned steps S1 and step S2 can also be put upside down and carry out, and also can carry out simultaneously.

As described in above-mentioned steps S1, the quiet three-dimensional coordinate of the position that above mentioned goods will be placed/extract refers to and generally comprises X-axis, Y-axis and Z axis by the point with definite meaning consisted of separate three variablees.In the present embodiment, the quiet three-dimensional coordinate of the position that described goods will be placed/extract refers to is specifying the three-dimensional coordinate in goods yard.

As described in above-mentioned steps S2, by Wi-Fi, ZigBee, BlueTooth(Bluetooth technology), active RFID (Radio Frequency Identification, RF identification), the dynamic three-dimensional coordinate of the fork body 31 of the technology Real-time Obtaining carrier-and-stacker such as UWB (Ultra Wideband, impulse radio).To be fourchette body 31 specifying the dynamic three-dimensional coordinate in goods yard to described dynamic three-dimensional coordinate, wherein goods will place/the quiet three-dimensional coordinate of extracting position refers to three-dimensional coordinate in the same coordinate system with the dynamic three-dimensional coordinate of the fork body 31 stating carrier-and-stacker.The three-dimensional coordinate of described Real-time Obtaining fork body 31 is that the position of fourchette body 31 can constantly change, and needs the dynamic three-dimensional coordinate of real-time acquisition fork body 31, so that the operation of subsequent step S3.

As described in above-mentioned steps S3, after upper computer 10 gets the dynamic three-dimensional coordinate of the quiet three-dimensional coordinate of goods placement/extracting position and the fork body 31 of carrier-and-stacker, the actuating device controlling carrier-and-stacker drives carrier-and-stacker to move and/or pitch body 31 and moves, first the assigned address making carrier-and-stacker move to a side of the three-dimensional coordinate of goods placement/extracting position stops, then drive on fork body 31 and move or move down and the movement etc. of carrier-and-stacker, make three-dimensional coordinate and quiet three-dimensional coordinate be in the position relationship of specifying, then goods is placed/extracted.In one specifically embodiment, when quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control fork body 31 and place/discharging of goods; Wherein, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate.In actual mechanical process, error is there is in the dynamic three-dimensional coordinate measured with actual fork body 31 three-dimensional coordinate, and not comparablely to avoid, make under normal circumstances the dynamic three-dimensional coordinate of fork body 31 place with goods/it is very difficult that the three-dimensional coordinate of extracting position overlaps completely, so preset an error threshold allowed, the speed of stacking can be improved, the accuracy rate of placement/extraction can not be affected simultaneously.And in different stacking tasks, can set different distance to a declared goal is threshold value, this threshold value is generally ± and 5 to ± 25 centimetres.Such as, when requiring that between stacking casing, spacing is large, what so just threshold value can be set is larger; If require spacing hour between stacking casing, what so just need threshold value to arrange is relatively smaller etc.In a concrete the present embodiment, dynamic three-dimensional coordinate and the goods of fork body 31 place/distance of the three-dimensional coordinate of extracting position within ± 5 centimetres time, can think that both overlap, automatically by goods placement/extraction.

In one embodiment, getting the quiet three-dimensional coordinate that goods will place is B (Xb, Yb, Zb), the dynamic three-dimensional coordinate of then real-time acquisition fork body 31 is A (Xb, Ya, Za), the position relationship relative with quiet three-dimensional coordinate according to dynamic three-dimensional coordinate, real-time output control command, control carrier-and-stacker moves, according to the order preset, first carrier-and-stacker is moved to the side of quiet three-dimensional coordinate, make Xa and Xb substantially equal (error allowed band can be arranged according to actual conditions), the difference of Yb and Ya is a designated value, this designated value is greater than fork body 31 length of carrier-and-stacker, control carrier-and-stacker adjustment direction afterwards, make fork body 31 aim at the Y-coordinate direction of quiet three-dimensional coordinate, then control fork body 31 to rise or decline, make Zb and Za substantially equal (error allowed band can be arranged according to actual conditions), control carrier-and-stacker or pitch body 31 to move, when making Yb and Ya substantially equal, goods is placed, completes the stacking task of a goods.

In another specific embodiment, arrangement of goods can be identical with the concrete steps of discharging of goods, such as, quiet three-dimensional coordinate is arranged at goods will placement location bottom center place, so in the process of arrangement of goods, can will placement location along the plane translation residing for quiet three-dimensional coordinate to goods by fork body 31; In discharging of goods process, same being arranged at by quiet three-dimensional coordinate will the place of bottom center of discharging of goods position, is generally interlayer or the bottom surface of pallet, so in the process of discharging of goods, can by fork body 31 along the plane translation residing for quiet three-dimensional coordinate to goods, get final product discharging of goods.Arrangement of goods also can be different from the concrete steps of discharging of goods, such as, quiet three-dimensional coordinate is arranged at goods will placement location bottom center place, so in the process of arrangement of goods, first fork body 31 is increased to the position higher than quiet three-dimensional coordinate, then fork body 31 is slowly declined, arrangement of goods, or quiet three-dimensional coordinate being arranged at goods will the Stereocenter place of placement location, after the dynamic three-dimensional coordinate of fork body 31 is overlapped with quiet three-dimensional coordinate, arrangement of goods etc. after the slow decline distance to a declared goal of control fork body 31; And in proposition goods process, then must control the position that fork body 31 can be inserted in bottom that quiet three-dimensional coordinate is positioned at pallet, to ensure that fork body 31 can insert pallet discharging of goods smoothly, to prevent fork body 31 from inserting goods itself, damage goods.

