CN105775540A - Control method of storing and taking trays for magnetic stripe guide type vehicle - Google Patents
Control method of storing and taking trays for magnetic stripe guide type vehicle Download PDFInfo
- Publication number
- CN105775540A CN105775540A CN201610126417.1A CN201610126417A CN105775540A CN 105775540 A CN105775540 A CN 105775540A CN 201610126417 A CN201610126417 A CN 201610126417A CN 105775540 A CN105775540 A CN 105775540A
- Authority
- CN
- China
- Prior art keywords
- magnetic stripe
- mover
- vehicle
- magnetic
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/043—Magnetic
Abstract
The invention relates to the field of logistics automation control, in particular to a control method of storing and taking trays for a magnetic stripe guide type vehicle. The technical purpose of the control method is realized through the following technical scheme. According to the technical scheme of the control method of storing and taking the trays for the magnetic stripe guide type vehicle, the transferring vehicle and a magnetic stripe arranged on the ground and used for guiding the transferring vehicle to move are included, the transferring vehicle is provided with a magnetic conductance sensor used for sensing the magnetic stripe, and a plurality of operation steps are included. According to the control method of storing and taking the trays for the magnetic stripe guide type vehicle, the trays can be automatically guided, stored and taken, the efficiency is high, cost control is good, locating is accurate, and reverse driving of the magnetic stripe guide type transferring vehicle and tray storing and taking can be well realized.
Description
Technical field
The present invention relates to material flows automation control field, be specifically related to a kind of magnetic stripe and guide the access pallet control method of vehicle.
Background technology
In logistics progress, the transmission of material is an important ring.The most traditional material transferring needs the cooperation of mover and material tray to complete, need manually to be transported on materials vehicle by material tray, pilot steering mover afterwards, dragging materials vehicle is advanced, and carries out artificial discharging after arriving at again, and whole logistics progress manually participates in many, labor strength is big, the hand labor cost of enterprise remains high, and there is rate height of making a mistake, the problems such as efficiency is low.
Lifting along with automaticity, submersible mover automatic transmission system starts to come into operation, a kind of material Automatic Guided Vehicle that Chinese patent if Authorization Notice No. is CN204714455U is published, comprise body part and lift unit, utilize magnetic navigation technology, be automatically led to specify station, slip into the bottom of materials vehicle, subsequent start-up elevating mechanism, leans on materials vehicle connection suspension, it is achieved automatic transporting.
Use such method, really can improve automaticity, it is achieved automatic transporting, but there is following drawback: on the one hand, in order to mate such submersible mover, it is necessary to customization materials vehicle, then produce and maintenance cost rises therewith.On the other hand, in some scenarios, spent material pallet in plant area, then cannot mate submersible mover and realize above-mentioned functions so that the use scope of this kind of technology is subject to certain restrictions.
Summary of the invention
It is an object of the invention to provide a kind of magnetic stripe and guide the access pallet control method of vehicle, it may be achieved homing guidance and access pallet, efficiency is high, cost control is good, registration.Achieve backward going and the pallet access of magnetic stripe guiding type tray truck well.
The above-mentioned technical purpose of the present invention has the technical scheme that a kind of magnetic stripe guides the access pallet control method of vehicle, comprise mover and set magnetic stripe for guiding described mover to advance on the ground, described mover is provided with the magnetic inductive transducers for sensing described magnetic stripe, comprises the steps of:
Step one, Ground arrangement step:
Laying on ground that walking is leading draws magnetic stripe and steering assistance magnetic stripe, described walking is leading, and to draw magnetic stripe vertical with steering assistance magnetic stripe, and the bearing of trend of described steering assistance magnetic stripe is described mover direct of travel when accessing pallet；
Step 2, deceleration steps:
In described walking leading drawing, magnetic stripe is provided with deceleration label, described mover has the identification device that can read described deceleration label, described identification device is by scanning described deceleration label so that described mover reduces speed now, and continues to advance on magnetic stripe in described walking leading drawing with lower-speed state；
Step 3, fine positioning step:
Described mover stopped on magnetic stripe in described leading drawing on default appointment position；
Step 4, driving wheel direction set-up procedure:
Equipped with driving wheel on described mover, described driving wheel turns to 90 degree, and vehicle body remains stationary as.(for singly driving, only transfer motion, drives for double; two, rotating)
Step 5, angle adjustment step:
Described mover comprises transfer, and described mover turns to, and the running of described transfer adjusts the angle of the relatively described pallet of tray rack of described mover；
Step 6, angle locking step:
When redirecting to predetermined angle, mover stops turning to；Now the tray rack axis of described mover overlaps with described steering assistance magnetic stripe, and driving wheel direction is recalled to described mover axis direction；
Step 7, close pallet step；
Described mover retreats along described steering assistance magnetic stripe, near goods yard；
Step 8, retrogressing stop step；
Described mover, back to specifying position, stops retreating；
Step 9, lift or put down pallet step；
Described mover comprises lifting structure, is used for controlling described tray rack and rises or decline, holds up or put down described pallet；
Step 10, advance step:
Described mover relies on described magnetic inductive transducers to sense described magnetic stripe, is directed to that described walking is leading draws on magnetic stripe.
