CN104709696B

CN104709696B - The method, apparatus and system of pallet stacking car placement/discharging of goods

Info

Publication number: CN104709696B
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 Zhongzhi Kechuang Robot Co Ltd
Current assignee: Shenzhen Zhongzhi Weian Robot Technology Co.,Ltd.
Priority date: 2014-12-31
Filing date: 2014-12-31
Publication date: 2018-03-16
Anticipated expiration: 2034-12-31
Also published as: CN104709696A

Abstract

Present invention is disclosed a kind of method, apparatus and system of pallet stacking car placement/discharging of goods, wherein method includes：Host computer obtains the quiet three-dimensional coordinate for the position that goods will be placed/extracted；The dynamic three-dimensional coordinate of the fork body of carrier-and-stacker is obtained in real time；According to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate, the carrier-and-stacker is controlled to work, when the 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 fork body placement/discharging of goods.The present invention confirms placement/extraction position without staff by human eye, automatically places goods onto specified location, or automatic speed and the degree of accuracy arrived specified location discharging of goods, improve placement/discharging of goods, reduces the labor intensity of staff.

Description

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

Technical field

The present invention relates to goods to carry field, especially relates to a kind of side of pallet stacking car placement/discharging of goods Method, device and system.

Background technology

Wireless technology in positioning field using the most typical alignment system for being namely based on satellite, for example GPS in the U.S. Alignment system, Russia GLONASS alignment systems, China Beidou II navigation positioning system, these systems navigation and Outdoor positioning using quite varied, but these systems civil area positioning precision in 10-15 rice or so, be unsatisfactory for people couple Indoor or special area high accuracy positioning demand, people are to applications such as indoor positioning, short distance positioning and special area positioning It is not very ripe.

Indoor positioning technologies based on wireless network mainly include UWB, Wi-Fi, ZigBee, BlueTooth, active RFID Etc. technology, it 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 Organization for standardization ISO/TC110 is referred to as industrial vehicle. It is high rack warehouse, supermarket, workshop handling and the reason of Wo 2008091717 goods suitable for the operation in slype and the confined space Think instrument.

Carrier-and-stacker generally comprises manual carrier-and-stacker and electric piling car, wherein, electric piling car, it is electronic and complete to be divided into half again It is electronic.Either which kind of carrier-and-stacker, in stacking goods, it is required for staff conscientiously to confirm the position of goods stacking, i.e., Just in this way, irregular situation that goods is stacked still occurs, in addition due to staff visually caused mistake by goods Specified location can not be disposably placed on, it is necessary to goods can be just placed on shelf by multiple adjustment.In above-mentioned stacking mistake Cheng Zhong, the problems such as staff's stacking goods speed is slow, energy consumption is serious, stacking cargo location degree of accuracy bottom be present.Therefore How location technology is applied to pallet stacking car and realizes that automatic placement or discharging of goods turn into the technology for being badly in need of solving in this area Problem.

The content of the invention

The main object of the present invention can be extracted by goods stacking to specified location or to specified location automatically to provide one kind The method, apparatus and system of pallet stacking car placement/discharging of goods of goods.

In order to realize foregoing invention purpose, present invention firstly provides a kind of method of pallet stacking car placement/discharging of goods, Including：

Obtain the quiet three-dimensional coordinate for the position that goods will be placed/extracted；

The dynamic three-dimensional coordinate of the fork body of carrier-and-stacker is obtained in real time；

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

Further, the step of dynamic three-dimensional coordinate of the fork body for obtaining carrier-and-stacker in real time, including：

Receive by first the first radiofrequency signal of positioning electronic tag real time emission for being pre-installed on the fork body to default Locating base station, locating base station first return signal according to corresponding to generating first radiofrequency signal；

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

Further, the locating base station includes at least two groups, when at least two groups of locating base stations receive described first respectively During the first radiofrequency signal of positioning electronic tag, corresponding generation first return signal at least described in two groups, according at least two groups the At least two groups dynamic three-dimensional coordinates are calculated in one return signal, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final Dynamic three-dimensional coordinate.

Further, the step of quiet three-dimensional coordinate of position will be placed/extracted to the acquisition goods, including：

The quiet three-dimensional coordinate of position is placed/extracted to the goods for receiving outside input；Or

The second positioning electronic tag the second radio frequency of transmitting of position will be placed/extract by being pre-installed on the goods by receiving Signal is to default locating base station, locating base station second return signal according to corresponding to generating second radiofrequency signal；

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

Further, the locating base station includes at least two groups, when at least two groups of locating base stations receive the second positioning respectively During the second radiofrequency signal of electronic tag, corresponding generation second return signal at least described in two groups, returned according at least two group second At least two groups of quiet three-dimensional coordinates are calculated in complex signal, will at least two groups of quiet three-dimensional coordinate average treatments, obtain final three-dimensional Coordinate.

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

First acquisition module, the quiet three-dimensional coordinate of position will be placed/extract for obtaining goods；

Second acquisition module, the dynamic three-dimensional coordinate of the fork body for obtaining carrier-and-stacker in real time；

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

Further, second acquisition module, including：

First receiving unit, for receiving the first positioning electronic tag real time emission first by being pre-installed on the fork body Radiofrequency signal is to default locating base station, locating base station first return signal according to corresponding to generating first radiofrequency signal；

First computing unit, for according to first return signal, calculating dynamic the three of first positioning electronic tag Dimension coordinate.

Further, second acquisition module, in addition to：

First averaging unit, for when the locating base station includes at least two groups, receiving the first positioning electronic mark respectively First radiofrequency signal of label, corresponding generation first return signal at least described in two groups, according at least two group of first return signal meter Calculation obtains at least two groups dynamic three-dimensional coordinates, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate.

Further, first acquisition module, including：

The quiet three-dimensional coordinate of position will be placed/extracted to acquiring unit, the goods for receiving outside input；Or bag Include：

Second receiving unit, the second positioning electronic mark of position is placed/extracted by being pre-installed on the goods for receiving Sign and issue and penetrate the second radiofrequency signal to default locating base station, locating base station is second according to corresponding to generating second radiofrequency signal Return signal；

Second computing unit, for according to second return signal, calculating quiet the three of second positioning electronic tag Dimension coordinate.

Further, first acquisition module also includes：

Second averaging unit, for when the locating base station includes at least two groups, receiving the second positioning electronic mark respectively During the second radiofrequency signal of label, corresponding generation second return signal at least described in two groups, according at least two group of second return signal At least two groups of quiet three-dimensional coordinates are calculated, will at least two groups of three-dimensional coordinate average treatments, obtain final quiet three-dimensional coordinate.

The present invention also provides a kind of system of pallet stacking car placement/discharging of goods, including positioner and host computer；

The host computer, which obtains goods, will place/extract the quiet three-dimensional coordinate of position；It is real-time by the positioner Obtain the dynamic three-dimensional coordinate of the fork body of the carrier-and-stacker；

The host computer controls the stacking turner according to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate Make, when the quiet three-dimensional coordinate is less than default distance to a declared goal with dynamic three-dimensional coordinate distance, judge quiet three-dimensional coordinate and dynamic three Dimension coordinate overlaps, control fork body placement/discharging of goods.

