CN105692021A - STM-based intelligent control system for logistics storage rail guide vehicle and method thereof - Google Patents
STM-based intelligent control system for logistics storage rail guide vehicle and method thereof Download PDFInfo
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- CN105692021A CN105692021A CN201610184997.XA CN201610184997A CN105692021A CN 105692021 A CN105692021 A CN 105692021A CN 201610184997 A CN201610184997 A CN 201610184997A CN 105692021 A CN105692021 A CN 105692021A
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- shuttle
- module
- target location
- photogate
- photoelectric encoder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The present invention discloses an STM-based intelligent control system for a logistics storage rail guide vehicle applied to a logistics storage environment consisting of a plurality of storage rack platforms, wherein each storage rack platform is provided with a drift-type rail guide vehicle; two sides of the travelling direction of the rail guide vehicle are provided with a goods stacking zone. It is characterized in that, the control system comprises: an upper computer system, a lower computer execution system, a photoelectric encoder and a photogate; and the upper computer system realizes control of the lower computer execution system in a wireless communication manner. The present invention enables the rail guide vehicle to realize accurate location and braking in motion, and at the same time locks the stretching fork so that on the premise of guaranteeing fast motion rate, the rail guide vehicle can realize real-time accurate position orientation and guarantees safety in operation while improving the working efficiency.
Description
Technical field
The present invention relates to intelligent storage logistlcs technology field, particularly a kind of intelligent storage logistics shuttle hi-Fix kinetic control system based on STM and method thereof。
Background technology
Along with the production-scale expansion of modernization of business, the requirement of automatization not only embodies aborning, is also more and more higher for products storage circulation system requirement。In Modern Logistics Technology, automatic stereowarehouse is greatly improved storage density, and therefore a kind of laneway type shuttle being capable of automatic access goods arises at the historic moment。Currently used storage device includes lane stacker and track shuttle, and by contrast, shuttle is capable of the work when increasingly complex, and the degree of automatization is higher simultaneously。Shuttle is that automatization's access system is filled with completely new concept, plays more and more important effect in modern intelligent storage logistics system。
But, the shuttle of full automation storage and picking, the required precision for location is higher compared to general shuttle。This is not only just that the positioning accuracy request in vehicle operation is higher, communication between slave computer and host computer in running is had higher requirement simultaneously。Under the mode of radio communication, how when ensureing that communication speed is sufficiently fast, can prevent stretching fork while improving positioning precision and to run out of in motor process, with regard to the problem having become to need badly solution。
Summary of the invention
The present invention overcomes weak point existing in prior art, a kind of Intelligent logistics based on STM is provided to store in a warehouse vehicle control and the method thereof of shuttling back and forth, it is accurately positioned to shuttle can be made to realize in motor process and braking brake, can lock simultaneously and stretch fork, it is thus possible under the premise ensureing very fast movement velocity, shuttle can realize real-time accurate location positioning, and then ensures safety in operation while improving work efficiency。
The present invention solves that technical problem adopts the following technical scheme that
A kind of Intelligent logistics based on STM of the present invention is stored in a warehouse the vehicle control that shuttles back and forth, and is be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of described shuttle travel direction are provided with goods laydown area；Being characterized in, described control system includes: master system, slave computer perform system, photoelectric encoder, photogate；
Described master system includes: data processing module, principal communication module, input and output display module；
Described slave computer performs system and includes: from communication module, control module, driving module, information acquisition module, execution module；Described execution module includes moving cell and stretches fork unit；
Shuttle vehicle track on every layer of shelf platform is internally provided with described photoelectric encoder；Stretch in the both sides of described shuttle on fork unit and be provided with described photogate；
Described information acquisition module obtains the location information of described shuttle by described photoelectric encoder, and is sent to described control module；Described location information is sent to described principal communication module by described from communication module by described control module；
The operational order that described data processing module is acquired to described input and output display module, and the location information of the principal communication module transmission received processes, calculate the displacement vector obtaining described shuttle and be sent to by described principal communication module described from communication module；
Described from communication module, the displacement vector of received shuttle is sent to control module；
Described control module controls moving cell described in described driving module drive according to the displacement vector of described shuttle and makes shuttle move to target area in the horizontal direction, and the location information of described shuttle is obtained in real time by described photoelectric encoder, it is used for judging whether described shuttle reaches target location；If reaching target location, then carry out being accurately positioned and stopping in target location by the motor Hall element in described photogate and moving cell, and drive the charge and discharge operations stretched in fork unit execution vertical direction；Otherwise, the locking of described photogate is utilized to stretch fork unit till reaching target location。