nullDescribed mover is travelled on described magnetic stripe by described magnetic inductive transducers，Realize homing guidance，Without pilot steering，In actual applications，Described magnetic stripe，The main driving trace of described mover，It is exist among road，And described pallet is placed on picking station，Described picking station is not in order to interfere the traveling of described mover，It is arranged on the side of the main driving trace of described mover often，Namely described mover is before picking，Must need to turn to，Make described tray rack can be directed correctly to described pallet，And turn to 90 ° often，So，First it is step one，Workpeople lays described dominating in warehouse and draws magnetic stripe and described steering assistance magnetic stripe，Described dominating draws the main direct of travel that magnetic stripe is described mover，And described steering assistance magnetic stripe to be described mover go near goods direct of travel near pallet time，Both usual conditions are vertical；nullUser makes described mover advance on magnetic stripe in described leading drawing，In general，Described leading draw magnetic stripe and be located on the vehicle body axis of described mover，In step 2，Described identification device scans described deceleration label，Described mover reduces speed now，Improve positioning precision，In step 3，Stop，The mode of fine positioning has various，As，Mover is after slowing down，At described deceleration label nearby，There is a location label，The effect of this location label is off mark，When described identification device scans described location label，Mover stops，Or，Equipped with motor encoder on described mover，Operating range can be calculated according to parameters such as the rotating speeds of the time travelled and motor，Start counting up after described mover is by described deceleration label，Calculate operating range，After reaching preset distance，Stop at once，After a stoppage，Enter step 4，Described driving wheel turns to 90 degree，Described mover，Can by the detection of angular transducer，Guarantee that described driving wheel turns in place，Enter step 5 and step 6 afterwards，Described mover starts to turn to，It should be noted that，The turning to of described mover must assure that and put in place，Guarantee that the mode put in place also has multiple，Described magnetic inductive transducers scan as described in steering assistance magnetic stripe，Guarantee to turn in place，Thus can obtain and linearly few can adjust or not adjust when described mover retreats，Ensure the precision controlling near pallet，In present specification，By the described tray rack direction near described mover，After being defined as，It is front away from described tray rack direction，By the comparison of magnetic inductive transducers，Described tray rack is made to point to goods yard，Subsequently，In step 7 and step 8，Described mover is near described goods yard，And accurately sail into，In step 9 and step 10，Described tray rack rises or falls，Drive or put down described pallet and leave，Complete the work of automatic access pallet，Whole process automaticity is high，Without pilot steering，Submersible mover and materials vehicle is added without extra，Cost is controlled.
Preferred as the present invention, described deceleration label is rfid card, and described identification device is RFID card reader；Or described deceleration label is a bit of magnetic stripe vertical with travelling magnetic stripe, described identification device and described magnetic inductor；Or described deceleration label is reflector or Quick Response Code, described identification device is that infrared emission receives pipe or Quick Response Code induction apparatus.
Described deceleration label and described identification device have multiple way of realization, card reader can read RFID signal and Quick Response Code signal, and described infrared transmitting tube launches infrared signal, accepted by described infrared receiving tube rebounding in prevailing roadway, through described reflector, described infrared receiving tube can accept infrared signal, described mover can be made through specifying this item of position to be determined by any of the above implementation.
Preferred as the present invention, before described step 3, fine positioning step, comprise centering step, described magnetic inductive transducers comprises rear magnetic inductive transducers and front magnetic inductive transducers, by scanning the described magnetic stripe of sensing, described rear magnetic inductive transducers and described front magnetic inductive transducers determine that whether described mover is placed in the middle relative to described magnetic stripe, and adjust in real time by controlling the transfer of described mover.
Described centering step is real-time monitoring, adjust in real time, by described rear magnetic inductive transducers and front magnetic inductive transducers all above described magnetic stripe, can ensure that the vehicle bearing of trend of whole described mover is parallel with the bearing of trend of described magnetic stripe, offset, described rear magnetic inductive transducers and front magnetic inductive transducers are located on the axis of described mover, also make whole described mover relative to described magnetic stripe align center.
Preferred as the present invention, described mover comprises driving wheel, and described front magnetic inductive transducers follows the rotation of described driving wheel and synchronous rotary, and described rear magnetic stripe sensor is fixed on vehicle body reverse side.
nullIn present specification，By the described tray rack direction near described mover，After being defined as，It is front away from described tray rack direction，It should be noted that，In actual applications，Direction controlling when retreating of described mover is more difficult to than direction controlling when advancing，Easily there is error，But the technical scheme in application present specification，Can in described step 4 be to six，Described front magnetic inductive transducers is made to follow described turning to of driving wheel and synchronize to turn to，When whole described mover rotates，More accurate position guiding is provided and controls，Thus the precision controlling turning to stopping of rate-determining steps six，In step 5、In angle locking step，Described magnetic inductive transducers comprises rear magnetic inductive transducers and front magnetic inductive transducers，Ground is provided with steering assistance magnetic stripe，The sensitive scanning to described steering assistance magnetic stripe by described rear magnetic inductive transducers and front magnetic inductive transducers，Determine whether to have turned to put in place，Stopping turns to，Owing to rear magnetic inductive transducers and front magnetic inductive transducers can keep at a certain distance away according to the actual requirements，The distance of sensitive scanning is longer，Scanning induction points multiple on steering assistance magnetic stripe can be sensed，So can guarantee that when angle locking，The angle registration of whole mover，Error is little.