With reference to Fig. 2, in the present embodiment, above-mentioned steps S2, comprising:

S21, receive the first positioning electronic tag real time emission first radiofrequency signal by being pre-installed on described fork body 31 to the locating base station 21 preset, locating base station 21 generates the first corresponding return signal according to described first radiofrequency signal;

S22, according to described first return signal, calculate the dynamic three-dimensional coordinate of described first positioning electronic tag 22.

As described in above-mentioned steps S21, the first positioning electronic tag 22 is arranged on fork body 31, so calculates the three-dimensional coordinate of the first positioning electronic tag 22, the dynamic three-dimensional coordinate of described fork body 31 can be represented.What the first positioning electronic tag 22 was concrete is arranged at which particular location on fork body 31, then can require to arrange according to concrete stacking, and as being arranged on the center of fork body 31, or a certain branch of fork body 31 is first-class.Described locating base station 21 is that at least three anchor base station 211 on the same line do not form, by receiving the first radiofrequency signal that the first positioning electronic tag 22 is launched, and then the first return signal of the free information of generating strap or strength information.

As described in above-mentioned steps S22, the time gap of the first radiofrequency signal that in contrast locating base station 21, each anchor base station 211 receives or the power of signal, namely by the first return signal with temporal information or strength information, analysis meter calculates the three-dimensional coordinate of described first positioning electronic tag 22.

In one embodiment, above-mentioned locating base station 21 comprises at least two groups, when at least two group locating base station 21 receive described first radiofrequency signal respectively, corresponding generation at least two group first return signals, calculate at least two groups according at least two group first return signals and move three-dimensional coordinate, at least two groups are moved three-dimensional coordinate average treatment, obtains final dynamic three-dimensional coordinate, be i.e. the actual dynamic three-dimensional coordinate used.Ratio is if any three groups of locating base station 21, and first can obtain three groups of coordinates, be respectively A1 (x1, y1, z1), A2 (x2, y2, z2), A3 (x3, y3, z3), it is A(that last average treatment obtains final coordinate , , ).Obtain a final dynamic three-dimensional coordinate after moving three-dimensional coordinate average treatment by least two groups, result is more accurate.

In the embodiment of the present invention, above-mentioned steps S1, comprises step:

The three-dimensional coordinate of the goods placement/extracting position of S1`, the outside input of reception; Namely known goods needs the quiet three-dimensional coordinate of the position of placing/extracting, and is directly manually input on control convenience, easily and fast, assists without the need to miscellaneous equipment, only need measure each goods putting position in advance, be applicable to normalisation stacking.Such as, in a stacking warehouse, the position of the specification of goods and the stacking of needs is all constant, if measured place is respectively placed so in advance/the quiet three-dimensional coordinate of extracting position, when needs time, directly export placement/extracting position coordinate, simple, quick.

With reference to Fig. 3, in another embodiment, above-mentioned steps S1, comprises step:

S11, receive will place by being pre-installed on described goods/the second positioning electronic tag 23 of extracting position launches the second radiofrequency signal to the locating base station 21 preset, locating base station 21 generates the second corresponding return signal according to described second radiofrequency signal;

S12, according to described second return signal, calculate the three-dimensional coordinate of described second positioning electronic tag 23.

As as described in above-mentioned steps S11, second positioning electronic tag 23 is arranged at goods and will places/extracting position, so calculate the three-dimensional coordinate of the second positioning electronic tag 23, the quiet three-dimensional coordinate of the position that described goods is placed/extracted can be represented, concrete which position being arranged at goods placement/extracting position place, then can require to arrange according to concrete stacking, as being arranged on the center of placement/extracting position, or a side of placement/extracting position is first-class, when dynamic three-dimensional coordinate moves to the assigned address of relatively quiet three-dimensional coordinate, complete the task of placement/discharging of goods.Described locating base station 21 can be that at least three anchor base station 211 on the same line do not form, by receiving the second radiofrequency signal that the second positioning electronic tag 23 is launched, and then the second return signal of the free information of generating strap or signal strength information.

As described in above-mentioned steps S12, contrast time gap or the strength information of the second radiofrequency signal that each base station receives in locating base station 21, namely by the second return signal with temporal information or strength information, analysis meter calculates the three-dimensional coordinate of described second positioning electronic tag 23.

In one embodiment, above-mentioned locating base station 21 comprises at least two groups, when at least two group locating base station 21 receive the second radiofrequency signal respectively, corresponding generation at least two group second return signals, the quiet three-dimensional coordinate of at least two groups is calculated according at least two group second return signals, by the quiet three-dimensional coordinate average treatment of at least two groups, obtain final quiet three-dimensional coordinate, i.e. the actual quiet three-dimensional coordinate used.Than if any three covers, first group of elements of a fix, first can obtain three groups of coordinate figures, be respectively B1 (x1`, y1`, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), it is B(that last average treatment obtains final coordinate , , ).By obtaining a final quiet three-dimensional coordinate after at least two groups quiet three-dimensional coordinate average treatment, result is more accurate.