A kind of Intelligent logistics based on STM of the present invention is stored in a warehouse shuttle control method, is be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of described shuttle travel direction are provided with goods laydown area；It is characterized in: the shuttle vehicle track on every layer of shelf platform is internally provided with described photoelectric encoder；The both sides of described shuttle are provided with described photogate；Described control method is to carry out as follows:
Step 1, by described photoelectric encoder obtain described shuttle location information；
Step 2, obtain the operational order of described shuttle, and according to described location information, calculate the displacement vector obtaining described shuttle；
Step 3, institute's displacement vector is scaled mobile step number；Thus driving described shuttle to move to target area in the horizontal direction according to S type rate curve according to described mobile step number, and the location information of described shuttle is obtained in real time by described photoelectric encoder, thus close to target location deceleration, move to target location with low speed, and carry out being accurately positioned and stopping in target location by the motor Hall element in described photogate and moving cell；
Step 4, by described photoelectric encoder obtain described shuttle location information, it is judged that whether described shuttle reaches target location and is in dead ship condition；If reaching target location and being in dead ship condition, then described shuttle performs the charge and discharge operations in vertical direction in target location；Otherwise, the locking of described photogate is utilized to stretch fork unit till reaching target location and being in dead ship condition。
Feature based on the Intelligent logistics storage shuttle control method of STM of the present invention lies also in,
The value of described mobile step number is the numerical value that the integration of time is obtained by described S type rate curve, value according to described mobile step number calculates the Acceleration and deceleration time parameter of described S type rate curve, thus driving the described moving cell of described shuttle to carry out acceleration and deceleration motion according to S type rate curve。
Compared with the prior art, the present invention has the beneficial effect that:
1, the present invention is by building multilayered memory and shipping platform, arranges storage area in track both sides simultaneously；Adopt modularized design simultaneously, connect master system by communication and slave computer performs system, solve the problem that density is not high, space service efficiency is not high and automaticity is not enough of storing in a warehouse in prior art, thus bringing tightr, more reliable Intelligent logistics storage effect, improve the service efficiency of storage space, reduce cost of labor, improve accuracy and the stability of Intelligent logistics storage facilities。
2, the present invention walks mode by the meter in conjunction with photoelectric encoder and motor Hall element; overcome and prior art is write the accurate not problem of crisis actuator motion positions; the motion that can reach and the positioning precision stretched within pitching positive and negative a millimeter improve stacks of cargo spermiation degree; thus can effectively promote work efficiency, reduce danger。
3, the present invention is by the motion mode of described S type rate curve, displacement is converted into number of motor steps simultaneously as rate curve integration amount, overcome the motion of prior art high speed and the problem that cannot simultaneously realize of stably stopping, thus ensureing that shuttle accelerates to fair speed with less time and finally can realize the effect of precise and stable parking simultaneously, reduce the time that shuttle consumes in handling process, improve storage operational paradigm。
Accompanying drawing explanation
Fig. 1 is the system module figure of the present invention；
Fig. 2 is the motor control flow chart of the present invention；
Fig. 3 is the system operational flow diagram of the present invention。
Detailed description of the invention
In the present embodiment, a kind of Intelligent logistics based on STM is stored in a warehouse the vehicle control that shuttles back and forth, and is be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of shuttle travel direction are provided with goods laydown area；Every layer of purpose arranging a shuttle is dispatched while being easy between each layer, accelerates work efficiency。Arranging goods laydown area in both sides is to better profit from space resources, and the symmetric design that fork structure stretched by shuttle also meets the needs that both sides are carried；
As it is shown in figure 1, this control system includes: master system, slave computer perform system, photoelectric encoder, photogate；
Master system includes: data processing module, principal communication module, input and output display module；Master system is responsible for the input of control instruction by input and output display module, and data processing module realizes the analyzing and processing of input instruction, by principal communication module, the data processed is sent to slave computer simultaneously。
Slave computer performs system and includes: from communication module, control module, driving module, information acquisition module, execution module；Perform module include moving cell and stretch fork unit；Lower computer system is responsible for receiving the data that principal communication module sends over from communication module, and the data handled well are sent to control module, control module and judge walking and the job order stretching fork structure and concrete quantity of motion according to the director data obtained, drive module to obtain data volume rear drive execution module and complete command adapted thereto, in whole motor process, information acquisition module constantly gathers relevant information, and when controlling module execution interrupt routine by the data collected by being sent to principal communication module from communication module, undertaken processing and judging by the data processing module in master system。
Shuttle vehicle track on every layer of shelf platform is internally provided with photoelectric encoder；Stretch in the both sides of shuttle on fork unit and be provided with photogate；The effect of photoelectric encoder is by real-time position location information collection, it is simple to master system judges the current kinestate of shuttle and location information in time。The effect of photogate is to touch when shuttle arrives current position with low speed, starts mechanical hatching gate, it is achieved stop simultaneously。
Fig. 2 show concrete system control process。After system starts, first obtained the location information of shuttle by information acquisition module by photoelectric encoder, and be sent to control module；Control module by location information by being sent to principal communication module from communication module；
The operational order that data processing module is acquired to input and output display module, and the location information of the principal communication module transmission received processes, and calculates and obtains the displacement vector of shuttle and be sent to from communication module by principal communication module；
From communication module, the displacement vector of received shuttle is sent to control module；
Control module to control to drive module drive moving cell to make shuttle move to target area in the horizontal direction according to the displacement vector of shuttle, and obtain the location information of shuttle in real time by photoelectric encoder, it is used for judging whether shuttle reaches target location；If reaching target location, then carry out being accurately positioned and stopping in target location by the motor Hall element in photogate and moving cell, and drive the charge and discharge operations stretched in fork unit execution vertical direction；Otherwise, photogate locking is utilized to stretch fork unit till reaching target location。Moving cell carries out with being driven apart of unit of examination, does not communicate and interference from each other, as shown in Figure 3。Before control system judges that shuttle has been carried out stopping, stretch fork structure and can be always held within the scope of car body, will not stretch out。Often cross an interruption and all can gather the current location stretching fork。If finding to stretch fork in shuttle motor process beyond vehicle body position, then brake hard, stopping and reporting to the police。
In the present embodiment, a kind of Intelligent logistics based on STM is stored in a warehouse shuttle control method, is be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of shuttle travel direction are provided with goods laydown area；Shuttle vehicle track on every layer of shelf platform is internally provided with photoelectric encoder；The both sides of shuttle are provided with photogate；This control method is to carry out as follows:
Step 1, by photoelectric encoder obtain shuttle location information；
Step 2, obtain shuttle operational order, and according to location information, calculate obtain shuttle displacement vector；
Step 3, displacement vector is scaled mobile step number；Thus driving shuttle to move to target area in the horizontal direction according to S type rate curve according to mobile step number, and the location information of shuttle is obtained in real time by photoelectric encoder, thus close to target location deceleration, move to target location with low speed, and carry out being accurately positioned and stopping in target location by the motor Hall element in photogate and moving cell；
Step 4, by photoelectric encoder obtain shuttle location information, it is judged that whether shuttle reaches target location and is in dead ship condition；If reaching target location and being in dead ship condition, then shuttle performs the charge and discharge operations in vertical direction in target location；Otherwise, photogate locking is utilized to stretch fork unit till reaching target location and being in dead ship condition。
Specifically, the value of mobile step number is the numerical value that the integration of time is obtained by S type rate curve, value according to mobile step number calculates the Acceleration and deceleration time parameter of S type rate curve, thus driving the moving cell of described shuttle to carry out acceleration and deceleration motion according to S type rate curve, it is achieved control the purpose of moving cell by the motion mode of S type rate curve；Displacement vector is converted into according to a certain percentage meter step number, whole shelf rail is quantized into an axle with coordinate by step number。S type rate curve is then meter step number for the First-order Integral of time。Such as: the displacement vector if desired walked is 10 meters of forward, conversion scale is 1 meter=500 step numbers。The step number obtained that then converts is 5000 steps。From overall step number, reserved 50 steps slide location displacement as final。First remaining 4950 steps are calculated acceleration and deceleration and the time at the uniform velocity passed by according to packaged S type rate curve, the characteristic slowed down afterwards is first accelerated according to S type rate curve, now shuttle is in low-speed motion state, and remaining 50 steps pass through low speed slide close to target location。When reaching target location, motor braking brake, triggers photogate, it is achieved mechanical hatching gate also stops simultaneously。
In sum, in order to solve between modern warehouse logistics hollow, service efficiency is low, automaticity is not high enough and the problem of storage facilities operational reliability and stability deficiency, this programme establishes a set of perfect intelligent storage logistics control system, characteristic for electricity business's logistics, it is provided that be specifically designed to the solution solving electricity business's warehouse logistics problem。