Preferred as the present invention, described step 3, fine positioning step, ground is provided with stopping label, and the scanning of described identification device senses described stopping label, then described mover halts.
Preferred as the present invention, described step 3, fine positioning step, described mover comprises motor encoder, is calculated the operating range of described mover by described motor encoder, and after driving to distance to a declared goal, described mover halts.
Preferred as the present invention, in step 6, angle locking step, sets up another magnetic stripe at predeterminated position, and when described magnetic inductive transducers scans described magnetic stripe, then described mover stops turning to.
Preferred as the present invention, sets up another magnetic stripe to be described steering assistance magnetic stripe at predeterminated position, and when described rear magnetic inductive transducers scans described steering assistance magnetic stripe, described mover stops turning to.
Preferred as the present invention, the described tray rack of described mover is connected with road wheel and deflecting roller, the liftoff state that lands of described road wheel and deflecting roller is adjustable, in step one and step 2, described road wheel lands, and described deflecting roller is liftoff, in described step 4, described road wheel is liftoff, and described deflecting roller lands, and the wheel axis of described deflecting roller is at an angle with the wheel axis of described road wheel.
Preferred as the present invention, described magnetic stripe includes that walking is leading draws magnetic stripe, walking auxiliary magnetic stripe and steering assistance magnetic stripe, when vehicle by access position, goods yard return leading draw magnetic stripe time, the guiding priority level initializing of described walking auxiliary magnetic stripe be height.
In step 10, advance step, there are two kinds of situations, one is after described mover holds up described pallet, relies on the described walking auxiliary magnetic stripe of described magnetic inductive transducers sensing, it is achieved the homing guidance of advance route.Another kind is that the steering assistance magnetic stripe that edge is intersected advances, and stops, adjusting driving wheel direction, and angle adjustment to vertical axis returns to dominate draws on magnetic stripe, stops turning to, leaves.
Preferred as the present invention, it is by the detection of pallet or goods or collision alarm are obtained that step 8 stops step.
The mode reaching picking or discharge location stopping at described mover has varied, but in the process of picking, in order to reduce error and be accurately positioned, to avoid the collision to goods and interference, described mover is installed travel switch or induction apparatus, certain distance is reached between goods when sensing, just send stop sign, described mover is stopped, additionally, this scheme and original vehicle parking system can be with the use of, it is located at ground RFID tag including allowing described mover read, or calculate travel distance according to motor encoder, coordinate and reach precision and better stop.
In sum, there is advantages that
1, described mover realizes homing guidance according to described magnetic inductive transducers and described magnetic stripe, it is not necessary to pilot steering.
2, vehicle uses upper need to use described mover itself, can described pallet be accessed, it is not necessary to extra spent material car and submersible mover, controls cost.
The actions such as 3, whole control process comprises detection placed in the middle, automatic retarding, is automatically stopped, auto-steering, steering angle confirm, reversing and reversing stopping, registration, error is little.
4, described mover can install deflecting roller additional, by regulating the liftoff state that lands of deflecting roller and road wheel, realizes less radius of turn and turns to or pivot stud, narrow space plant area also can normal operation, promote versatility.
Accompanying drawing illustrates:
Fig. 1 is the schematic diagram of mover in embodiment 1；
Fig. 2 is the schematic flow sheet of the access pallet of embodiment 1；
Fig. 3 is the schematic diagram of mover in embodiment 2；
Fig. 4 is the schematic flow sheet of the access pallet of embodiment 2；
Fig. 5 is the schematic diagram of mover in embodiment 3；
Fig. 6 is the schematic flow sheet of the access pallet of embodiment 3；
Fig. 7 is the schematic flow sheet of the access pallet of embodiment 4；
Fig. 8 is the schematic flow sheet of the access pallet of embodiment 5.
In figure:
1, mover, 11, driving wheel, 12, road wheel, 13, tray rack, 14, motor encoder, 15, deflecting roller, 2, identify device, 3, magnetic inductive transducers, 31, rear magnetic inductive transducers, 32, front magnetic inductive transducers, 4, magnetic stripe, 41, walking is leading draws magnetic stripe, 42, walking auxiliary magnetic stripe, 43, steering assistance magnetic stripe, 51, deceleration label, 52, location label one, 53, location label two, 54, location label three, 6, pallet.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
This specific embodiment is only explanation of the invention; it is not limitation of the present invention; the present embodiment can be made the amendment not having creative contribution as required by those skilled in the art after reading this specification, but as long as being affected by the protection of Patent Law in scope of the presently claimed invention.
Embodiment 1, as shown in Figure 1: mover 1 is provided with the tray rack 13 for accessing and carry kinds of goods, mover 1 vehicle body has driving wheel 11, driving wheel 11 can be diverted device and control to adjust angle, thus controlling turning to of whole mover 1, tray rack 13 has road wheel 12. and is additionally provided with identification device 2 under mover 1 vehicle body, is additionally provided with magnetic inductive transducers 3 under vehicle body, magnetic inductive transducers 3 comprises front magnetic inductive transducers 31 and rear magnetic inductive transducers 32, is one in front and one in back located under vehicle body.In present specification, definition, near vehicle body, is front away from tray rack 13 direction, away from vehicle body, after tray rack 13 is.