The method, apparatus and system of pallet stacking car placement/discharging of goods of the present invention, will by the goods of acquisition The quiet three-dimensional coordinate of placement/extraction position, and in real time after the dynamic three-dimensional coordinate of the fork body of acquisition carrier-and-stacker, according to quiet three-dimensional seat The position relationship of mark and dynamic three-dimensional coordinate, control carrier-and-stacker work, makes fork body be moved to specified location, goods is positioned over into finger Positioning is put, or by goods specified location extract, without staff by human eye confirm placement/extraction position, improve place/ The speed of extraction and the degree of accuracy, reduce the labor intensity of staff.

Brief description of the drawings

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

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

Fig. 3 is the flow chart 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 pallet stacking car placement/discharging of goods in one embodiment of the invention.

The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.

Embodiment

It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.

Reference picture 1, in the embodiment of the present invention, there is provided a kind of method of pallet stacking car placement/discharging of goods, including step Suddenly：

S1, the quiet three-dimensional coordinate for obtaining the position that goods will be placed/extracted；

S2, the dynamic three-dimensional coordinate for pitching body 31 for obtaining carrier-and-stacker in real time；

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

Above-mentioned steps S1 and step S2 order can also overturn progress, can also carry out simultaneously.

As described in above-mentioned step S1, the quiet three-dimensional coordinate for the position that above mentioned goods will be placed/extracted refers to by mutual The point with definite meaning that three independent variables are formed, generally comprises X-axis, Y-axis and Z axis.In the present embodiment, the goods The quiet three-dimensional coordinate for the position that will be placed/extract refers to the three-dimensional coordinate in goods yard is specified.

As described in above-mentioned step S2, Wi-Fi, ZigBee, BlueTooth (Bluetooth technology), active RFID can be passed through The skills such as (Radio Frequency Identification, radio frequency identification), UWB (Ultra Wideband, impulse radio) Art obtains the dynamic three-dimensional coordinate of the fork body 31 of carrier-and-stacker in real time.The dynamic three-dimensional coordinate is that fourchette body 31 is dynamic in goods yard is specified Three-dimensional coordinate, wherein goods will place/extract the quiet three-dimensional coordinate of position and state the dynamic three-dimensional coordinate of the fork body 31 of carrier-and-stacker Refer to three-dimensional coordinate in the same coordinate system.The three-dimensional coordinate for obtaining fork body 31 in real time, it is that the position of fourchette body 31 can be continuous Change, it is necessary in real time obtain fork body 31 dynamic three-dimensional coordinate, in order to subsequent step S3 operation.

As described in above-mentioned step S3, host computer 10 gets the quiet three-dimensional coordinate and carrier-and-stacker that position was placed/extracted to goods Fork body 31 dynamic three-dimensional coordinate after, control that the drive device of carrier-and-stacker drives carrier-and-stacker mobile and/or fork body 31 moves, it is first First make carrier-and-stacker be moved to goods place/extract position three-dimensional coordinate one side specified location stop, then driving fork Body 31 move up or move down and carrier-and-stacker it is mobile etc., three-dimensional coordinate is in the position relationship specified with quiet three-dimensional coordinate, Then goods is placed/extracted.In one specifically embodiment, when quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control System fork body 31 places/discharging of goods；Wherein, when the quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal When, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate.In actual mechanical process, the dynamic three-dimensional coordinate and the reality that measure There is error in the fork three-dimensional coordinate of body 31, and than avoiding, under normal circumstances dynamic the three-dimensional coordinate and goods of fork body 31 to be made It is extremely difficult that the three-dimensional coordinate of placement/extraction position, which is completely superposed, so the error threshold of a default permission, Ke Yiti The speed of high stacking, while do not interfere with the accuracy of placement/extraction.And in different stacking tasks, it can set not It is threshold value with distance to a declared goal, the threshold value is generally ± 5 to ± 25 centimetres.Such as, it is desirable to when spacing is big between stacking casing, that Can sets threshold value larger；If it is required that spacing hour between stacking casing, then just need to set threshold value It is relatively smaller etc..In a specific the present embodiment, pitch the dynamic three-dimensional coordinate of body 31 and the three-dimensional of position is placed/extracted to goods When the distance of coordinate is within ± 5 centimetres, you can think that both overlap, goods is placed/extracted automatically.

In one embodiment, the quiet three-dimensional coordinate that getting goods will place is B (Xb, Yb, Zb), then in real time Acquisition fork body 31 dynamic three-dimensional coordinate be A (Xa, Ya, Za), according to dynamic three-dimensional coordinate it is relative with quiet three-dimensional coordinate position pass System, real-time output control order, control carrier-and-stacker movement, according to default order, carrier-and-stacker is moved to quiet three-dimensional seat first Target side, makes Xa and Xb of substantially equal (error allowed band can be set according to actual conditions), and Yb and Ya difference are specified for one Value, the designated value are more than the length of fork body 31 of carrier-and-stacker；Carrier-and-stacker adjustment direction is controlled afterwards, fork body 31 is directed at quiet three-dimensional seat Target Y-coordinate direction；Then control fork body 31 rises or falls, and making Zb and Za, of substantially equal (error allowed band can be according to reality Border situation is set)；Control carrier-and-stacker or fork body 31 are moved, and when making Yb and Ya of substantially equal, goods is placed, completes an inferior goods The stacking task of thing.

In another specific embodiment, the specific steps of arrangement of goods and discharging of goods can with identical, such as, by quiet three-dimensional Coordinate is arranged at goods will be at the bottom center of placement location, then, can will fork body 31 edge during arrangement of goods Plane translation to the goods residing for quiet three-dimensional coordinate will placement location；During discharging of goods, equally by quiet three-dimensional seat Mark is arranged at will be at the bottom center of discharging of goods position, the generally interlayer of pallet or bottom surface, then in discharging of goods During, can be by the plane translation residing for fork body 31 along quiet three-dimensional coordinate to goods bottom, you can discharging of goods.Place goods Thing can also be different from the specific steps of discharging of goods, such as, by quiet three-dimensional coordinate be arranged at goods will placement location bottom At the center of face, then during arrangement of goods, fork body 31 is first increased to above to the position of quiet three-dimensional coordinate, then will fork Body 31 slowly declines, arrangement of goods, or quiet three-dimensional coordinate is arranged at into goods will will pitch at the Stereocenter of placement location After the dynamic three-dimensional coordinate of body 31 overlaps with quiet three-dimensional coordinate, control fork body 31 slowly declines arrangement of goods etc. after distance to a declared goal；And During goods is proposed, then quiet three-dimensional coordinate must be controlled to be located at the bottom of pallet and may be inserted into the position for pitching body 31, to protect Card fork body 31 can smoothly insert pallet discharging of goods, prevent that pitching body 31 inserts goods in itself, damages goods.