Claims (3)
1. store in a warehouse based on the Intelligent logistics of STM and shuttle back and forth a vehicle control, be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of described shuttle travel direction are provided with goods laydown area；Its feature, described control system includes: master system, slave computer perform system, photoelectric encoder, photogate；
Described master system includes: data processing module, principal communication module, input and output display module；
Described slave computer performs system and includes: from communication module, control module, driving module, information acquisition module, execution module；Described execution module includes moving cell and stretches fork unit；
Shuttle vehicle track on every layer of shelf platform is internally provided with described photoelectric encoder；Stretch in the both sides of described shuttle on fork unit and be provided with described photogate；
Described information acquisition module obtains the location information of described shuttle by described photoelectric encoder, and is sent to described control module；Described location information is sent to described principal communication module by described from communication module by described control module；
The operational order that described data processing module is acquired to described input and output display module, and the location information of the principal communication module transmission received processes, calculate the displacement vector obtaining described shuttle and be sent to by described principal communication module described from communication module；
Described from communication module, the displacement vector of received shuttle is sent to control module；
Described control module controls moving cell described in described driving module drive according to the displacement vector of described shuttle and makes shuttle move to target area in the horizontal direction, and the location information of described shuttle is obtained in real time by described photoelectric encoder, it is used for judging whether described shuttle reaches target location；If reaching target location, then carry out being accurately positioned and stopping in target location by the motor Hall element in described photogate and moving cell, and drive the charge and discharge operations stretched in fork unit execution vertical direction；Otherwise, the locking of described photogate is utilized to stretch fork unit till reaching target location。
2. store in a warehouse a shuttle control method based on the Intelligent logistics of STM, be applied in the logistic storage environment that is made up of multi-layered storage rack platform, every layer of shelf platform is provided with a laneway type shuttle；The both sides of described shuttle travel direction are provided with goods laydown area；Its feature: the shuttle vehicle track on every layer of shelf platform is internally provided with described photoelectric encoder；The both sides of described shuttle are provided with described photogate；Described control method is to carry out as follows:
Step 1, by described photoelectric encoder obtain described shuttle location information；
Step 2, obtain the operational order of described shuttle, and according to described location information, calculate the displacement vector obtaining described shuttle；
Step 3, institute's displacement vector is scaled mobile step number；Thus driving described shuttle to move to target area in the horizontal direction according to S type rate curve according to described mobile step number, and the location information of described shuttle is obtained in real time by described photoelectric encoder, thus close to target location deceleration, move to target location with low speed, and carry out being accurately positioned and stopping in target location by the motor Hall element in described photogate and moving cell；
Step 4, by described photoelectric encoder obtain described shuttle location information, it is judged that whether described shuttle reaches target location and is in dead ship condition；If reaching target location and being in dead ship condition, then described shuttle performs the charge and discharge operations in vertical direction in target location；Otherwise, the locking of described photogate is utilized to stretch fork unit till reaching target location and being in dead ship condition。
3. the Intelligent logistics storage shuttle control method based on STM according to claim 2, it is characterized in that, the value of described mobile step number is the numerical value that the integration of time is obtained by described S type rate curve, value according to described mobile step number calculates the Acceleration and deceleration time parameter of described S type rate curve, thus driving the described moving cell of described shuttle to carry out acceleration and deceleration motion according to S type rate curve。
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| CN106044041A (en) * | 2016-07-22 | 2016-10-26 | 合肥工业大学 | Automatic stereoscopic warehouse control system and method |
| CN106125743A (en) * | 2016-08-31 | 2016-11-16 | 江苏高科物流科技股份有限公司 | The position control method of shuttle unit and positioning control system in logistic storage |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN107163959A (en) * | 2017-05-31 | 2017-09-15 | 上海应用技术大学 | A kind of Precise Position System of coke-oven locomotive |
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| CN112777196A (en) * | 2020-12-18 | 2021-05-11 | 世仓智能仓储设备（上海）股份有限公司 | Logistics shuttle positioning method and logistics shuttle |
| CN113581792A (en) * | 2021-08-04 | 2021-11-02 | 三一机器人科技有限公司 | Tray position checking method and device and tray positioning system |
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| CN113581792A (en) * | 2021-08-04 | 2021-11-02 | 三一机器人科技有限公司 | Tray position checking method and device and tray positioning system |
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