As depicted in figs. 1 and 2: first, enter step 2 and three, mover 1 was walked on magnetic stripe 41 along walking leading drawing, in this process, front magnetic inductive transducers 31 and rear magnetic inductive transducers 32 on mover 1 draw magnetic stripe 41 by real time scan walking is leading, judge that whether mover 1 is placed in the middle, if not placed in the middle, then adjust the angle of driving wheel 11, correct between two parties.Afterwards, mover 1 drives to deceleration label 51, identifies that device 2 scanning senses deceleration label 51, controls mover 1 and slow down.
Need exist for illustrate be, identify that the form that implements of device 2 and deceleration label 51 has multiple, deceleration label 51 can be rfid card, then identify that device 2 is RFID card reader, and deceleration label 51 can be two-dimension code label, then identify that device 2 is Quick Response Code card reader, deceleration label 51 can be reflector, then identify that device 2 is infrared receiving tube and infrared transmitting tube, in like manner, other electronic tags being mentioned below, it would however also be possible to employ various ways.
Mover 1 continues to travel, and identification device 2 reads location label 1, and the effect of location label 1 is so that mover stops, and now, step 3 completes, and so far, mover 1 has been completed deceleration, placed in the middle, location this series of actions of stopping.
Mover initially enters step 4, driving wheel direction set-up procedure, driving wheel 11 is diverted device control, rotated ninety degrees, can be furnished with angle induction apparatus to confirm whether driving wheel 11 turns in place, thus obtaining better radius of turn, the vehicle body of mover 1 rotates from walking guiding magnetic stripe 41 towards the direction of steering assistance magnetic stripe 43, in rotary course, tray rack 13 also slowly targeted by pallet 6, when redirecting to a certain degree, steering assistance magnetic stripe 43 is positioned in the middle of rear magnetic inductive transducers 31, identify that device 2 detects location label 53 simultaneously, represent that vehicle has been rotated by putting in place, stopping turns to, driving wheel 11 times is just, step 5 terminates.
Mover 1 starts along steering assistance magnetic stripe 43, to the direction running of pallet 6, and keeps running at a low speed, and drives to identification device 2 always and senses label 3 54 place, location, and expression has travelled and put in place, and mover 1 is advanced and stopped, and step 7 and step 8 terminate.
In this process, magnetic inductive transducers 3 coordinates steering assistance magnetic stripe 3, the center condition of vehicle carries out detection always and revises in real time.
The tray rack 13 of mover 1 rises, and holds up pallet 6, and step 8 terminates.Mover 1 advances, and delivery pallet 6 moves ahead, and proceeds to walking auxiliary magnetic stripe 42 and steering assistance magnetic stripe 43 intersection, owing to the priority of auxiliary magnetic stripe 42 of walking is high, draws on magnetic stripe 41 along walking auxiliary magnetic stripe 42 entrance walking to walking is leading.
Above step is the control method that mover dress takes pallet, and the method unloading lower tray is similar, it does not have substantial variation.
In whole above-mentioned steps, the position of mover is to redirect to B position from A position, it is guided into C position according to steering assistance magnetic stripe 43 again from B position, guiding further according to walking auxiliary magnetic stripe 42 proceeds to location A, on some traditional movers control, mover is when taking pallet 6, it is directly assist the track of magnetic stripe 42 near pallet 6 with similar walking, but direction controlling when retreating of mover is more difficult than direction controlling when advancing, so carry out taking the action of pallet with such track, often realize the error in direction and angle, can collide time serious and affect picking, and advance according to the conduct route of the present embodiment, in pallet 6, it is advance according to straight line, namely the bearing of trend of magnetic stripe 43 is assisted to advance according to special project, direction is deviation not easily.
In addition, in order to control the precision turned, before location A prepares to turn to, on the one hand, two driving wheels 11 are positioned at the leading both sides drawing magnetic stripe 41 of walking, guarantee leading to draw magnetic stripe 41 and be positioned on the center line of two driving wheels 11, and the center of two wheels being positioned on tray rack 13, will draw on the intersection point of magnetic stripe 41 and steering assistance magnetic stripe 43 walking is leading.
Embodiment 2, and the change of embodiment 1, referring to Fig. 3；Having set motor encoder 14 on mover 1, motor encoder 14 can mate the parameters such as operation time and calculate the operating range of mover 1 according to the rotating speed of motor.
Referring to Fig. 3 and Fig. 4, in the present embodiment, location label 1 can be set up in the leading intersection drawing magnetic stripe 41 and walking auxiliary magnetic stripe 42 of walking, when mover is through label 1, location, complete step one, then according to the numerical value that motor encoder 14 calculates, when operating range reaches default value time, mover 1 stops, and step 2 completes.
Identical with embodiment 1, mover 1 starts to turn to, and the step 6 of embodiment 2 is different from embodiment 1, can not set location label 2 53 herein, but after utilizing, magnetic inductive transducers 31 and front magnetic inductive transducers 32 are for the sensing of steering assistance magnetic stripe 43, judge whether mover 1 has turned to put in place.Owing to rear magnetic inductive transducers 31 and front magnetic inductive transducers 32 can keep at a certain distance away according to the actual requirements, the distance of sensitive scanning is longer, scanning induction points multiple on steering assistance magnetic stripe 43 can be sensed, so can guarantee that when angle locking, the angle registration of whole mover 1, error is little.