With reference to Fig. 4 and Fig. 5, in the present embodiment, above-mentioned locating base station 21 is UWB locating base station, UWB locating base station described in two groups is set in a cuboid goods station, each group UWB locating base station comprises three UWB anchor base station 211, if UWB anchor base station 211 A1, A2, A3 are one group, UWB anchor base station 211B1, B2, B3 are one group, and six UWB anchor base station 211 are arranged at the different summit place of cuboid goods station respectively.Such as, UWB anchor base station 211 A1, A2 is arranged at the two ends of a pair linea angulata of cuboid goods station end face respectively, and UWB anchor base station 211 A3 is arranged at bottom surface, cuboid goods station, away from A1, the summit place of A2 place vertical plane, UWB anchor base station 211B1, B2 is arranged at UWB anchor base station 211 A1 respectively, the bottom surface of oblong goods station is positioned at immediately below A2, UWB anchor base station 211B3 is arranged at cornerwise other end place that cuboid goods station take A3 as starting point, the UWB anchor base station 211 of setting like this, conveniently determine the position of each UWB anchor base station 211, thus it is convenient and set up the coordinate-system of cuboid goods station accurately, improve the accuracy of location, and cover cuboid goods station comprehensively, without measuring dead angle, pallet stacking car is made to obtain maximum placement/discharging of goods scope.Two groups of UWB locating base station receive the second radiofrequency signal of the second positioning electronic tag 23 on shelf respectively, and produce two group of second corresponding return signal, obtain last quiet three-dimensional coordinate according to two group of second return signal analysis; First positioning electronic tag is arranged at the center of the fork body 31 of pallet stacking car, when pallet stacking car enters after in cuboid goods station, first positioning electronic tag sends the first radiofrequency signal and is received by two groups of UWB locating base station respectively, thus calculates the dynamic three-dimensional coordinate of the first positioning electronic tag.In the present embodiment, first positioning electronic tag 22 and the second positioning electronic tag 23 are accessed driving circuit, it is made periodically to send UWB pulse to each UWB anchor base station 211 of UWB locating base station, calculated the three dimensional local information at the first positioning electronic tag 22 and the second current place of positioning electronic tag 23 according to pulsimeter by UWB locating base station, the three-dimensional coordinate obtained is more accurate.In other embodiments, other location technologies also can be used to position.

In the present embodiment, described pallet stacking car is also arranged a display control switch 32, the solid space figure of cuboid goods station can be shown, and show the first positioning electronic tag 22 and the second position of positioning electronic tag 23 in solid space figure, such as represent quiet three-dimensional coordinate position with red point, with the dynamic three-dimensional coordinate of green representative, i.e. simulating reality scene, when showing red point and the coincidence of green point in display control switch 32, then illustrate that goods is placed or extracts successfully, and sound and/or the prompting such as light, carry out follow-up work.

In one embodiment, after quiet three-dimensional coordinate and dynamic three-dimensional coordinate are determined and overlap, pallet stacking car can control fork body and stop the fixed time, then carries out placing/discharging of goods.Can again determine whether the correct time to the position of operating personal to fork body 31, if mal, then need to readjust control, improve the accuracy of pallet stacking car placement/discharging of goods.

In one embodiment, need a casing stacking on shelf, first, will place by being arranged at goods/the second positioning electronic tag 23 of extracting position launches UWB pulse, it is made to get the location information of the second positioning electronic tag 23 by UWB locating base station, calculate the three-dimensional coordinate of the second positioning electronic tag 23, namely goods is about to the quiet three-dimensional coordinate of placement/extracting position; Then, UWB pulse is launched by the first positioning electronic tag 22 of fork body 31 center being arranged at carrier-and-stacker, make it by the location information of UWB locating base station Real-time Obtaining to the first positioning electronic tag 22, calculate the three-dimensional coordinate of the first positioning electronic tag 22, i.e. the dynamic three-dimensional coordinate of the fork body 31 of carrier-and-stacker; Subsequently, control carrier-and-stacker move or artificial carrier-and-stacker left to the position of goods by stacking, control the lifting of fork body 31, control the movement etc. of pallet stacking car, when the three-dimensional coordinate of the first positioning electronic tag 22 and the three-dimensional coordinate of the second positioning electronic tag 23 are in distance to a declared goal, container is put down, terminates a stacking task.

In the present embodiment, confirm placement/extracting position without the need to staff by human eye, automatically by goods stacking to assigned address, improve the speed of stacking and accuracy, reduce the labour intensity of staff.

With reference to Fig. 6, in the embodiment of the present invention, a kind of device of pallet stacking car placement/discharging of goods is also provided, comprises:

First acquisition module 11, for obtaining the quiet three-dimensional coordinate of goods placement/extracting position;

Second acquisition module 12, for the dynamic three-dimensional coordinate of the fork body 31 of Real-time Obtaining carrier-and-stacker;

Control module 13, for the position relationship relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate and pitch body 31, control fork body 31 and place/discharging of goods.

As above-mentioned first acquisition module 11, the electronic machine of specifying can be connected by wired or wireless mode, analytical calculation can be carried out to the received signal, also control command can be sent to corresponding electronic machine.The quiet three-dimensional coordinate of the position that above mentioned goods will be placed/extract refers to and generally comprises X-axis, Y-axis and Z axis by the point with definite meaning consisted of separate three variablees.In the present embodiment, the quiet three-dimensional coordinate of the position that described goods will be placed/extract refers to is specifying the three-dimensional coordinate in goods yard.

As above-mentioned second acquisition module 12, can Wi-Fi, ZigBee, BlueTooth(Bluetooth technology be passed through), active RFID (Radio Frequency Identification, RF identification), the dynamic three-dimensional coordinate of the fork body 31 of the technology Real-time Obtaining carrier-and-stacker such as UWB (Ultra Wideband, impulse radio).To be fourchette body 31 specifying the three-dimensional coordinate in goods yard to described dynamic three-dimensional coordinate, wherein goods will place/the quiet three-dimensional coordinate of extracting position refers to three-dimensional coordinate in the same coordinate system with the dynamic three-dimensional coordinate of the fork body 31 stating carrier-and-stacker.Described Real-time Obtaining pitches the dynamic three-dimensional coordinate of body 31, is that the position of fourchette body 31 can constantly change, and needs the dynamic three-dimensional coordinate of real-time acquisition fork body 31, to control carrier-and-stacker or to pitch body 31 constantly to move to goods placement/extracting position.