Reference picture 2, in the present embodiment, above-mentioned steps S2, including：

S21, receive by being pre-installed on first first radiofrequency signal of positioning electronic tag real time emission for pitching body 31 extremely Default locating base station, locating base station first return signal according to corresponding to generating first radiofrequency signal；

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

As described in above-mentioned step S21, the first positioning electronic tag 22 is arranged on fork body 31, then it is fixed to calculate first The three-dimensional coordinate of position electronic tag 22, you can represent the dynamic three-dimensional coordinate of the fork body 31.First positioning electronic tag 22 is specific Be arranged at fork body 31 on which particular location, then can according to specific stacking require set, be such as arranged on fork body 31 in Heart position, or a certain branch of fork body 31 are first-class.The locating base station is at least three anchor point bases not on the same line Stand 211 compositions, the first radiofrequency signal launched by receiving the first positioning electronic tag 22, and then produce with temporal information or First return signal of strength information.

As described in above-mentioned step S22, contrast the first radiofrequency signal for receiving of each anchor base station 211 in locating base station when Between the power of interval or signal, i.e., by the first return signal with temporal information or strength information, analysis calculates described The three-dimensional coordinate of first positioning electronic tag 22.

In one embodiment, above-mentioned locating base station includes at least two groups, when at least two groups of locating base stations receive respectively It is corresponding to generate at least two group of first return signal during first radiofrequency signal, calculated according at least two group of first return signal Obtain at least two groups dynamic three-dimensional coordinates, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate, i.e. reality The dynamic three-dimensional coordinate that border uses.Than that if any three groups of locating base stations, can obtain three groups of coordinates first, respectively A1 (x1, y1, z1), A2 (x2, y2, z2), A3 (x3, y3, z3), it is A that last average treatment, which obtains final coordinate, By obtaining a final dynamic three-dimensional coordinate after at least two groups dynamic three-dimensional coordinate average treatments, as a result more What is added is accurate.

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

The three-dimensional coordinate of position is placed/extracted to S1`, the goods of reception outside input；I.e. known goods needs to place/carry The quiet three-dimensional coordinate of the position taken, is directly manually entered on control device, easily and fast, is aided in without miscellaneous equipment, Each goods putting position only need to be measured in advance, suitable for standardizing stacking.Such as in a stacking warehouse, goods The position of the stacking of specification and needs is all constant, then as long as the quiet three-dimensional of position is respectively placed/extracted in measured place in advance Coordinate, when needed, placement/extraction position coordinates is directly exported, it is simple, quick.

Reference picture 3, in another embodiment, above-mentioned steps S1, including step：

The second positioning electronic tag 23 that S11, reception will place/extract position by being pre-installed on the goods is launched Second radiofrequency signal is to default locating base station, locating base station second reply letter according to corresponding to generating second radiofrequency signal Number；

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

As described in above-mentioned step S11, by the second positioning electronic tag 23 be arranged at goods will place/extract position, that Calculate the three-dimensional coordinate of the second positioning electronic tag 23, you can represent the quiet three-dimensional of the position of the goods placement/extraction Coordinate, which position that opening position was placed/extracted to goods is specifically arranged at, then can required to set according to specific stacking, Such as it is arranged on the center of placement/extraction position, or a side of placement/extraction position is first-class, when dynamic three-dimensional coordinate moves When moving to the specified location of relatively quiet three-dimensional coordinate, the task of placement/discharging of goods is completed.The locating base station can not existed At least three anchor base stations 211 on same straight line form, the second radio frequency launched by receiving the second positioning electronic tag 23 Signal, and then produce the second return signal with temporal information or signal strength information.

As described in above-mentioned step S12, the time interval of the second radiofrequency signal that each base station receives in locating base station is contrasted Or strength information, i.e., by the second return signal with temporal information or strength information, analysis calculates second positioning The three-dimensional coordinate of electronic tag 23.

In one embodiment, above-mentioned locating base station includes at least two groups, when at least two groups of locating base stations receive respectively It is corresponding to generate at least two group of second return signal during the second radiofrequency signal, it is calculated according at least two group of second return signal At least two groups of quiet three-dimensional coordinates, will at least two groups of quiet three-dimensional coordinate average treatments, obtain final quiet three-dimensional coordinate, i.e., actually make Quiet three-dimensional coordinate.Than if any three sets of first group of elements of a fix, three groups of coordinate values, respectively B1 (x1`, y1 can be obtained first `, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), it is B that last average treatment, which obtains final coordinate, By being obtained after at least two groups quiet three-dimensional coordinate average treatments One final quiet three-dimensional coordinate is as a result more accurate.

Reference picture 4 and Fig. 5, in the present embodiment, above-mentioned locating base station is UWB locating base stations, is set in a cuboid goods station UWB locating base stations described in two groups are put, each group of UWB locating base station includes three UWB anchor base stations 211, such as UWB anchor base stations 211A1, A2, A3 are one group, and UWB anchor base stations 211B1, B2, B3 are one group, and six UWB anchor base stations 211 are respectively arranged at length The different apexes of cube goods station.For example UWB anchor base stations 211A1, A2 are respectively arranged at a pair of cuboid goods station top surface The both ends of linea angulata, and UWB anchor base stations 211A3 is arranged at cuboid goods station bottom surface, the summit away from vertical plane where A1, A2 Place, UWB anchor base stations 211B1, B2 are respectively arranged at the underface of UWB anchor base stations 211A1, A2 and are located at rectangle goods station Bottom surface, UWB anchor base stations 211B3 be arranged at cuboid goods station using A3 as cornerwise other end of starting point at, be arranged such UWB anchor base stations 211, the convenient position for determining each UWB anchor base stations 211, so as to convenient and accurately establish cuboid goods The coordinate-system stood, the degree of accuracy of positioning is improved, and cover cuboid goods station comprehensively, no measurement dead angle, make pallet stacking car Obtain maximum placement/discharging of goods scope.Two groups of UWB locating base stations receive of the second positioning electronic tag 23 on shelf respectively Two radiofrequency signals, and produce corresponding to two group of second return signal, according to two group of second return signal analyze to the end it is quiet Three-dimensional coordinate；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, the first positioning electronic tag sends the first radiofrequency signal and received respectively by two groups of UWB locating base stations, from And the dynamic three-dimensional coordinate of the first positioning electronic tag is calculated.In the present embodiment, by the first positioning electronic tag 22 and second Positioning electronic tag 23 accesses drive circuit, it is periodically sent UWB to each UWB anchor base stations 211 of UWB locating base stations Pulse, 23 current institute of the first positioning electronic tag 22 and the second positioning electronic tag is calculated according to pulse by UWB locating base stations Three dimensional local information, obtained three-dimensional coordinate is more accurate.In other embodiments, other positioning skills can also be used Art is positioned.

In the present embodiment, a display controller 32 is also set up on the pallet stacking car, cuboid goods station can be shown Solid space figure, and show the first positioning electronic tag 22 and the second positioning electronic tag 23 in solid space figure Position, for example quiet three-dimensional coordinate position is represented with red point, dynamic three-dimensional coordinate is represented with green point, that is, simulates reality scene, works as display Show that red point and green point overlap in controller 32, then illustrate that goods is placed or extracted successfully, and send sound and/or light etc. and carry Wake up, carry out follow-up work.