When step 7 and step 8, mover again passes by location label 1, at this time can set that and allows mover 1 slow down, and by the numerical value that motor encoder 14 calculates, when operating range reaches predetermined value time, mover stops, and carries out goods putting.And one travel switch is set at vehicle tray frame, when vehicle carries out picking operation, within the scope of the certain error of the numerical value of motor encoder 14 calculating, only switchs rear vehicle in goods impact stroke and stop.Or induction apparatus is installed on vehicle, by sensing the distance with goods, reaches self-stopping purpose, be so possible to prevent cumulative error to make vehicle and pallet apart from increasing.Step 9 is identical with embodiment 1 with step 10.
Embodiment 3, see Fig. 5, adjustment is there occurs with the structure being distinguished as mover 1 itself of embodiment 1, below tray rack 13 except road wheel 12 is set, it is also provided with deflecting roller 15, wherein the wheel body direction of deflecting roller 15 tilts with the bearing of trend of tray rack 13, and deflecting roller 15 and road wheel 12 all can individually regulate and land and liftoff state.
Seeing Fig. 5 and Fig. 6, mover 1 travelled on magnetic stripe 41 in walking leading drawing, and scanned location label 1, and namely mover 1 stops, and step 2 and step 3 complete, and in step 2 and step 3, road wheel 12 lands, and deflecting roller 15 is then liftoff state.
Start pivot stud afterwards, driving wheel 11 turns to 90 °, road wheel 12 is liftoff, deflecting roller 15 lands, and depicts the turning path of mover 1 in Fig. 6, is to position the circular trace that label 1 is the center of circle, the wheel body direction of deflecting roller 15 is in the tangential direction of this circle, when redirecting to appointment position, stopping turning to, locking tray rack 13 is relative to the angle of pallet 6.The mode of locking angle can use the mode identifying device 2 sensing location label 2 53 in embodiment 1, it is also possible to sense the mode of magnetic stripe 4 with the magnetic inductive transducers 3 in embodiment 2, after turning to stopping, step 5 and step 6 terminate.
Same, in order to ensure to turn to accurately, when mover drives to location A at the beginning, it is ensured that by driving wheel 11 and the determined rotary middle point of deflecting roller 15, to be in that walking is leading draws magnetic stripe 41 and the joining of steering assistance magnetic stripe 43.
Step 7 is to step 10, similar with embodiment 1 and 2.
Embodiment 4, is shown in Fig. 7, from embodiment 3 not to be both the track finally left different.
In embodiment 3, mover leaves and leaves according to walking auxiliary magnetic stripe 42, and in example 4, lack walking auxiliary magnetic stripe 42, but after having removed pallet 6, drive to B location from location of C, pivot stud 90 ° again, advance along the leading magnetic stripe 41 that draws of walking toward location A.
The advantage of such traveling mode is more to save space, it is adaptable to narrower tunnel, and comparison diagram 7 and Fig. 6 are it can be seen that pallet 6 can be closer to from the distance of the leading joint drawing magnetic stripe more than 41 steering assistance magnetic stripe 43 of walking.
Embodiment 5, is shown in Fig. 8, similar to embodiment 2, mover 1 is also equipped with motor encoder 14, mover 1 is dominated in walking and is drawn on magnetic stripe 41 toward location A direction running, first scans deceleration label 51, and mover starts retrieval, simultaneously, with the position of deceleration label 51 for distance Fixed Initial Point, start to calculate operating range, after having arrived distance to a declared goal, stop, namely stopping at location A.
Afterwards, turning to, rotate to B location, the scanning to steering assistance magnetic stripe 43 by rear magnetic inductive transducers 31 and front magnetic inductive transducers 32, confirm to turn in place, step afterwards is similar to the above embodiments.
Claims (11)
1. magnetic stripe guides an access pallet control method for vehicle, comprises mover and sets magnetic stripe for guiding described mover to advance on the ground, and described mover is provided with the magnetic inductive transducers for sensing described magnetic stripe, it is characterised in that: comprise the steps of:
Step one, Ground arrangement step:
Laying on ground that walking is leading draws magnetic stripe and steering assistance magnetic stripe, described walking is leading, and to draw magnetic stripe vertical with steering assistance magnetic stripe, and the bearing of trend of described steering assistance magnetic stripe is described mover direct of travel when accessing pallet；
Step 2, deceleration steps:
In described walking leading drawing, magnetic stripe is provided with deceleration label, described mover has the identification device that can read described deceleration label, described identification device is by scanning described deceleration label so that described mover reduces speed now, and continues to advance on magnetic stripe in described walking leading drawing with lower-speed state；
Step 3, fine positioning step:
Described mover stopped on magnetic stripe in described leading drawing on default appointment position；
Step 4, driving wheel direction set-up procedure:
Equipped with driving wheel on described mover, described driving wheel turns to 90 degree, and vehicle body remains stationary as；
Step 5, angle adjustment step:
Described mover comprises transfer, and the running of described transfer adjusts the angle of the relatively described pallet of tray rack of described mover；
Step 6, angle locking step:
When redirecting to predetermined angle, mover stops turning to；Now the tray rack axis of described mover overlaps with described steering assistance magnetic stripe, and driving wheel direction is recalled to described mover axis direction；
Step 7, close pallet step；
Described mover retreats along described steering assistance magnetic stripe, near goods yard；
Step 8, retrogressing stop step；
Described mover, back to specifying position, stops retreating；
Step 9, lift or put down pallet step；
Described mover comprises lifting structure, is used for controlling described tray rack and rises or decline, holds up or put down described pallet；
Step 10, advance step:
Described mover relies on described magnetic inductive transducers to sense described magnetic stripe, is directed to that described walking is leading draws on magnetic stripe.