As above-mentioned control module 13, after the first acquisition module 11 and the second acquisition module 12 get the dynamic three-dimensional coordinate of the quiet three-dimensional coordinate of goods placement/extracting position and the fork body 31 of carrier-and-stacker respectively, control module 13 is according to these two coordinates, the actuating device controlling carrier-and-stacker drives carrier-and-stacker to move and/or pitch body 31 and moves, first the assigned address making carrier-and-stacker move to a side of the three-dimensional coordinate of goods placement/extracting position stops, then drive on fork body 31 and move or move down and the movement etc. of carrier-and-stacker, three-dimensional coordinate and quiet three-dimensional coordinate is made to be in the position relationship of specifying, then goods is placed/extracted.Fork body 31 is in actual mechanical process, error is there is in the dynamic three-dimensional coordinate measured with actual fork body 31 three-dimensional coordinate, and not comparablely to avoid, make under normal circumstances the dynamic three-dimensional coordinate of fork body 31 place with goods/it is very difficult that the three-dimensional coordinate of extracting position overlaps completely, so preset an error threshold allowed, the speed of stacking can be improved, the accuracy rate of placement/extraction can not be affected simultaneously.And in different stacking tasks, can set different distance to a declared goal is threshold value, this threshold value is generally ± and 5 to ± 25 centimetres.Such as, when requiring that between stacking casing, spacing is large, what so just threshold value can be set is larger; If require spacing hour between stacking casing, what so just need threshold value to arrange is relatively smaller etc.In a concrete the present embodiment, dynamic three-dimensional coordinate and the goods of fork body 31 place/distance of the three-dimensional coordinate of extracting position within ± 5 centimetres time, can think that both overlap, automatically by goods placement/extraction.

In one embodiment, above-mentioned first acquisition module 11 gets the quiet three-dimensional coordinate B (Xb that goods will be placed, Yb, Zb), then by implementing the dynamic three-dimensional coordinate A (Xb of the real-time acquisition fork body 31 of acquisition module, Ya, Za), the position relationship relative with quiet three-dimensional coordinate according to dynamic three-dimensional coordinate, real-time output control command, control carrier-and-stacker moves, according to the order preset, first carrier-and-stacker is moved to the side of quiet three-dimensional coordinate, make Xa and Xb substantially equal (error allowed band can be arranged according to actual conditions), the difference of Yb and Ya is a designated value, this designated value is greater than fork body 31 length of carrier-and-stacker, control carrier-and-stacker adjustment direction afterwards, make fork body 31 aim at the Y-coordinate direction of quiet three-dimensional coordinate, then control fork body 31 to rise or decline, make Zb and Za substantially equal (error allowed band can be arranged according to actual conditions), control carrier-and-stacker or pitch body 31 to move, when making Yb and Ya substantially equal, goods is placed, completes the stacking task of a goods.

With reference to Fig. 7, in the present embodiment, above-mentioned second acquisition module 12, comprising:

First receiving element 121, the locating base station 21 that the first positioning electronic tag real time emission first radiofrequency signal for receiving by being pre-installed on described fork body 31 is extremely preset, locating base station 21 generates the first corresponding return signal according to described first radiofrequency signal;

First calculating unit 122, for according to described first return signal, calculates the dynamic three-dimensional coordinate of described first positioning electronic tag 22.

First receiving element 121 described above, receives the first return signal.First positioning electronic tag 22 is arranged on fork body 31, so calculates the three-dimensional coordinate of the first positioning electronic tag 22, the dynamic three-dimensional coordinate of described fork body 31 can be represented.What the first positioning electronic tag 22 was concrete is arranged at which particular location on fork body 31, then can require to arrange according to concrete stacking, and as being arranged on the center of fork body 31, or a certain branch of fork body 31 is first-class.Described locating base station 21 can be that at least three anchor base station 211 on the same line do not form, by receiving the first radiofrequency signal that the first positioning electronic tag 22 is launched, and then the first return signal of the free information of generating strap or strength information.

As above-mentioned first calculating unit 122, the time gap of the first radiofrequency signal that in contrast locating base station 21, each anchor base station 211 receives or the power of signal, namely by the first return signal with temporal information or strength information, analysis meter calculates the three-dimensional coordinate of described first positioning electronic tag 22.

In one embodiment, above-mentioned second acquisition module 12 also comprises: the first averaging unit 123, for when above-mentioned locating base station 21 comprises at least two groups, receive described first radiofrequency signal respectively, corresponding generation at least two group first return signals, according at least two groups, the first return signal calculates at least two groups and moves three-dimensional coordinate, and at least two groups are moved three-dimensional coordinate average treatment, obtain final dynamic three-dimensional coordinate, i.e. the actual dynamic three-dimensional coordinate used.Ratio is if any three groups of locating base station 21, and first can obtain three groups of coordinates, be respectively A1 (x1, y1, z1), A2 (x2, y2, z2), A3 (x3, y3, z3), it is A(that last average treatment obtains final coordinate , , ).Obtain a final dynamic three-dimensional coordinate after moving three-dimensional coordinate average treatment by least two groups, result is more accurate.