In one embodiment, after quiet three-dimensional coordinate is determined with dynamic three-dimensional coordinate to be overlapped, pallet stacking car can be controlled System fork body stops specified time, then carries out placing/discharging of goods.The position for pitching body 31 can be carried out again to operating personnel It is secondary to determine whether the correct time, if incorrect, need to readjust control, improve pallet stacking car placement/discharging of goods Accuracy.

In one embodiment, it is necessary to by a casing stacking a to shelf, first, will be put by being arranged at goods The second positioning electronic tag 23 transmitting UWB pulses of position are put/extracted, UWB locating base stations is passed to and gets the second positioning The positional information of electronic tag 23, calculates the three-dimensional coordinate of the second positioning electronic tag 23, i.e., goods will place/extract position The quiet three-dimensional coordinate put；Then, launched by the first positioning electronic tag 22 of fork body 31 center for being arranged at carrier-and-stacker UWB pulses, the positional information that UWB locating base stations get the first positioning electronic tag 22 in real time is passed to, calculates first The dynamic three-dimensional coordinate of the fork body 31 of the three-dimensional coordinate of positioning electronic tag 22, i.e. carrier-and-stacker；Subsequently, carrier-and-stacker movement is controlled Or manually open carrier-and-stacker to goods i.e. by the position of stacking, the lifting of control fork body 31, the mobile etc. of pallet stacking car is controlled, , will 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, and terminates a stacking task.

In the present embodiment, placement/extraction position is confirmed by human eye without staff, automatically arrived goods stacking Specified location, speed and the degree of accuracy of stacking are improved, reduce the labor intensity of staff.

Reference picture 6, in the embodiment of the present invention, a kind of device of pallet stacking car placement/discharging of goods is also provided, including：

First acquisition module 11, the quiet three-dimensional coordinate of position is placed/extracted for obtaining goods；

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

Control module 13, for according to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate, controlling the stacking Turner make, when the quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance be less than default distance to a declared goal when, judge quiet three-dimensional coordinate and Dynamic three-dimensional coordinate overlaps fork body 31, and control fork body 31 places/discharging of goods.

First acquisition module 11 as described above, the electronic equipment specified can be connected by wired or wireless mode, can be with Analysis calculating is carried out to the signal received, control command can also be sent to corresponding electronic equipment.Above mentioned goods will The quiet three-dimensional coordinate of the position of placement/extraction refers to the point with definite meaning being made up of three separate variables, Generally comprise X-axis, Y-axis and Z axis.In the present embodiment, the quiet three-dimensional coordinate for the position that the goods will be placed/extracted refers to Specify the three-dimensional coordinate in goods yard.

Second acquisition module 12 as described above, can be by Wi-Fi, ZigBee, BlueTooth (Bluetooth technology), active RFID (Radio Frequency Identification, radio frequency identification), UWB (Ultra Wideband, impulse radio) Etc. the dynamic three-dimensional coordinate for the fork body 31 that technology obtains carrier-and-stacker in real time.The dynamic three-dimensional coordinate is fourchette body 31 in goods yard is specified Three-dimensional coordinate, wherein goods will place/extract the quiet three-dimensional coordinate of position and state the dynamic of the fork body 31 of carrier-and-stacker and three-dimensional sit Mark refers to three-dimensional coordinate in the same coordinate system.The dynamic three-dimensional coordinate for obtaining fork body 31 in real time, it is the position meeting of fourchette body 31 Constantly change, it is necessary to obtain the dynamic three-dimensional coordinate of fork body 31, to control carrier-and-stacker or fork body 31 constantly to goods in real time Position movement is placed/extracted to thing.

Such as above-mentioned control module 13, placed when the first acquisition module 11 and the second acquisition module 12 get goods respectively/ After the dynamic three-dimensional coordinate of fork body 31 for extracting the quiet three-dimensional coordinate and carrier-and-stacker of position, control module 13 according to the two coordinates, The drive device driving carrier-and-stacker of control carrier-and-stacker is mobile and/or fork body 31 moves, make first carrier-and-stacker be moved to goods place/ The specified location for extracting the one side of the three-dimensional coordinate of position stops, and then driving fork body 31 is moved up or moved down and carrier-and-stacker It is mobile etc., three-dimensional coordinate is in the position relationship specified with quiet three-dimensional coordinate, then goods is placed/extracted.Fork For body 31 in actual mechanical process, there is error in the dynamic three-dimensional coordinate and the actual three-dimensional coordinate of fork body 31 that measure, and not Than avoiding, under normal circumstances the dynamic three-dimensional coordinate of fork body 31 to be made place/extract with goods position three-dimensional coordinate it is completely heavy Conjunction is extremely difficult, so the error threshold of a default permission, can improve the speed of stacking, while do not interfere with and put The accuracy put/extracted.And in different stacking tasks, different distance to a declared goal can be set as threshold value, the threshold value is general For ± 5 to ± 25 centimetres.Such as, it is desirable to when spacing is big between stacking casing, then can sets threshold value larger；Such as Fruit requires spacing hour between stacking casing, then just needs to set threshold value relatively smaller etc..In this specific implementation In example, when the distance of the three-dimensional coordinate of position is placed/extracted to dynamic three-dimensional coordinate and the goods of fork body 31 within ± 5 centimetres, i.e., It is believed that both overlap, goods is placed/extracted automatically.

In one embodiment, above-mentioned first acquisition module 11 gets the quiet three-dimensional coordinate B that goods will be placed (Xb, Yb, Zb), then obtain the dynamic three-dimensional coordinate A (Xa, Ya, Za) of fork body 31 in real time by implementing acquisition module, according to The dynamic three-dimensional coordinate position relationship relative with quiet three-dimensional coordinate, real-time output control order, control carrier-and-stacker movement, according to default Order, carrier-and-stacker is moved to the side of quiet three-dimensional coordinate first, making Xa and Xb, of substantially equal (error allowed band can basis Actual conditions are set), Yb and Ya difference are a designated value, and the designated value is more than the length of fork body 31 of carrier-and-stacker；Heap is controlled afterwards Pile car adjustment direction, fork body 31 is set to be directed at the Y-coordinate direction of quiet three-dimensional coordinate；Then control fork body 31 rises or falls, and makes Zb (error allowed band can be set according to actual conditions) of substantially equal with Za；Control carrier-and-stacker or fork body 31 move, make Yb and When Ya is of substantially equal, goods is placed, completes the stacking task of a goods.

Reference picture 7, in the present embodiment, above-mentioned second acquisition module 12, including：

First receiving unit 121, sent out in real time for receiving by being pre-installed on the first positioning electronic tag of the fork body 31 The first radiofrequency signal is penetrated to default locating base station, locating base station first reply according to corresponding to generating first radiofrequency signal Signal；

First computing unit 122, for according to first return signal, calculating first positioning electronic tag 22 Dynamic three-dimensional coordinate.