2. a kind of magnetic stripe according to claim 1 guides the access pallet control method of vehicle, it is characterised in that: described deceleration label is rfid card, and described identification device is RFID card reader；Or described deceleration label is a bit of magnetic stripe vertical with travelling magnetic stripe, described identification device and described magnetic inductor；Or described deceleration label is reflector or Quick Response Code, described identification device is that infrared emission receives pipe or Quick Response Code induction apparatus.
3. a kind of magnetic stripe according to claim 1 and 2 guides the access pallet control method of vehicle, it is characterized in that: before described step 3, fine positioning step, comprise centering step, described magnetic inductive transducers comprises rear magnetic inductive transducers and front magnetic inductive transducers, by scanning the described magnetic stripe of sensing, described rear magnetic inductive transducers and described front magnetic inductive transducers determine that whether described mover is placed in the middle relative to described magnetic stripe, and adjust in real time by controlling the transfer of described mover.
4. a kind of magnetic stripe according to claim 3 guides the access pallet control method of vehicle, it is characterized in that: described mover comprises driving wheel, described front magnetic inductive transducers follows the rotation of described driving wheel and synchronous rotary, and described rear magnetic inductive transducers is fixed on vehicle body reverse side.
5. a kind of magnetic stripe according to claim 1 guides the access pallet control method of vehicle, it is characterized in that: described step 3, fine positioning step, ground is provided with stopping label, and the scanning of described identification device senses described stopping label, then described mover halts.
6. a kind of magnetic stripe according to claim 1 guides the access pallet control method of vehicle, it is characterized in that: described step 3, fine positioning step, described mover comprises motor encoder, the operating range of described mover is calculated by described motor encoder, after driving to distance to a declared goal, described mover halts.
7. a kind of magnetic stripe according to claim 1 or 2 or 5 or 6 guides the access pallet control method of vehicle, it is characterized in that: in step 6, angle locking step, another magnetic stripe is set up at predeterminated position, when described fixing magnetic stripe sensor scan is to described magnetic stripe, then described mover stops turning to.
8. a kind of magnetic stripe according to claim 7 guides the access pallet control method of vehicle, it is characterised in that: set up another magnetic stripe to be described steering assistance magnetic stripe at predeterminated position.
9. a kind of magnetic stripe according to claim 1 guides the access pallet control method of vehicle, it is characterized in that: the described tray rack of described mover is connected with road wheel and deflecting roller, the liftoff state that lands of described road wheel and deflecting roller is adjustable, in step one and step 2, described road wheel lands, and described deflecting roller is liftoff, in described step 5, described road wheel is liftoff, and described deflecting roller lands, and the wheel axis of described deflecting roller is at an angle with the wheel axis of described road wheel.
10. a kind of magnetic stripe according to claim 1 or 2 or 5 or 6 or 9 guides the access pallet control method of vehicle, it is characterized in that: described magnetic stripe includes walking dominating and draws magnetic stripe, walking auxiliary magnetic stripe and steering assistance magnetic stripe, when vehicle by access position, goods yard return leading draw magnetic stripe time, the guiding priority level initializing of described walking auxiliary magnetic stripe be height.
11. a kind of magnetic stripe according to claim 1 guides the access pallet control method of vehicle, it is characterised in that: it is by the detection of pallet or goods or collision alarm are obtained that step 8 retreats stopping step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610126417.1A CN105775540B (en) | 2016-03-07 | 2016-03-07 | A kind of access pallet control method of magnetic stripe guiding vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610126417.1A CN105775540B (en) | 2016-03-07 | 2016-03-07 | A kind of access pallet control method of magnetic stripe guiding vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105775540A true CN105775540A (en) | 2016-07-20 |
| CN105775540B CN105775540B (en) | 2018-05-11 |
Family