In the embodiment of the present invention, above-mentioned first acquisition module 11, comprising:

Acquiring unit, for receiving the three-dimensional coordinate of the goods placement/extracting position of outside input; Namely known goods needs the quiet three-dimensional coordinate of the position of placing/extracting, and is directly manually input to control convenience upper, easily and fast, assists without the need to miscellaneous equipment, only need measure each goods putting position in advance, be applicable to normalisation stacking.Such as, in a stacking warehouse, the position of the specification of goods and the stacking of needs is all constant, if measured place is respectively placed so in advance/three-dimensional coordinate of extracting position, when needs time, directly export placement/extracting position coordinate, simple, quick.

With reference to Fig. 8, in another embodiment, above-mentioned first acquisition module 11, comprising:

Second receiving element 111, will place by being pre-installed on described goods for receiving/the second positioning electronic tag 23 of extracting position launches the second radiofrequency signal to the locating base station 21 preset, and locating base station 21 generates the second corresponding return signal according to described second radiofrequency signal;

Second calculating unit 112, for according to described second return signal, calculates the three-dimensional coordinate of described second positioning electronic tag 23.

As above-mentioned second receiving element 111, receive the second return signal.Second positioning electronic tag 23 is arranged at goods and will places/extracting position, so calculate the three-dimensional coordinate of the second positioning electronic tag 23, the position that described goods is placed/extracted can be represented, concrete which position being arranged at goods placement/extracting position place, then can require to arrange according to concrete stacking, as being arranged on the center of placement/extracting position, or a side of placement/extracting position is first-class.Described locating base station 21 can be that at least three anchor base station 211 on the same line do not form, by receiving the second radiofrequency signal that the second positioning electronic tag 23 is launched, and then the second return signal of the free information of generating strap or signal strength information.

As above-mentioned second calculating unit 112, contrast time gap or the signal strength of the second radiofrequency signal that each base station receives in locating base station 21, namely by the second return signal with temporal information or signal strength information, analysis meter calculates the three-dimensional coordinate of described second positioning electronic tag 23.

In one embodiment, above-mentioned first acquisition module 11 also comprises the second averaging unit 113, for when above-mentioned locating base station 21 comprises at least two groups, receive the second radiofrequency signal respectively, second return signal described in corresponding generation at least two groups, calculates the quiet three-dimensional coordinate of at least two groups, by the quiet three-dimensional coordinate average treatment of at least two groups according at least two group second return signals, obtain final quiet three-dimensional coordinate, i.e. the actual quiet three-dimensional coordinate used.Than if any three covers, first group of elements of a fix, first can obtain three groups of coordinate figures, be respectively B1 (x1`, y1`, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), it is B(that last average treatment obtains final coordinate , , ).By obtaining a final quiet three-dimensional coordinate after at least two groups quiet three-dimensional coordinate average treatment, result is more accurate.

With reference to Fig. 4 and Fig. 5, in the present embodiment, above-mentioned locating base station 21 is UWB locating base station, UWB locating base station described in two groups is set in a cuboid goods station, each group UWB locating base station comprises three UWB anchor base station 211, if UWB anchor base station 211A1, A2, A3 are one group, UWB anchor base station 211B1, B2, B3 are one group, and six UWB anchor base station 211 are arranged at the different summit place of cuboid goods station respectively.Such as, UWB anchor base station 211 A1, A2 is arranged at the two ends of a pair linea angulata of cuboid goods station end face respectively, and UWB anchor base station 211 A3 is arranged at bottom surface, cuboid goods station, away from A1, the summit place of A2 place vertical plane, UWB anchor base station 211B1, B2 is arranged at UWB anchor base station 211 A1 respectively, the bottom surface of oblong goods station is positioned at immediately below A2, UWB anchor base station 211B3 is arranged at cornerwise other end place that cuboid goods station take A3 as starting point, the UWB anchor base station 211 of setting like this, conveniently determine the position of each UWB anchor base station 211, thus it is convenient and set up the coordinate-system of cuboid goods station accurately, improve the accuracy of location, and cover cuboid goods station comprehensively, without measuring dead angle, pallet stacking car is made to obtain maximum placement/discharging of goods scope.Two groups of UWB locating base station receive the second radiofrequency signal of the second positioning electronic tag 23 on shelf respectively, and produce two group of second corresponding return signal, obtain last quiet three-dimensional coordinate according to two group of second return signal analysis; First positioning electronic tag is arranged at the center of the fork body 31 of pallet stacking car, when pallet stacking car enters after in cuboid goods station, first positioning electronic tag sends the first radiofrequency signal and is received by two groups of UWB locating base station respectively, thus calculates the dynamic three-dimensional coordinate of the first positioning electronic tag.In the present embodiment, first positioning electronic tag 22 and the second positioning electronic tag 23 are accessed driving circuit, it is made periodically to send UWB pulse to each UWB anchor base station 211 of UWB locating base station, calculated the three dimensional local information at the first positioning electronic tag 22 and the second current place of positioning electronic tag 23 according to pulsimeter by UWB locating base station, the three-dimensional coordinate obtained is more accurate.In other embodiments, other location technologies also can be used to position.

In one embodiment, above-mentioned control module 13 also comprises delay unit, and after being determined when quiet three-dimensional coordinate and dynamic three-dimensional coordinate and overlapping, the fork body controlling pallet stacking car stops the fixed time, then carries out placing/discharging of goods.Can again determine whether the correct time to the position of operating personal to fork body 31, if mal, then need to readjust control, improve the accuracy of pallet stacking car placement/discharging of goods.

In one embodiment, need a casing stacking on shelf, first, will place by being arranged at goods/the second positioning electronic tag 23 of extracting position launches UWB pulse, its location information (the second return signal) getting the second positioning electronic tag 23 by locating base station 21 is made to be sent to the second receiving element 111, second calculating unit 112 calculates the three-dimensional coordinate of the second positioning electronic tag 23, and namely goods is about to the three-dimensional coordinate of placement/extracting position; Then, the first positioning electronic tag 22 being arranged at fork body 31 center of carrier-and-stacker launches UWB pulse, it is made to be sent to the first receiving element 121 by UWB locating base station Real-time Obtaining to the location information (the first return signal) of the first positioning electronic tag 22, first calculating unit 122 calculates the three-dimensional coordinate of the first positioning electronic tag 22, i.e. the three-dimensional coordinate of the fork body 31 of carrier-and-stacker; Subsequently, control module 13 controls carrier-and-stacker and moves or artificial opened by carrier-and-stacker to the position of goods by stacking, control module 13 controls the lifting of fork body 31, control moving forward and backward of pallet stacking car, when the three-dimensional coordinate of the first positioning electronic tag 22 and the three-dimensional coordinate of the second positioning electronic tag 23 are in distance to a declared goal judging unit 131 judge both overlap, container is put down, terminates a stacking task.

In the present embodiment, by the control of upper computer 10, confirm placement/extracting position without the need to staff by human eye, automatically by goods stacking to assigned address, improve the speed of stacking and accuracy, reduce the labour intensity of staff.

With reference to Fig. 9 and Figure 10, the embodiment of the present invention also provides a kind of system of pallet stacking car placement/discharging of goods, comprises the first registration device 20 and upper computer 10; Described upper computer 10 obtains goods will be placed/the quiet three-dimensional coordinate of extracting position; By the dynamic three-dimensional coordinate of the fork body 31 of carrier-and-stacker described in described registration device 20 Real-time Obtaining; The position relationship that described upper computer 10 is relative with dynamic three-dimensional coordinate according to quiet three-dimensional coordinate, control described carrier-and-stacker work, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, fork body 31, controls fork body 31 arrangement of goods.

In the present embodiment, above-mentioned upper computer 10 is a kind of intelligent electronic devices, the electronic machine of specifying can be connected by wired or wireless mode, analytical calculation can be carried out to the received signal, also control command can be sent to corresponding electronic machine, upper computer 10 generally can connect the exchange 11 of a tandem signal, and exchange 13 connects the signal receiving each electronic machine.The quiet three-dimensional coordinate of the position that above mentioned goods will be placed/extract refers to and generally comprises X-axis, Y-axis and Z axis by the point with definite meaning consisted of separate three variablees.In the present embodiment, the quiet three-dimensional coordinate of the position that described goods will be placed/extract refers to is specifying the three-dimensional coordinate in goods yard; Described registration device 20 refers to the device can determining specified object three-dimensional coordinate, as by Wi-Fi, ZigBee, BlueTooth(Bluetooth technology), active RFID (Radio Frequency Identification, RF identification) registration device 20 etc. of the fabrication techniques such as UWB (Ultra Wideband, impulse radio).To be fourchette body 31 specifying the dynamic three-dimensional coordinate in goods yard to described dynamic three-dimensional coordinate, wherein goods will place/the quiet three-dimensional coordinate of extracting position refers to three-dimensional coordinate in the same coordinate system with the dynamic three-dimensional coordinate of the fork body 31 stating carrier-and-stacker.The three-dimensional coordinate of described Real-time Obtaining fork body 31 is that the position of fourchette body 31 can constantly change, and so just needs the dynamic three-dimensional coordinate of real-time acquisition fork body 31.After upper computer 10 gets the dynamic three-dimensional coordinate of the quiet three-dimensional coordinate of goods placement/extracting position and the fork body 31 of carrier-and-stacker, the actuating device controlling carrier-and-stacker drives carrier-and-stacker to move and/or pitch body 31 and moves, first the assigned address making carrier-and-stacker move to a side of the three-dimensional coordinate of goods placement/extracting position stops, then drive on fork body 31 and move or move down and the movement etc. of carrier-and-stacker, make three-dimensional coordinate and quiet three-dimensional coordinate be in the position relationship of specifying, then goods is placed/extracted.In one embodiment, when quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control fork body 31 and place/discharging of goods; Wherein, when described quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate.In actual mechanical process, error is there is in the dynamic three-dimensional coordinate that registration device 20 measures with actual fork body 31 three-dimensional coordinate, and not comparablely to avoid, make under normal circumstances the dynamic three-dimensional coordinate of fork body 31 place with goods/it is very difficult that the three-dimensional coordinate of extracting position overlaps completely, so preset an error threshold allowed, the speed of stacking can be improved, the accuracy rate of placement/extraction can not be affected simultaneously.And in different stacking tasks, can set different distance to a declared goal is threshold value, this threshold value is generally ± and 5 to ± 25 centimetres.Such as, when requiring that between stacking casing, spacing is large, what so just threshold value can be set is larger; If require spacing hour between stacking casing, what so just need threshold value to arrange is relatively smaller etc.In a concrete the present embodiment, dynamic three-dimensional coordinate and the goods of fork body 31 place/distance of the three-dimensional coordinate of extracting position within ± 5 centimetres time, can think that both overlap, automatically by goods placement/extraction.

In one embodiment, it is B (Xb that above-mentioned upper computer 10 gets the quiet three-dimensional coordinate that goods will place, Yb, Zb), the dynamic three-dimensional coordinate of then real-time acquisition fork body 31 is A (Xb, Ya, Za), the position relationship relative with quiet three-dimensional coordinate according to dynamic three-dimensional coordinate, real-time output control command, control carrier-and-stacker moves, according to the order preset, first carrier-and-stacker is moved to the side of quiet three-dimensional coordinate, make Xa and Xb substantially equal (error allowed band can be arranged according to actual conditions), the difference of Yb and Ya is a designated value, this designated value is greater than fork body 31 length of carrier-and-stacker, control carrier-and-stacker adjustment direction afterwards, make fork body 31 aim at the Y-coordinate direction of quiet three-dimensional coordinate, then control fork body 31 to rise or decline, make Zb and Za substantially equal (error allowed band can be arranged according to actual conditions), upper computer 10 controls carrier-and-stacker or fork body 31 moves, and when making Yb and Ya substantially equal, is placed by goods, completes the stacking task of a goods.

With reference to Figure 10, above-mentioned registration device 20 comprises locating base station 21 and the first positioning electronic tag 22, first positioning electronic tag 22 is arranged on fork body 31, so calculates the three-dimensional coordinate of the first positioning electronic tag 22, can represent the dynamic three-dimensional coordinate of described fork body 31.What the first positioning electronic tag 22 was concrete is arranged at which particular location on fork body 31, then can require to arrange according to concrete stacking, and as being arranged on the center of fork body 31, or a certain branch of fork body 31 is first-class.Described locating base station 21 can be that three anchor base station 211 on the same line do not form, and by receiving the first radiofrequency signal that the first positioning electronic tag 22 is launched, and then the first return signal of the free information of generating strap or strength information is to upper computer 10.

In one embodiment, above-mentioned locating base station 21 comprises at least two groups, when at least two group locating base station 21 receive the first radiofrequency signal respectively, corresponding generation at least two group first return signals, upper computer 10 calculates at least two groups according at least two group first return signals and moves three-dimensional coordinate, at least two groups are moved three-dimensional coordinate average treatment, obtains final dynamic three-dimensional coordinate, be i.e. the actual dynamic three-dimensional coordinate used.Ratio is if any three groups of locating base station 21, and first can obtain three groups of coordinates, be respectively A1 (x1, y1, z1), A2 (x2, y2, z2), A3 (x3, y3, z3), it is A(that last average treatment obtains final coordinate , , ).Obtain a final dynamic three-dimensional coordinate after moving three-dimensional coordinate average treatment by least two groups, result is more accurate.

With reference to Figure 10, above-mentioned registration device 20 also comprises the second positioning electronic tag 23, described second positioning electronic tag 23 is arranged at described goods placement/extracting position, and sending the second radiofrequency signal to described locating base station 21, locating base station 21 generates the second corresponding return signal according to described second radiofrequency signal and is sent to described upper computer 10.Second positioning electronic tag 23 is arranged goods placement/extracting position, so calculate the three-dimensional coordinate of the second positioning electronic tag 23, the quiet three-dimensional coordinate of the position that described goods is placed/extracted can be represented, concrete which position being arranged at goods placement/extracting position place, then can require to arrange according to concrete stacking, as being arranged on the center of placement/extracting position, or on a side of placement/extracting position, when dynamic three-dimensional coordinate moves to the assigned address of relatively quiet three-dimensional coordinate, complete the task of placement/discharging of goods.Described locating base station 21 can be not three base stations on the same line or multiple base station, by receiving the second radiofrequency signal that the second positioning electronic tag 23 is launched, and then the second return signal of the free information of generating strap or signal strength information is to upper computer 10.

In one embodiment, above-mentioned locating base station 21 comprises at least two groups, when at least two group locating base station 21 receive the second radiofrequency signal respectively, corresponding generation at least two group second return signals, upper computer 30 calculates the quiet three-dimensional coordinate of at least two groups according at least two group second return signals, by the quiet three-dimensional coordinate average treatment of at least two groups, obtain final quiet three-dimensional coordinate, i.e. the actual quiet three-dimensional coordinate used.Than if any three covers, first group of elements of a fix, first can obtain three groups of coordinate figures, be respectively B1 (x1`, y1`, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), it is B(that last average treatment obtains final coordinate , , ).By obtaining a final quiet three-dimensional coordinate after at least two groups quiet three-dimensional coordinate average treatment, result is more accurate.

With reference to Fig. 4 and Fig. 5, in the present embodiment, above-mentioned locating base station 21 is UWB locating base station, UWB locating base station described in two groups is set in a cuboid goods station, each group UWB locating base station comprises three UWB anchor base station 211, if UWB anchor base station 211A1, A2, A3 are one group, UWB anchor base station 211B1, B2, B3 are one group, and six UWB anchor base station 211 are arranged at the different summit place of cuboid goods station respectively.Such as, UWB anchor base station 211 A1, A2 is arranged at the two ends of a pair linea angulata of cuboid goods station end face respectively, and UWB anchor base station 211 A3 is arranged at bottom surface, cuboid goods station, away from A1, the summit place of A2 place vertical plane, UWB anchor base station 211B1, B2 is arranged at UWB anchor base station 211 A1 respectively, the bottom surface of oblong goods station is positioned at immediately below A2, UWB anchor base station 211B3 is arranged at cornerwise other end place that cuboid goods station take A3 as starting point, the UWB anchor base station 211 of setting like this, conveniently determine the position of each UWB anchor base station 211, thus it is convenient and set up the coordinate-system of cuboid goods station accurately, improve the accuracy of location, and cover cuboid goods station comprehensively, without measuring dead angle, pallet stacking car is made to obtain maximum placement/discharging of goods scope.Two groups of UWB locating base station receive the second radiofrequency signal of the second positioning electronic tag 23 on shelf respectively, and produce two group of second corresponding return signal, obtain last quiet three-dimensional coordinate according to two group of second return signal analysis; First positioning electronic tag is arranged at the center of the fork body 31 of pallet stacking car, when pallet stacking car enters after in cuboid goods station, first positioning electronic tag sends the first radiofrequency signal and is received by two groups of UWB locating base station respectively, thus calculates the dynamic three-dimensional coordinate of the first positioning electronic tag.。In the present embodiment, use UWB locating base station, namely the first positioning electronic tag 22 and the second positioning electronic tag 23 are accessed driving circuit, it is made periodically to send UWB pulse to each UWB anchor base station 211 of UWB locating base station, calculated the three dimensional local information at the first positioning electronic tag 22 and the second current place of positioning electronic tag 23 according to pulsimeter by UWB locating base station, the three-dimensional coordinate obtained is more accurate.In other embodiments, other location technologies also can be used to position.

In the present embodiment, described pallet stacking car is also arranged a display control switch 32, the solid space figure of cuboid goods station can be shown, and show the first positioning electronic tag 22 and the second position of positioning electronic tag 23 in solid space figure, such as represent quiet three-dimensional coordinate position with red point, with the dynamic three-dimensional coordinate of green representative, i.e. simulating reality scene, when showing red point and the coincidence of green point in display control switch 32, then illustrate that goods is placed or extracts successfully, and sound and/or the prompting such as light, carry out follow-up work.In the present embodiment, display control switch 32 connects upper computer 10, or display control switch 32 is upper computer 10.

In one embodiment, after quiet three-dimensional coordinate and dynamic three-dimensional coordinate are determined and overlap, the control fork body that upper computer 10 controls pallet stacking car stops the fixed time, then carries out placing/discharging of goods.Operating personal is had the correct time is determined whether again to the position of fork body 31, if mal, then need to readjust control, improve the accuracy of pallet stacking car placement/discharging of goods.

In one embodiment, need a casing stacking on shelf, first, will place by being arranged at goods/the second positioning electronic tag 23 of extracting position launches UWB pulse, its location information (the second return signal) getting the second positioning electronic tag 23 by UWB locating base station is made to be sent to upper computer 10, upper computer 10 calculates the three-dimensional coordinate of the second positioning electronic tag 23, and namely goods is about to the quiet three-dimensional coordinate of placement/extracting position; Then, UWB pulse is launched by the first positioning electronic tag 22 of fork body 31 center being arranged at carrier-and-stacker, its location information (the first return signal) getting the first positioning electronic tag 22 by UWB locating base station is made to be sent to upper computer 10, upper computer 10 calculates the three-dimensional coordinate of the first positioning electronic tag 22, i.e. the dynamic three-dimensional coordinate of the fork body 31 of carrier-and-stacker; Subsequently, upper computer 10 controls carrier-and-stacker and moves or artificial opened by carrier-and-stacker to the position of goods by stacking, upper computer 10 controls the lifting of fork body 31, control moving forward and backward of pallet stacking car, when the three-dimensional coordinate of the first positioning electronic tag 22 and the three-dimensional coordinate of the second positioning electronic tag 23 are in distance to a declared goal, container is put down, terminates a stacking task.

The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims

1. a method for pallet stacking car placement/discharging of goods, is characterized in that, comprising:

2. the method for pallet stacking car placement/discharging of goods according to claim 1, is characterized in that, the step of the dynamic three-dimensional coordinate of the fork body of described Real-time Obtaining carrier-and-stacker, comprising:

3. the method for pallet stacking car placement/discharging of goods according to claim 2, it is characterized in that, described locating base station comprises at least two groups, when at least two group locating base station receive the first radiofrequency signal of described first positioning electronic tag respectively, first return signal described in corresponding generation at least two groups, calculate at least two groups according at least two group first return signals and move three-dimensional coordinate, at least two groups are moved three-dimensional coordinate average treatment, obtain final dynamic three-dimensional coordinate.

4. the method for pallet stacking car placement/discharging of goods according to claim 1, is characterized in that, described acquisition goods will place/and the step of the quiet three-dimensional coordinate of extracting position, comprising:

5. the method for pallet stacking car placement/discharging of goods according to claim 5, it is characterized in that, described locating base station comprises at least two groups, when at least two group locating base station receive the second radiofrequency signal of the second positioning electronic tag respectively, second return signal described in corresponding generation at least two groups, calculate the quiet three-dimensional coordinate of at least two groups according at least two group second return signals, by the quiet three-dimensional coordinate average treatment of at least two groups, obtain final three-dimensional coordinate.

6. a device for pallet stacking car placement/discharging of goods, is characterized in that, comprising:

7. the device of pallet stacking car placement/discharging of goods according to claim 6, is characterized in that, described second acquisition module, comprising:

8. the device of pallet stacking car placement/discharging of goods according to claim 7, is characterized in that, described second acquisition module, also comprises:

9. the device of pallet stacking car placement/discharging of goods according to claim 6, is characterized in that, described first acquisition module, comprising:

10. the device of pallet stacking car placement/discharging of goods according to claim 9, is characterized in that, described first acquisition module also comprises:

The system of 11. 1 kinds of pallet stacking car placement/discharging of goods, is characterized in that, comprises registration device and upper computer;