First receiving unit 121 described above, receive the first return signal.First positioning electronic tag 22 is arranged at Pitch on body 31, then calculate the three-dimensional coordinate of the first positioning electronic tag 22, you can represent the dynamic three-dimensional seat of the fork body 31 Mark.First positioning electronic tag 22 is specifically arranged at which particular location on fork body 31, then can be wanted according to specific stacking Ask setting, be such as arranged on fork body 31 center, or fork body 31 a certain branch it is first-class.The locating base station can be not At least three anchor base stations 211 on the same line form, and first launched by receiving the first positioning electronic tag 22 is penetrated Frequency signal, and then produce the first return signal with temporal information or strength information.

First computing unit 122 as described above, contrast the first radiofrequency signal that each anchor base station 211 receives in locating base station Time interval or signal power, i.e., calculated by the first return signal with temporal information or strength information, analysis The three-dimensional coordinate of first positioning electronic tag 22.

In one embodiment, above-mentioned second acquisition module 12 also includes：First averaging unit 123, for when above-mentioned When locating base station includes at least two groups, first radiofrequency signal is received respectively, it is corresponding to generate at least two group of first return signal, At least two groups dynamic three-dimensional coordinates are calculated in the first return signal according at least two groups, and at least two groups dynamic three-dimensional coordinates are put down Handle, obtain final dynamic three-dimensional coordinate, that is, the dynamic three-dimensional coordinate actually used.Than if any three groups of locating base stations, first can Three groups of coordinates, respectively A1 (x1, y1, z1), A2 (x2, y2, z2), A3 (x3, y3, z3) are obtained, last average treatment obtains most Whole coordinate is AIt is averaged by least two groups dynamic three-dimensional coordinates A final dynamic three-dimensional coordinate is obtained after processing, it is as a result more accurate.

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

The three-dimensional coordinate of position is placed/extracted to acquiring unit, the goods for receiving outside input；I.e. known goods needs The quiet three-dimensional coordinate of the position of placement/extraction, in being directly manually entered on control device, easily and fast, without it Its equipment aids in, and only need to measure each goods putting position in advance, suitable for standardizing stacking.Such as in a stacking storehouse In storehouse, the position of the specification of goods and the stacking of needs is all constant, then if measured place is respectively placed in advance/extract position The three-dimensional coordinate put, when needed, placement/extraction position coordinates is directly exported, it is simple, quick.

Reference picture 8, in another embodiment, above-mentioned first acquisition module 11, including：

Second receiving unit 111, the second positioning of position will be placed/extract by being pre-installed on the goods for receiving Electronic tag 23 launches the second radiofrequency signal to default locating base station, and locating base station is according to second radiofrequency signal generation pair The second return signal answered；

Second computing unit 112, for according to second return signal, calculating second positioning electronic tag 23 Three-dimensional coordinate.

Second receiving unit 111 as described above, receive the second return signal.Second positioning electronic tag 23 is arranged at goods Will place/extract position, then calculate the three-dimensional coordinate of the second positioning electronic tag 23, you can represent the goods and put The position put/extracted, be specifically arranged at which position that opening position was placed/extracted to goods, then can be according to specific stacking It is required that set, the center of placement/extraction position is such as arranged on, or a side of placement/extraction position is first-class.It is described fixed Position base station can be that at least three anchor base stations 211 not on the same line form, by receiving the second positioning electronic tag Second radiofrequency signal of 23 transmittings, and then produce the second return signal with temporal information or signal strength information.

Second computing unit 112 as described above, contrast the time of the second radiofrequency signal that each base station receives in locating base station Interval or signal intensity, i.e., calculate described by the second return signal with temporal information or signal strength information, analysis The three-dimensional coordinate of second positioning electronic tag 23.

In one embodiment, above-mentioned first acquisition module 11 also includes the second averaging unit 113, for when above-mentioned fixed When position base station includes at least two groups, the second radiofrequency signal, corresponding generation the second return signal, root at least described in two groups are received respectively At least two groups of quiet three-dimensional coordinates are calculated according at least two group of second return signal, at least two groups of quiet three-dimensional coordinates will averagely locate Reason, obtains final quiet three-dimensional coordinate, that is, the quiet three-dimensional coordinate actually used.Than if any three sets of first group of elements of a fix, first It can obtain three groups of coordinate values, respectively B1 (x1`, y1`, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), finally It is B that average treatment, which obtains final coordinate,Pass through at least two groups A final quiet three-dimensional coordinate is obtained after quiet three-dimensional coordinate average treatment, it is as a result more accurate.

Reference picture 4 and Fig. 5, in the present embodiment, above-mentioned locating base station is UWB locating base stations, is set in a cuboid goods station UWB locating base stations described in two groups are put, each group of UWB locating base station includes three UWB anchor base stations 211, such as UWB anchor base stations 211A1, A2, A3 are one group, and UWB anchor base stations 211B1, B2, B3 are one group, and six UWB anchor base stations 211 are respectively arranged at length The different apexes of cube goods station.For example UWB anchor base stations 211A1, A2 are respectively arranged at the pair of horns of cuboid goods station top surface The both ends of line, and UWB anchor base stations 211A3 is arranged at cuboid goods station bottom surface, the apex away from vertical plane where A1, A2, UWB anchor base stations 211B1, B2 are respectively arranged at the underface of UWB anchor base stations 211A1, A2 and positioned at the bottoms of rectangle goods station Face, UWB anchor base stations 211B3 be arranged at cuboid goods station using A3 as cornerwise other end of starting point at, the UWB that is arranged such Anchor base station 211, the convenient position for determining each UWB anchor base stations 211, so as to the convenient and accurate seat for establishing cuboid goods station Mark system, the degree of accuracy of positioning is improved, and cover cuboid goods station comprehensively, no measurement dead angle, pallet stacking car is obtained most Big placement/discharging of goods scope.Two groups of UWB locating base stations receive the second radio frequency of the second positioning electronic tag 23 on shelf respectively Signal, and two group of second return signal corresponding to generation, the quiet three-dimensional seat for analyzing to the end according to two group of second return signal Mark；First positioning electronic tag is arranged at the center of the fork body 31 of pallet stacking car, when pallet stacking car enters cuboid After in goods station, the first positioning electronic tag sends the first radiofrequency signal and received respectively by two groups of UWB locating base stations, so as to calculate To the dynamic three-dimensional coordinate of the first positioning electronic tag.In the present embodiment, by the first positioning electronic tag 22 and the second positioning electronic Label 23 accesses drive circuit, it is periodically sent UWB pulses to each UWB anchor base stations 211 of UWB locating base stations, by UWB locating base stations calculate the three-dimensional that the first positioning electronic tag 22 and the second positioning electronic tag 23 are currently located according to pulse Positional information, obtained three-dimensional coordinate are more accurate.In other embodiments, can also be determined using other location technologies Position.

In the present embodiment, a display controller 32 is also set up on the pallet stacking car, cuboid goods station can be shown Solid space figure, and show the first positioning electronic tag 22 and the second positioning electronic tag 23 in solid space figure Position, for example quiet three-dimensional coordinate position is represented with red point, dynamic three-dimensional coordinate is represented with green point, that is, reality scene is simulated, when aobvious Show and show that red point and green point overlap in controller 32, then illustrate that goods is placed or extracted successfully, and send sound and/or light etc. Remind, carry out follow-up work.

In one embodiment, above-mentioned control module 13 also includes delay unit, for when quiet three-dimensional coordinate and dynamic three After dimension coordinate is determined coincidence, controls the fork body of pallet stacking car to stop specified time, then carry out placing/discharging of goods.Can To be determined whether the correct time again to the position for pitching body 31 to operating personnel, if incorrect, need to readjust Control, improve the accuracy of pallet stacking car placement/discharging of goods.

In one embodiment, it is necessary to by a casing stacking a to shelf, first, will be put by being arranged at goods The second positioning electronic tag 23 transmitting UWB pulses of position are put/extracted, locating base station is passed to and gets the second positioning electronic The positional information (the second return signal) of label 23 sends to the second receiving unit 111, the second computing unit 112 and calculates second The three-dimensional coordinate of position will be placed/extracted to the three-dimensional coordinate of positioning electronic tag 23, i.e. goods；Then, it is arranged at carrier-and-stacker Fork body 31 center the transmitting UWB pulses of the first positioning electronic tag 22, be passed to UWB locating base stations and get in real time The positional information (the first return signal) of first positioning electronic tag 22 is sent to the first receiving unit 121, the first computing unit 122 calculate the three-dimensional coordinate of the three-dimensional coordinate of the first positioning electronic tag 22, i.e. the fork body 31 of carrier-and-stacker；Subsequently, control Module 13 controls carrier-and-stacker mobile or manually opens carrier-and-stacker to goods i.e. by the position of stacking, the control fork body 31 of control module 13 Lifting, the movable etc. of pallet stacking car is controlled, when the three-dimensional coordinate of the first positioning electronic tag 22 and the second positioning are electric Judging unit 131 judges that both overlap when the three-dimensional coordinate of subtab 23 is in distance to a declared goal, and container is put down, and terminates once Stacking task.

In the present embodiment, by the control of host computer 10, placement/extraction position is confirmed by human eye without staff Put, automatically by goods stacking to specified location, improve speed and the degree of accuracy of stacking, reduce the labor intensity of staff.

Reference picture 9 and Figure 10, the embodiment of the present invention also provide a kind of system of pallet stacking car placement/discharging of goods, bag Include the first positioner 20 and host computer 10；The host computer 10, which obtains goods, will place/extract the quiet three-dimensional coordinate of position； Obtain the dynamic three-dimensional coordinate of the fork body 31 of the carrier-and-stacker in real time by the positioner 20；The host computer 10 is according to quiet three The dimension coordinate position relationship relative with dynamic three-dimensional coordinate, the carrier-and-stacker is controlled to work, when the quiet three-dimensional coordinate and dynamic three-dimensional When coordinate distance is less than default distance to a declared goal, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, pitch body 31, control fork body 31 Arrangement of goods.

In the present embodiment, above-mentioned host computer 10 is a kind of intelligent electronic device, can be connected by wired or wireless mode The electronic equipment specified is connect, analysis calculating can be carried out to the signal received, control command can also be sent to corresponding Electronic equipment, host computer 10 can typically connect the interchanger 200 of a tandem signal, and the connection of interchanger 200 receives each electronic equipment Signal.The quiet three-dimensional coordinate for the position that above mentioned goods will be placed/extracted refers to be made up of three separate variables The point with definite meaning, generally comprise X-axis, Y-axis and Z axis.In the present embodiment, position that the goods will be placed/extracted The quiet three-dimensional coordinate put refers to the three-dimensional coordinate in goods yard is specified；The positioner 20 refers to that specified object three can be determined The device of dimension coordinate, for example pass through Wi-Fi, ZigBee, BlueTooth (Bluetooth technology), active RFID (Radio Frequency Identification, radio frequency identification) fabrication techniques such as UWB (Ultra Wideband, impulse radio) Positioner 20 etc..The dynamic three-dimensional coordinate is dynamic three-dimensional coordinate of the fourchette body 31 in goods yard is specified, and wherein goods will be put The dynamic three-dimensional coordinate of the quiet three-dimensional coordinate for putting/extracting position and the fork body 31 for stating carrier-and-stacker refers to three-dimensional seat in the same coordinate system Mark.The three-dimensional coordinate for obtaining fork body 31 in real time, is that the position of fourchette body 31 can constantly change, then is just needed real-time Obtain the dynamic three-dimensional coordinate of fork body 31.Host computer 10 gets the quiet three-dimensional coordinate and carrier-and-stacker that position was placed/extracted to goods After the dynamic three-dimensional coordinate for pitching body 31, control the drive device of carrier-and-stacker to drive carrier-and-stacker mobile and/or pitch body 31 and move, make first Carrier-and-stacker be moved to goods place/extract position three-dimensional coordinate one side specified location stop, then driving fork body 31 Move up or move down and carrier-and-stacker it is mobile etc., three-dimensional coordinate is in the position relationship specified with quiet three-dimensional coordinate, then Goods is placed/extracted.In one embodiment, when quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control fork body 31 placements/discharging of goods；Wherein, when the quiet three-dimensional coordinate and dynamic three-dimensional coordinate distance are less than default distance to a declared goal, sentence Fixed quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate.In actual mechanical process, dynamic three-dimensional coordinate that positioner 20 measures with There is error in the actual three-dimensional coordinate of fork body 31, and than avoiding, under normal circumstances the dynamic three-dimensional coordinate of fork body 31 to be made Placing/extract the three-dimensional coordinate of position with goods, to be completely superposed be extremely difficult, so the error threshold of a default permission, The speed of stacking can be improved, while does not interfere with the accuracy of placement/extraction.And in different stacking tasks, can be with Different distance to a declared goal are set as threshold value, the threshold value is generally ± 5 to ± 25 centimetres.Such as, it is desirable to spacing is big between stacking casing When, then can sets threshold value larger；If it is required that spacing hour between stacking casing, then just need threshold value What is set is relatively smaller etc..In a specific the present embodiment, dynamic three-dimensional coordinate and the goods of pitching body 31 place/extract position When the distance of three-dimensional coordinate is within ± 5 centimetres, you can think that both overlap, goods is placed/extracted automatically.

In one embodiment, above-mentioned host computer 10 get quiet three-dimensional coordinate that goods will place for B (Xb, Yb, Zb), the dynamic three-dimensional coordinate for then obtaining fork body 31 in real time is A (Xa, Ya, Za), is sat according to dynamic three-dimensional coordinate and quiet three-dimensional Mark relative position relationship, real-time output control order, control carrier-and-stacker movement, according to default order, first by carrier-and-stacker Be moved to the side of quiet three-dimensional coordinate, make Xa and Xb of substantially equal (error allowed band can be set according to actual conditions), Yb and Ya difference is a designated value, and the designated value is more than the length of fork body 31 of carrier-and-stacker；Carrier-and-stacker adjustment direction is controlled afterwards, makes fork body The Y-coordinate direction of the 31 quiet three-dimensional coordinates of alignment；Then control fork body 31 rises or falls, and making Zb and Za, of substantially equal (error permits Perhaps scope can be set according to actual conditions)；Host computer 10 controls carrier-and-stacker or fork body 31 to move, and makes Yb and Ya of substantially equal When, goods is placed, completes the stacking task of a goods.

Reference picture 10, above-mentioned positioner 20 include locating base station and the first positioning electronic tag 22, the first positioning electronic Label 22 is arranged on fork body 31, then calculates the three-dimensional coordinate of the first positioning electronic tag 22, you can represent the fork body 31 dynamic three-dimensional coordinate.First positioning electronic tag 22 is specifically arranged at which particular location on fork body 31, then can basis Specific stacking requires to set, and is such as arranged on the center of fork body 31, or a certain branch of fork body 31 is first-class.It is described fixed Position base station can be that three anchor base stations 211 not on the same line form, and be sent out by receiving the first positioning electronic tag 22 The first radiofrequency signal penetrated, and then the first return signal with temporal information or strength information is produced to host computer 10.

In one embodiment, above-mentioned locating base station includes at least two groups, when at least two groups of locating base stations receive respectively During the first radiofrequency signal, corresponding to generate at least two group of first return signal, host computer 10 is according at least two group of first return signal At least two groups dynamic three-dimensional coordinates are calculated, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate, The dynamic three-dimensional coordinate actually used.Than that if any three groups of locating base stations, can obtain three groups of coordinates first, respectively A1 (x1, y1, Z1), A2 (x2, y2, z2), A3 (x3, y3, z3), it is A that last average treatment, which obtains final coordinate, By obtaining one after at least two groups dynamic three-dimensional coordinate average treatments Individual final dynamic three-dimensional coordinate is as a result more accurate.

Reference picture 10, above-mentioned positioner 20 also include the second positioning electronic tag 23, second positioning electronic tag 23, which are arranged at the goods, places/extracts position, and sends the second radiofrequency signal to the locating base station, and locating base station is according to institute Second return signal corresponding to stating the generation of the second radiofrequency signal is sent to the host computer 10.Second positioning electronic tag 23 is set Put goods place/extract position, then calculate the three-dimensional coordinate of the second positioning electronic tag 23, you can represent the goods and put The quiet three-dimensional coordinate for the position put/extracted, be specifically arranged at which position that opening position was placed/extracted to goods, then can root Require to set according to specific stacking, be such as arranged on the center of placement/extraction position, or the side of placement/extraction position Bian Shang, when dynamic three-dimensional coordinate is moved to the specified location of relatively quiet three-dimensional coordinate, complete the task of placement/discharging of goods.Institute The locating base station stated can be three base stations or multiple base stations not on the same line, by receiving the second positioning electronic tag Second radiofrequency signal of 23 transmittings, and then the second return signal with temporal information or signal strength information is produced to host computer 10。

In one embodiment, above-mentioned locating base station includes at least two groups, when at least two groups of locating base stations receive respectively During the second radiofrequency signal, corresponding to generate at least two group of second return signal, host computer 10 is according at least two group of second return signal At least two groups of quiet three-dimensional coordinates are calculated, will at least two groups of quiet three-dimensional coordinate average treatments, obtain final quiet three-dimensional coordinate, The quiet three-dimensional coordinate actually used.Than if any three sets of first group of elements of a fix, three groups of coordinate values, respectively B1 can be obtained first (x1`, y1`, z1`), B2 (x2`, y2`, z2`), B3 (x3`, y3`, z3`), it is B that last average treatment, which obtains final coordinate, By being obtained after at least two groups quiet three-dimensional coordinate average treatments One final quiet three-dimensional coordinate is as a result more accurate.

Reference picture 4 and Fig. 5, in the present embodiment, above-mentioned locating base station is UWB locating base stations, is set in a cuboid goods station UWB locating base stations described in two groups are put, each group of UWB locating base station includes three UWB anchor base stations 211, such as UWB anchor base stations 211A1, A2, A3 are one group, and UWB anchor base stations 211B1, B2, B3 are one group, and six UWB anchor base stations 211 are respectively arranged at The different apexes of cuboid goods station.For example UWB anchor base stations 211A1, A2 are respectively arranged at a pair of cuboid goods station top surface The both ends of linea angulata, and UWB anchor base stations 211A3 is arranged at cuboid goods station bottom surface, the summit away from vertical plane where A1, A2 Place, UWB anchor base stations 211B1, B2 are respectively arranged at the underface of UWB anchor base stations 211A1, A2 and are located at rectangle goods station Bottom surface, UWB anchor base stations 211B3 be arranged at cuboid goods station using A3 as cornerwise other end of starting point at, be arranged such UWB anchor base stations 211, the convenient position for determining each UWB anchor base stations 211, so as to convenient and accurately establish cuboid goods The coordinate-system stood, the degree of accuracy of positioning is improved, and cover cuboid goods station comprehensively, no measurement dead angle, make pallet stacking car Obtain maximum placement/discharging of goods scope.Two groups of UWB locating base stations receive of the second positioning electronic tag 23 on shelf respectively Two radiofrequency signals, and produce corresponding to two group of second return signal, according to two group of second return signal analyze to the end it is quiet Three-dimensional coordinate；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, the first positioning electronic tag sends the first radiofrequency signal and received respectively by two groups of UWB locating base stations, so as to The dynamic three-dimensional coordinate of the first positioning electronic tag is calculated..In the present embodiment, using UWB locating base stations, that is, by first The positioning electronic tag 23 of positioning electronic tag 22 and second accesses drive circuit, makes it periodically to each of UWB locating base stations UWB anchor base stations 211 send UWB pulses, and the first positioning electronic tag 22 and second is calculated according to pulse by UWB locating base stations The three dimensional local information that positioning electronic tag 23 is currently located, obtained three-dimensional coordinate are more accurate.In other embodiments, It can also be positioned using other location technologies.

In the present embodiment, a display controller 32 is also set up on the pallet stacking car, cuboid goods station can be shown Solid space figure, and show the first positioning electronic tag 22 and the second positioning electronic tag 23 in solid space figure Position, for example quiet three-dimensional coordinate position is represented with red point, dynamic three-dimensional coordinate is represented with green point, that is, simulates reality scene, works as display Show that red point and green point overlap in controller 32, then illustrate that goods is placed or extracted successfully, and send sound and/or light etc. and carry Wake up, carry out follow-up work.In the present embodiment, display controller 32 connect host computer 10, or display controller 32 be on Position machine 10.

In one embodiment, after quiet three-dimensional coordinate is determined with dynamic three-dimensional coordinate to be overlapped, the control support of host computer 10 The control fork body of disk carrier-and-stacker stops specified time, then carries out placing/discharging of goods.Operating personnel are made to have the position to pitching body 31 Put and determined whether the correct time again, if incorrect, need to readjust control, improve pallet stacking car place/ The accuracy of discharging of goods.

In one embodiment, it is necessary to by a casing stacking a to shelf, first, will be put by being arranged at goods The second positioning electronic tag 23 transmitting UWB pulses of position are put/extracted, UWB locating base stations is passed to and gets the second positioning The positional information (the second return signal) of electronic tag 23 sends to host computer 10, host computer 10 and calculates the second positioning electronic The quiet three-dimensional coordinate of position will be placed/extracted to the three-dimensional coordinate of label 23, i.e. goods；Then, by being arranged at carrier-and-stacker The first positioning electronic tag 22 transmitting UWB pulses of body 31 center are pitched, being passed to UWB locating base stations, to get first fixed The positional information (the first return signal) of position electronic tag 22, which is sent to host computer 10, host computer 10, calculates the first positioning electronic The dynamic three-dimensional coordinate of the fork body 31 of the three-dimensional coordinate of label 22, i.e. carrier-and-stacker；Subsequently, host computer 10 control carrier-and-stacker mobile or Manually carrier-and-stacker is opened to goods i.e. by the position of stacking, the lifting of the control fork body 31 of host computer 10, controls pallet stacking car Move forward and backward, 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 being specified Apart from it is interior when, container is put down, terminate a stacking task.

The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations Technical field, be included within the scope of the present invention.

Claims

A kind of 1. method of pallet stacking car placement/discharging of goods, it is characterised in that including：

Obtain the quiet three-dimensional coordinate for the position that goods will be placed/extracted；

The dynamic three-dimensional coordinate of the fork body of carrier-and-stacker is obtained in real time, is specifically included：It is fixed by be pre-installed on the fork body first to receive Position the first radiofrequency signal of electronic tag real time emission to default locating base station, locating base station is given birth to according to first radiofrequency signal Into corresponding first return signal；According to first return signal, the dynamic three-dimensional for calculating first positioning electronic tag is sat Mark, the locating base station includes at least two groups, when at least two groups of locating base stations receive first positioning electronic tag respectively During the first radiofrequency signal, corresponding generation first return signal at least described in two groups, calculated according at least two group of first return signal Obtain at least two groups dynamic three-dimensional coordinates, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate；

According to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate, the carrier-and-stacker is controlled to work, when the quiet three-dimensional When coordinate is less than default distance to a declared goal with dynamic three-dimensional coordinate distance, judge that quiet three-dimensional coordinate overlaps with dynamic three-dimensional coordinate, control Pitch body placement/discharging of goods.
2. the method for pallet stacking car placement/discharging of goods according to claim 1, it is characterised in that the acquisition goods Thing will be placed/extracted the step of quiet three-dimensional coordinate of position, including：

The quiet three-dimensional coordinate of position is placed/extracted to the goods for receiving outside input；Or

The second positioning electronic tag the second radiofrequency signal of transmitting of position will be placed/extract by being pre-installed on the goods by receiving To default locating base station, locating base station second return signal according to corresponding to generating second radiofrequency signal；

According to second return signal, the three-dimensional coordinate of calculating second positioning electronic tag.
3. the method for pallet stacking car placement/discharging of goods according to claim 2, it is characterised in that the positioning base Stand including at least two groups, it is right when at least two groups of locating base stations receive the second radiofrequency signal of the second positioning electronic tag respectively The second return signal at least described in two groups should be generated, at least two groups of quiet three-dimensionals are calculated according at least two group of second return signal Coordinate, will at least two groups of quiet three-dimensional coordinate average treatments, obtain final three-dimensional coordinate.
A kind of 4. device of pallet stacking car placement/discharging of goods, it is characterised in that including：

First acquisition module, the quiet three-dimensional coordinate of position will be placed/extract for obtaining goods；

Second acquisition module, the dynamic three-dimensional coordinate of the fork body for obtaining carrier-and-stacker in real time, second acquisition module include：The One receiving unit, for receiving by being pre-installed on first first radiofrequency signal of positioning electronic tag real time emission for pitching body extremely Default locating base station, locating base station first return signal according to corresponding to generating first radiofrequency signal；First calculates list Member, for according to first return signal, the dynamic three-dimensional coordinate of calculating first positioning electronic tag；First is average single Member is right for when the locating base station includes at least two groups, receiving the first radiofrequency signal of the first positioning electronic tag respectively The first return signal at least described in two groups should be generated, at least two groups dynamic three-dimensionals are calculated according at least two group of first return signal Coordinate, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate；

Control module, for according to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate, controlling the carrier-and-stacker to work, When the 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 is sat with dynamic three-dimensional Indicated weight closes, control fork body placement/discharging of goods.
5. the device of pallet stacking car placement/discharging of goods according to claim 4, it is characterised in that described first obtains Modulus block, including：

The quiet three-dimensional coordinate of position will be placed/extracted to acquiring unit, the goods for receiving outside input；Or including：

Second receiving unit, the second positioning electronic tag for placing/extracting position by being pre-installed on the goods for receiving are sent out The second radiofrequency signal is penetrated to default locating base station, locating base station second reply according to corresponding to generating second radiofrequency signal Signal；

Second computing unit, for according to second return signal, the quiet three-dimensional for calculating second positioning electronic tag to be sat Mark.
6. the device of pallet stacking car placement/discharging of goods according to claim 5, it is characterised in that described first obtains Modulus block also includes：

Second averaging unit, for when the locating base station includes at least two groups, receiving the second positioning electronic tag respectively During the second radiofrequency signal, corresponding generation second return signal at least described in two groups, calculated according at least two group of second return signal Obtain at least two groups of quiet three-dimensional coordinates, will at least two groups of three-dimensional coordinate average treatments, obtain final quiet three-dimensional coordinate.
7. a kind of system of pallet stacking car placement/discharging of goods, it is characterised in that including positioner and host computer；

The host computer, which obtains goods, will place/extract the quiet three-dimensional coordinate of position；Obtained in real time by the positioner The dynamic three-dimensional coordinate of the fork body of the carrier-and-stacker, the positioner are specifically used for reception by being pre-installed on the first of the fork body The radiofrequency signal of positioning electronic tag real time emission first is to default locating base station, and locating base station is according to first radiofrequency signal First return signal corresponding to generation；According to first return signal, the dynamic three-dimensional of calculating first positioning electronic tag Coordinate, the locating base station includes at least two groups, when at least two groups of locating base stations receive first positioning electronic tag respectively The first radiofrequency signal when, corresponding generation first return signal at least described in two groups, according at least two group of first return signal meter Calculation obtains at least two groups dynamic three-dimensional coordinates, will at least two groups dynamic three-dimensional coordinate average treatments, obtain final dynamic three-dimensional coordinate；

The host computer controls the carrier-and-stacker to work according to the quiet three-dimensional coordinate position relationship relative with dynamic three-dimensional coordinate, when When the quiet three-dimensional coordinate is less than default distance to a declared goal with dynamic three-dimensional coordinate distance, quiet three-dimensional coordinate and dynamic three-dimensional coordinate are judged Overlap, control fork body placement/discharging of goods.