ID=56386605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610126417.1A Active CN105775540B (en) | 2016-03-07 | 2016-03-07 | A kind of access pallet control method of magnetic stripe guiding vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105775540B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114956A (en) * | 2016-08-16 | 2016-11-16 | 苏州恒铭达电子科技有限公司 | A kind of layer tension controls vicarious pressing roll mechanism |
| CN107344670A (en) * | 2017-07-19 | 2017-11-14 | 杭州师范大学钱江学院 | A kind of goods automatic transporting method |
| CN107357290A (en) * | 2017-07-12 | 2017-11-17 | 旗瀚科技有限公司 | One kind is based on magnetic navigation robot ambulation system |
| CN107600926A (en) * | 2017-08-31 | 2018-01-19 | 金勇� | The delivery system of automatic express delivery dolly |
| CN108227701A (en) * | 2017-12-11 | 2018-06-29 | 大连四达高技术发展有限公司 | For automatically moving the optical guidance alignment system of carrying vehicle |
| CN108268044A (en) * | 2018-01-31 | 2018-07-10 | 浙江国自机器人技术有限公司 | A kind of mobile robot in-placing precision control method, system, medium and equipment |
| CN108910451A (en) * | 2018-06-29 | 2018-11-30 | 格林美（武汉）新能源汽车服务有限公司 | A kind of circulating feeding system of support plate |
| CN109323696A (en) * | 2018-11-07 | 2019-02-12 | 航天信息股份有限公司 | A kind of unmanned fork lift indoor positioning navigation system and air navigation aid |
| CN109643124A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatically walk system |
| CN109677819A (en) * | 2017-10-18 | 2019-04-26 | 北京京东尚科信息技术有限公司 | Automated guided vehicle and cargo movement system |
| CN109911487A (en) * | 2019-03-15 | 2019-06-21 | 安徽华一德智能储存设备有限公司 | A kind of shuttle error protection goods checking device |
| TWI676875B (en) * | 2017-08-25 | 2019-11-11 | 英華達股份有限公司 | AGV control system and control method, AGV system |
| CN110921180A (en) * | 2019-12-18 | 2020-03-27 | 长沙智能制造研究总院有限公司 | Tray access control system, control method and tray access method |
| CN111377177A (en) * | 2018-12-28 | 2020-07-07 | 菜鸟智能物流控股有限公司 | Logistics object management equipment and control method |
| CN112173519A (en) * | 2019-07-01 | 2021-01-05 | 上海快仓智能科技有限公司 | Control method and automatic guided vehicle |
| CN112173518A (en) * | 2019-07-01 | 2021-01-05 | 上海快仓智能科技有限公司 | Control method and automatic guided vehicle |
| CN113023276A (en) * | 2021-03-05 | 2021-06-25 | 浙江世仓智能仓储设备有限公司 | Logistics shuttle and tray alignment method thereof |
| CN113400999A (en) * | 2021-07-30 | 2021-09-17 | 欣旺达电动汽车电池有限公司 | Carrier loader alignment method and system and electric vehicle battery replacement method |
| CN113723123A (en) * | 2021-08-12 | 2021-11-30 | 国网浙江省电力有限公司湖州供电公司 | Engineering drawing overall process management tracer based on two-dimensional code |
| CN115009748A (en) * | 2022-07-07 | 2022-09-06 | 远峰高端装备(苏州)有限公司 | Accurate addressing method and system for stacking industrial robot system |
| CN115123774A (en) * | 2022-06-09 | 2022-09-30 | 北京金隅天坛家具股份有限公司 | Home logistics RGV positioning mode |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03128897A (en) * | 1989-10-13 | 1991-05-31 | Nippon Yusoki Co Ltd | Cargo vehicle with linear motor driving device |
| US5749696A (en) * | 1992-07-23 | 1998-05-12 | Scott Westlake | Height and tilt indicator for forklift truck |
| CN203699123U (en) * | 2014-02-26 | 2014-07-09 | 北京旭航电子新技术有限公司 | Forklift navigation and intelligent recognition device |
| CN203903915U (en) * | 2014-05-14 | 2014-10-29 | 苏州工业园区艾吉威自动化设备有限公司 | Universal-type driving forklift AGV (automatic guided vehicle) |
| CN204714455U (en) * | 2015-05-07 | 2015-10-21 | 华南理工大学广州学院 | A kind of material Automatic Guided Vehicle |
| CN105517922A (en) * | 2013-12-24 | 2016-04-20 | 株式会社日立制作所 | Picking system |
-
2016
- 2016-03-07 CN CN201610126417.1A patent/CN105775540B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03128897A (en) * | 1989-10-13 | 1991-05-31 | Nippon Yusoki Co Ltd | Cargo vehicle with linear motor driving device |
| US5749696A (en) * | 1992-07-23 | 1998-05-12 | Scott Westlake | Height and tilt indicator for forklift truck |
| CN105517922A (en) * | 2013-12-24 | 2016-04-20 | 株式会社日立制作所 | Picking system |
| CN203699123U (en) * | 2014-02-26 | 2014-07-09 | 北京旭航电子新技术有限公司 | Forklift navigation and intelligent recognition device |
| CN203903915U (en) * | 2014-05-14 | 2014-10-29 | 苏州工业园区艾吉威自动化设备有限公司 | Universal-type driving forklift AGV (automatic guided vehicle) |
| CN204714455U (en) * | 2015-05-07 | 2015-10-21 | 华南理工大学广州学院 | A kind of material Automatic Guided Vehicle |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114956A (en) * | 2016-08-16 | 2016-11-16 | 苏州恒铭达电子科技有限公司 | A kind of layer tension controls vicarious pressing roll mechanism |
| CN109643124A (en) * | 2016-08-26 | 2019-04-16 | 夏普株式会社 | Automatically walk system |
| CN107357290A (en) * | 2017-07-12 | 2017-11-17 | 旗瀚科技有限公司 | One kind is based on magnetic navigation robot ambulation system |
| CN107344670A (en) * | 2017-07-19 | 2017-11-14 | 杭州师范大学钱江学院 | A kind of goods automatic transporting method |
| CN107344670B (en) * | 2017-07-19 | 2019-04-09 | 杭州师范大学钱江学院 | A kind of cargo automatic transporting method |
| TWI676875B (en) * | 2017-08-25 | 2019-11-11 | 英華達股份有限公司 | AGV control system and control method, AGV system |
| CN107600926A (en) * | 2017-08-31 | 2018-01-19 | 金勇� | The delivery system of automatic express delivery dolly |
| CN109677819A (en) * | 2017-10-18 | 2019-04-26 | 北京京东尚科信息技术有限公司 | Automated guided vehicle and cargo movement system |
| CN108227701A (en) * | 2017-12-11 | 2018-06-29 | 大连四达高技术发展有限公司 | For automatically moving the optical guidance alignment system of carrying vehicle |
| CN108268044A (en) * | 2018-01-31 | 2018-07-10 | 浙江国自机器人技术有限公司 | A kind of mobile robot in-placing precision control method, system, medium and equipment |
| CN108268044B (en) * | 2018-01-31 | 2021-06-22 | 浙江国自机器人技术股份有限公司 | Mobile robot in-place precision control method, system, medium and equipment |
| CN108910451A (en) * | 2018-06-29 | 2018-11-30 | 格林美（武汉）新能源汽车服务有限公司 | A kind of circulating feeding system of support plate |
| CN109323696A (en) * | 2018-11-07 | 2019-02-12 | 航天信息股份有限公司 | A kind of unmanned fork lift indoor positioning navigation system and air navigation aid |
| CN109323696B (en) * | 2018-11-07 | 2022-07-08 | 航天信息股份有限公司 | Indoor positioning navigation system and method for unmanned forklift |
| CN111377177A (en) * | 2018-12-28 | 2020-07-07 | 菜鸟智能物流控股有限公司 | Logistics object management equipment and control method |
| CN109911487A (en) * | 2019-03-15 | 2019-06-21 | 安徽华一德智能储存设备有限公司 | A kind of shuttle error protection goods checking device |
| CN112173519A (en) * | 2019-07-01 | 2021-01-05 | 上海快仓智能科技有限公司 | Control method and automatic guided vehicle |
| CN112173518A (en) * | 2019-07-01 | 2021-01-05 | 上海快仓智能科技有限公司 | Control method and automatic guided vehicle |
| CN110921180A (en) * | 2019-12-18 | 2020-03-27 | 长沙智能制造研究总院有限公司 | Tray access control system, control method and tray access method |
| CN113023276A (en) * | 2021-03-05 | 2021-06-25 | 浙江世仓智能仓储设备有限公司 | Logistics shuttle and tray alignment method thereof |
| CN113400999A (en) * | 2021-07-30 | 2021-09-17 | 欣旺达电动汽车电池有限公司 | Carrier loader alignment method and system and electric vehicle battery replacement method |
| CN113723123A (en) * | 2021-08-12 | 2021-11-30 | 国网浙江省电力有限公司湖州供电公司 | Engineering drawing overall process management tracer based on two-dimensional code |
| CN115123774A (en) * | 2022-06-09 | 2022-09-30 | 北京金隅天坛家具股份有限公司 | Home logistics RGV positioning mode |
| CN115123774B (en) * | 2022-06-09 | 2023-08-15 | 北京金隅天坛家具股份有限公司 | Household logistics RGV positioning method |
| CN115009748A (en) * | 2022-07-07 | 2022-09-06 | 远峰高端装备(苏州)有限公司 | Accurate addressing method and system for stacking industrial robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105775540B (en) | 2018-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105775540A (en) | Control method of storing and taking trays for magnetic stripe guide type vehicle | |
| TWI676875B (en) | AGV control system and control method, AGV system | |
| CN103823468A (en) | Sneaking type AGV navigation and location system and location method | |
| CN105974922B (en) | A kind of tunnel automatic guided vehicle, guidance system and its operating method | |
| CN109765905B (en) | Omnidirectional intelligent three-dimensional carrying control system | |
| JP6930436B2 (en) | Travel control method for automatic guided vehicles | |
| CN106444766A (en) | AGV(automatic guided vehicle) and control method thereof | |
| CN106020200A (en) | AGV driven by wheel hub motor and its path planning method | |
| CN106168803A (en) | A kind of location aware method for moving robot | |
| CN109368549A (en) | A kind of magnetic stripe navigation fork truck system and its control method | |
| US20140255096A1 (en) | Apparatus and method for picking up and repositioning a string of roadway barrier segments | |
| CN110789606A (en) | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof | |
| JP2019197349A (en) | System to control stop position of spin turn and method to control spin turn rotation angle for unmanned carrier | |
| KR20150097062A (en) | The hybrid navigation automatic guided vehicle navigation systems | |
| US20240053754A1 (en) | Conveyance system and conveyance control method | |
| CN106168802B (en) | Position sensing device for mobile robot | |
| CN206298317U (en) | A kind of fork truck type AGV system of positioning function of being moveed backward with high accuracy | |
| CN110673558B (en) | Station docking method, storage device and control system of magnetic navigation AGV | |
| JP2011243129A (en) | Transportation vehicle system | |
| JP7290091B2 (en) | Automatic guided vehicle control system and control method | |
| CN111123931A (en) | AGV dual-drive magnetic navigation turning method and storage device | |
| CN112947397B (en) | Automatic driving method of shuttle car and shuttle car | |
| US20240059492A1 (en) | Conveyance system and conveyance control method | |
| KR20200010732A (en) | Driving system of automated guided vehicle | |
| JPH06298316A (en) | Recognizer of iron manufacturing coil yard storage location |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |