CN105775540B - A kind of access pallet control method of magnetic stripe guiding vehicle - Google Patents
A kind of access pallet control method of magnetic stripe guiding vehicle Download PDFInfo
- Publication number
- CN105775540B CN105775540B CN201610126417.1A CN201610126417A CN105775540B CN 105775540 B CN105775540 B CN 105775540B CN 201610126417 A CN201610126417 A CN 201610126417A CN 105775540 B CN105775540 B CN 105775540B
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- Prior art keywords
- magnetic stripe
- carrier
- magnetic
- pallet
- control method
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Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to material flows automation control field, and in particular to a kind of access pallet control method of magnetic stripe guiding vehicle.The present invention above-mentioned technical purpose technical scheme is that：A kind of access pallet control method of magnetic stripe guiding vehicle, comprising carrier and sets the magnetic stripe for being used to guide the carrier to advance on the ground, the carrier is equipped with the magnetic inductive transducers for being used for sensing the magnetic stripe, includes multiple operating procedures.Access pallet control method the object of the present invention is to provide a kind of magnetic stripe guiding vehicle is, it can be achieved that homing guidance and access pallet, efficient, cost control is good, registration.Backward going and the pallet access of magnetic stripe guiding type tray truck are realized well.
Description
Technical field
The present invention relates to material flows automation control field, and in particular to a kind of access pallet controlling party of magnetic stripe guiding vehicle
Method.
Background technology
In logistics progress, the transmission of material is an important ring.Most traditional material transferring needs carrier and material support
The cooperation of disk is completed, it is necessary to which manually material tray is transported on materials vehicle, and pilot steering carrier, drags material garage afterwards
Into carrying out artificial discharging again after arriving at, whole logistics progress manually participates in more, and labor strength is big, enterprise
Hand labor cost remains high, and there is rate height of making a mistake, the problems such as efficiency is low.
With the lifting of the degree of automation, submersible carrier automatic transmission system starts to come into operation, such as Granted publication
A kind of number material Automatic Guided Vehicle announced by the Chinese patent of 204714455 U of CN, comprising body part and lifts list
Member, using magnetic navigation technology, is automatically led to specified station, slips into the bottom of materials vehicle, subsequent start-up elevating mechanism, with material
Car connection is affiliated to, and realizes automatic transporting.
With such method, the degree of automation can be improved really, realize automatic transporting, but there are following drawback：One side
Face, in order to match such submersible carrier, it is necessary to customize materials vehicle, then production and maintenance cost rise therewith.The opposing party
Face, in some scenarios, spent material pallet in plant area, then can not match submersible carrier and realize above-mentioned function so that should
The use scope of kind technology is subject to certain restrictions.
The content of the invention
The object of the present invention is to provide a kind of magnetic stripe guiding vehicle access pallet control method, it can be achieved that homing guidance and
Pallet is accessed, it is efficient, cost control is good, registration.The reverse row of magnetic stripe guiding type tray truck is realized well
Sail and accessed with pallet.
The present invention above-mentioned technical purpose technical scheme is that：A kind of magnetic stripe guiding vehicle is deposited
Pallet control method is taken, comprising carrier and sets the magnetic stripe for being used to guide the carrier to advance on the ground, the carrier
The magnetic inductive transducers for being used for sensing the magnetic stripe are equipped with, are comprised the following steps：
Step 1: Ground arrangement step：
It is laid with walking on ground and dominates and draw magnetic stripe and steering assistance magnetic stripe, the walking is leading draws magnetic stripe and steering assistance magnetic
Bar is vertical, and the extending direction of the steering assistance magnetic stripe is the direct of travel when carrier accesses pallet；
Step 2: deceleration steps：
Dominate to draw in the walking and deceleration label is equipped with magnetic stripe, the deceleration label can be read by having on the carrier
Identification device, the identification device is by scanning the deceleration label so that the carrier reduces speed now, with lower-speed state after
Continue to dominate to draw in the walking and advance on magnetic stripe；
Step 3: fine positioning step：
The carrier it is described it is leading draw on magnetic stripe stop on default designated position；
Step 4: driving wheel direction set-up procedure：
Driving wheel is housed, the driving wheel turns to 90 degree, and vehicle body remains stationary as on the carrier.（For single drive, only
Transfer moves, for double drives, rotating）
Step 5: angle set-up procedure：
The carrier includes transfer, and the carrier turns to, and the transfer running adjusts the carrier
The relatively described pallet of tray rack angle；
Step 6: angle locking step：
When redirecting to predetermined angle, carrier stops turning to；At this time the tray rack central axes of the carrier with described turn
Overlapped to auxiliary magnetic stripe, driving wheel direction is recalled to the carrier axis direction；
Step 7: close to pallet step；
The carrier is retreated along the steering assistance magnetic stripe, close to goods yard；
Stop step Step 8: retreating；
The carrier backs to designated position, stops retreating；
Step 9: lift or put down pallet step；
The carrier includes lifting structure, for controlling the tray rack to rise or declining, holds up or put down the support
Disk；
Step 10: advance step：
The carrier senses the magnetic stripe by the magnetic inductive transducers, is directed to the walking and dominates and draws on magnetic stripe.
The carrier is travelled by the magnetic inductive transducers on the magnetic stripe, realizes homing guidance, without manually driving
Sail, in practical applications, the magnetic stripe, the main driving trace of the carrier, is existed among road, and the pallet
It is placed on picking station, the picking station is often provided in the carrying in order not to interfere the traveling of the carrier
The side of the main driving trace of car, i.e., described carrier must need to turn to before picking so that the tray rack can be correct
The pallet is directed toward, and turns to often 90 °, so, it is step 1 first, workpeople is laid with described dominate in warehouse and draws magnetic
Bar and the steering assistance magnetic stripe, described dominate draws main direct of travel of the magnetic stripe for the carrier, and the steering assistance
Both direct of travel when magnetic stripe removes close cargo close to pallet for the carrier, usual condition are vertical；User causes
The carrier it is described it is leading draw advance on magnetic stripe, it is in general, described leading to draw the car that magnetic stripe is located in the carrier
On body central axes, in step 2, the identification device scanning reduces speed now to the deceleration label, the carrier, to carry
High position precision, in step 3, is stopped, and the mode of fine positioning has various, and e.g., carrier is after deceleration, described
Deceleration label nearby, there is a positioning label, and the effect of this positioning label is off identifying, when the identification device scans
To the positioning label, carrier stops, alternatively, equipped with motor encoder on the carrier, can according to traveling when
Between and the parameter such as rotating speed of motor calculate operating range, start counting up, count after the carrier is by the deceleration label
Operating range to be calculated, after reaching preset distance, is stopped at once, after a stoppage, enters step four, the driving wheel turns to 90 degree,
The carrier, to ensure that the driving wheel turns in place, can enter step five and step afterwards by the detection of angular transducer
Rapid six, the carrier starts to turn to, it is necessary to which explanation, the steering of the carrier must assure that in place, it is ensured that in place
Mode also have it is a variety of, scanned such as the magnetic inductive transducers as described in steering assistance magnetic stripe, to ensure to turn in place, it is possible thereby to obtain
Obtaining when the carrier retreats can less adjust along straight line or not adjust, to ensure the precision controlling close to pallet, in the application
In file, by close to the tray rack direction of the carrier, after being defined as, before being away from the tray rack direction, pass through
The comparison of magnetic inductive transducers, makes the tray rack be directed toward goods yard, then, in step 7 and step 8, the carrier is close
The goods yard, and accurately drive into, in step 9 and step 10, the tray rack rises or falls, and drives or put down the support
Disk leaves, and completes the work of automatic access pallet, and whole process the degree of automation is high, without pilot steering, without additionally adding
Add submersible carrier and materials vehicle, cost is controlled.
As a preference of the present invention, the deceleration label is RFID card, the identification device is RFID card reader；It is or described
Deceleration label is a bit of and travel the vertical magnetic stripe of magnetic stripe, the identification device, that is, magnetic inductor；Or the mark that slows down
It is infrared emission reception pipe or Quick Response Code inductor to sign as reflector or Quick Response Code, the identification device.
The deceleration label and the identification device have a variety of ways of realization, and card reader can read RFID signal and Quick Response Code
Signal, and infrared transmitting tube transmitting infrared signal, by that can not rebound by the infrared receiver when prevailing roadway
Pipe receives, and during by the reflector, the infrared receiving tube can receive infrared signal, with any of the above implementation all
It can make it that this item is determined the carrier by designated position.
As a preference of the present invention, described Step 3: before fine positioning step, comprising centering step, the magnetic conductance senses
Device includes rear magnetic inductive transducers and preceding magnetic inductive transducers, and the rear magnetic inductive transducers and the preceding magnetic inductive transducers, which pass through to scan, to be felt
The magnetic stripe is answered to determine whether the carrier is placed in the middle relative to the magnetic stripe, and by controlling the steering of the carrier to fill
Put to adjust in real time.
The centering step is to monitor in real time, is adjusted in real time, passes through the rear magnetic inductive transducers and preceding magnetic inductive transducers
Above the magnetic stripe, you can the vehicle extending direction and the extending direction of the magnetic stripe for ensureing the whole carrier are put down
OK, do not shift, the rear magnetic inductive transducers and preceding magnetic inductive transducers are located on the central axes of the carrier, also so that whole
A carrier is relative to the magnetic stripe align center.
As a preference of the present invention, the carrier includes driving wheel, the preceding magnetic inductive transducers follow the driving wheel
Rotation and synchronous rotary, it is described after magnetic stripe sensor be fixed on vehicle body reverse side.
In present specification, by close to the tray rack direction of the carrier, after being defined as, the remote pallet
Frame direction to be preceding, it is necessary to explanation, in practical applications, when direction controlling when the retrogressing of the carrier is than advancing
The direction controlling of time is more difficult to, and easily has error, but applies the technical solution in present specification, can be arrived in the step 4
In six so that the preceding magnetic inductive transducers follow the steering of the driving wheel and synchronously turn to, and are carried out in the whole carrier
During rotation, there is provided more accurate position is oriented to and control, so that the precision controlling that the steering of rate-determining steps six stops, in step
5th, in angle locking step, the magnetic inductive transducers include rear magnetic inductive transducers and preceding magnetic inductive transducers, and ground, which is equipped with, to be turned to
Magnetic stripe is aided in, by the rear magnetic inductive transducers and preceding magnetic inductive transducers to the sensitive scanning of the steering assistance magnetic stripe, is come true
It is fixed whether to have turned in place, stop turning to, due to rear magnetic inductive transducers and preceding magnetic inductive transducers can according to the actual requirements between
At a certain distance, the distance of sensitive scanning is longer, multiple scanning induction points on steering assistance magnetic stripe can be sensed, so
It can guarantee that in angle locking, the angle registration of whole carrier, error is small.
It is as a preference of the present invention, described Step 3: fine positioning step, ground, which is equipped with, stops label, the identification device
Scanning senses the stopping label, then the carrier halts.
It is as a preference of the present invention, described Step 3: fine positioning step, the carrier include motor encoder, pass through
The motor encoder is counted to calculate the operating range of the carrier, and after driving to distance to a declared goal, the carrier stops
Advance.
As a preference of the present invention, Step 6: in angle locking step, another magnetic stripe is set up in predeterminated position, works as institute
Magnetic inductive transducers scanning is stated to turn to the magnetic stripe, then the carrier stopping.
As a preference of the present invention, it is the steering assistance magnetic stripe to set up another magnetic stripe in predeterminated position, the rear magnetic
When derivative sensor scanning is to the steering assistance magnetic stripe, the carrier stops turning to.
As a preference of the present invention, it is equipped with traveling wheel and deflecting roller, the row below the tray rack of the carrier
Walk that the liftoff state that lands of wheel and deflecting roller is adjustable, and in step 1 and step 2, the traveling wheel lands, the deflecting roller from
Ground, in the step 4, the traveling wheel is liftoff, and the deflecting roller lands, the wheel axis of the deflecting roller and the walking
The wheel axis of wheel is at an angle.
As a preference of the present invention, the magnetic stripe includes, walking is leading to draw magnetic stripe, walking auxiliary magnetic stripe and steering assistance magnetic
Bar, when vehicle draws magnetic stripe by the return of access goods yard position is leading, the guiding priority level initializing of the walking auxiliary magnetic stripe is high.
In step 10, advance step, there are two kinds of situations, one kind is after the carrier holds up the pallet, to rely on
The magnetic inductive transducers sensing walking auxiliary magnetic stripe, realizes the homing guidance of advance route.Another kind is turned along intersecting
Advance to auxiliary magnetic stripe, stop, adjustment driving wheel direction, angle, which adjusts to vertical axis to return to dominate, draws on magnetic stripe, stops turning
To leaving.
As a preference of the present invention, step 8 stops step to be obtained by the detection to pallet or cargo or collision alarm
.
The carrier reach the mode that picking or discharge location stop have it is varied, but in the process of picking
In, in order to reduce error and be accurately positioned, to avoid the collision and interference to cargo, travel switch is installed on the carrier
Or inductor, reach certain distance between cargo when sensing, just send stop sign so that the carrier parking, separately
Outside, this scheme can be used cooperatively with original vehicle parking system, including allowed the carrier to read and set on the ground
RFID tag, or travel distance is calculated according to motor encoder, stop with better accuracy to coordinate to reach.
In conclusion the present invention has the advantages that：
1st, the carrier realizes homing guidance according to the magnetic inductive transducers and the magnetic stripe, without pilot steering.
2nd, vehicle need to use the carrier in itself using upper, can be to the pallet into line access, without additionally making
With materials vehicle and submersible carrier, control cost.
3rd, whole control process include placed in the middle detection, automatic retarding, be automatically stopped, auto-steering, steering angle confirm,
Action, registration, the error such as car and reversing stopping are small.
4th, the carrier can install deflecting roller additional, by adjusting the liftoff state that lands of deflecting roller and traveling wheel, to realize
The radius of turn of smaller turns to or pivot stud, narrow space plant area also can normal operation, lift versatility.
Brief description of the drawings：
Fig. 1 is the schematic diagram of carrier in embodiment 1；
Fig. 2 is the flow diagram of the access pallet of embodiment 1；
Fig. 3 is the schematic diagram of carrier in embodiment 2；
Fig. 4 is the flow diagram of the access pallet of embodiment 2；
Fig. 5 is the schematic diagram of carrier in embodiment 3；
Fig. 6 is the flow diagram of the access pallet of embodiment 3；
Fig. 7 is the flow diagram of the access pallet of embodiment 4；
Fig. 8 is the flow diagram of the access pallet of embodiment 5.
In figure：
1st, carrier, 11, driving wheel, 12, traveling wheel, 13, tray rack, 14, motor encoder, 15, deflecting roller, 2, identification
Device, 3, magnetic inductive transducers, 31, rear magnetic inductive transducers, 32, preceding magnetic inductive transducers, 4, magnetic stripe, 41, walking is leading draws magnetic stripe,
42nd, walking auxiliary magnetic stripe, 43, steering assistance magnetic stripe, 51, deceleration label, 52, positioning label one, 53, positioning label two, 54, fixed
Position label three, 6, pallet.
Embodiment
The present invention is described in further detail below in conjunction with attached drawing.
This specific embodiment is only explanation of the invention, it is not limitation of the present invention, people in the art
Member as needed can make the present embodiment the modification of no creative contribution after this specification is read, but as long as at this
All protected in the right of invention be subject to Patent Law.
Embodiment 1, as shown in Figure 1：Carrier 1 is equipped with the tray rack 13 for being used for accessing and carry kinds of goods, 1 car of carrier
Body has driving wheel 11, and driving wheel 11 can be diverted device control to adjust the angle, so as to control turning for whole carrier 1
To tray rack 13 has traveling wheel 12. and identification device 2 is additionally provided with 1 vehicle body of carrier, and magnetic conductance sensing is additionally provided with vehicle body
Device 3, magnetic inductive transducers 3 include preceding magnetic inductive transducers 31 and rear magnetic inductive transducers 32, are one in front and one in back located under vehicle body.In the application
In file, define close to vehicle body, before being away from 13 direction of tray rack, away from vehicle body, after tray rack 13 is.
As depicted in figs. 1 and 2：First, two and three are entered step, carrier 1 is dominated to draw and walked on magnetic stripe 41 along walking,
In this process, the preceding magnetic inductive transducers 31 on carrier 1 and rear magnetic inductive transducers 32 draw by the way that real time scan walking is leading
Magnetic stripe 41, to judge whether carrier 1 is placed in the middle, if not placed in the middle, then adjusts the angle of driving wheel 11, to be corrected between two parties.
Afterwards, carrier 1 drives to deceleration label 51, and the scanning of identification device 2 senses deceleration label 51, and control carrier 1 slows down.
Need exist for illustrating, the specific implementation form of identification device 2 and deceleration label 51 has a variety of, deceleration label 51
Can be RFID card, then identification device 2 is RFID card reader, and deceleration label 51 can be two-dimension code label, then identification device 2 is
Quick Response Code card reader, deceleration label 51 can be reflector, then identification device 2 is infrared receiving tube and infrared transmitting tube, similarly,
Other electronic tags being mentioned below, can also take various forms.
Carrier 1 continues to travel, and identification device 2 reads positioning label 1, and the effect of positioning label 1, which is so that, removes
Fortune car stops, and at this time, step 3 is completed, and so far, carrier 1 has been completed deceleration, placed in the middle, positioning stopping, this is a series of dynamic
Make.
Carrier initially enters step 4, driving wheel direction set-up procedure, and driving wheel 11 is diverted device control, rotation nine
Ten degree, it can confirm whether driving wheel 11 turns in place with angled inductor, so as to obtain more preferable radius of turn, carrier
1 vehicle body rotates at walking guiding magnetic stripe 41 towards the direction of steering assistance magnetic stripe 43, in rotary course, tray rack 13
Pallet 6 is slowly targeted by, when turning to a certain extent, steering assistance magnetic stripe 43 is located among rear magnetic inductive transducers 31, at the same time
Identification device 2 detects positioning label 53, represents that vehicle has been rotated by place, stopping turning to, driving wheel 11 returns just, step 5 knot
Beam.
Carrier 1 starts along steering assistance magnetic stripe 43, to the direction running of pallet 6, and keeps running at a low speed, always
Drive to identification device 2 sense positioning label 3 54 at, expression travelled in place, carrier 1 advance stop, step 7 and
Step 8 terminates.
In this process, magnetic inductive transducers 3 coordinate steering assistance magnetic stripe 3, and the center condition of vehicle is examined always
Survey and correct in real time.
The tray rack 13 of carrier 1 rises, and holds up pallet 6, step 8 terminates.Carrier 1 advances, and delivery pallet 6 moves ahead,
43 intersection of walking auxiliary magnetic stripe 42 and steering assistance magnetic stripe is proceeded to, since the priority of walking auxiliary magnetic stripe 42 is high, along
Walking auxiliary magnetic stripe 42 draws on magnetic stripe 41 into walking to walking is leading.
Above step is the control method that carrier dress takes pallet, and the method for unloading lower tray is similar, without substantial variation.
In whole above-mentioned steps, the position of carrier is to redirect to B positions from A positions, then from B positions according to turning
C positions are guided into auxiliary magnetic stripe 43, the guiding further according to walking auxiliary magnetic stripe 42 proceeds to location A, in some biographies
In the carrier control of system, carrier is directly to aid in the track of magnetic stripe 42 close to support with similar walking when pallet 6 are taken
Disk 6, but the direction controlling when direction controlling when retrogressing of carrier is than advancing is difficult, so with such track
Take the action of pallet, often realize the error of direction and angle, can collide when serious and influence picking, and according to
The conduct route of the present embodiment is advanced, and when close to pallet 6, is advanced according to straight line, i.e., is aided in magnetic stripe 43 according to special project
Extending direction advance, direction is not easy deviation.
In addition, in order to control the precision of turning, before location A prepares to turn to, on the one hand, two driving wheels 11 are positioned at row
Walk to dominate the both sides for drawing magnetic stripe 41, it is ensured that the leading magnetic stripe 41 that draws is located at tray rack 13 on the center line of two driving wheels 11
On two wheels center, to draw on the intersection point of magnetic stripe 41 and steering assistance magnetic stripe 43 walking is leading.
Embodiment 2, the change with embodiment 1, referring to Fig. 3；Motor encoder 14, motor encoder have been set on carrier 1
14 can match the parameters such as run time to calculate the operating range of carrier 1 according to the rotating speed of motor.
, in the present embodiment, can be in the leading friendship for drawing magnetic stripe 41 and walking auxiliary magnetic stripe 42 of walking referring to Fig. 3 and Fig. 4
Positioning label 1 is set up at remittance, when carrier is by positioning label 1, step 1 is completed, then according to motor encoder
14 numerical value calculated, when operating range reaches default value, carrier 1 stops, and step 2 is completed.
Same as Example 1, the step of carrier 1 starts to turn to, embodiment 2 six, is different from embodiment 1, herein may not be used
Setting positioning label 2 53, but utilize the sense of rear magnetic inductive transducers 31 and preceding magnetic inductive transducers 32 for steering assistance magnetic stripe 43
Should, to judge whether carrier 1 has turned in place.Since rear magnetic inductive transducers 31 and preceding magnetic inductive transducers 32 can be according to realities
Border demand is spaced apart, and the distance of sensitive scanning is longer, and multiple scanning sensings on steering assistance magnetic stripe 43 can be clicked through
Row sensing, so can guarantee that in angle locking, the angle registration of whole carrier 1, error is small.
In step 7 and step 8, carrier again passes by positioning label 1, can at this time set and allow carrier 1
Slow down, the numerical value calculated by motor encoder 14, when operating range reaches predetermined value, carrier stops, and carries out
Goods putting.And one travel switch is set in vehicle tray frame, when vehicle carries out picking operation, is calculated in motor encoder 14
Numerical value within a certain error range, only cargo impact stroke switch rear vehicle stop.Or sensing is installed on vehicle
Device, by sense and cargo distance, reach self-stopping purpose, can so prevent accumulated error make vehicle and pallet away from
From increasing.Step 9 and step 10 are same as Example 1.
Embodiment 3, is shown in Fig. 5, is adjusted with carrier 1 structure of of being distinguished as of embodiment 1 itself, in tray rack 13
Lower section is also provided with deflecting roller 15, wherein the wheel body direction of deflecting roller 15 and tray rack 13 in addition to setting traveling wheel 12
Extending direction tilts, and deflecting roller 15 and traveling wheel 12 all can individually be adjusted and landed and liftoff state.
See Fig. 5 and Fig. 6, carrier 1 is dominated to draw and travelled on magnetic stripe 41 in walking, scanning to positioning label 1, carrier 1
Stop, step 2 and step 3 are completed, and in step 2 and step 3, traveling wheel 12 lands, and deflecting roller 15 is then liftoff shape
State.
Start pivot stud afterwards, driving wheel 11 turns to 90 °, and traveling wheel 12 is liftoff, and deflecting roller 15 lands, and is drawn in Fig. 6
The turning path of carrier 1, is to position a circular trace of the label 1 for the center of circle, at the wheel body direction of deflecting roller 15
In the tangential direction of this circle, when redirecting to designated position, stop turning to, lock angle of the tray rack 13 relative to pallet 6.Lock
Determine the mode for the sensing positioning label 2 53 of identification device 2 that the mode of angle can be used in embodiment 1, embodiment 2 can also be used
In magnetic inductive transducers 3 sense magnetic stripe 4 mode, turn to stop after, step 5 and step 6 terminate.
Likewise, it is accurate in order to ensure to turn to, when carrier drives to location A at the beginning, it is ensured that by 11 He of driving wheel
Rotary middle point determined by deflecting roller 15, will be in the leading crosspoint for drawing magnetic stripe 41 and steering assistance magnetic stripe 43 of walking.
Step 7 is similar with Examples 1 and 2 to step 10.
Embodiment 4, is shown in Fig. 7, is not both the track finally left is different from embodiment 3.
In embodiment 3, carrier leaves to be left according to walking auxiliary magnetic stripe 42, and in example 4, lack walking
Magnetic stripe 42 is aided in, but has been gone after pallet 6, B location, then 90 ° of pivot stud are driven to from location of C, is drawn along walking is leading
Magnetic stripe 41 is advanced toward location A.
The advantages of such traveling mode is more to save space, and suitable for narrower tunnel, comparison diagram 7 and Fig. 6 are understood,
Leading draw with a distance from the joint of more than 41 steering assistance magnetic stripe 43 of magnetic stripe can be closer to from walking for pallet 6.
Embodiment 5, is shown in Fig. 8, similar to Example 2, and carrier 1 is also equipped with motor encoder 14, and carrier 1 is being walked
It is leading to draw on magnetic stripe 41 toward location A direction running, scan arrive deceleration label 51 first, carrier starts to retrieve, meanwhile, to slow down
The position of label 51 is apart from Fixed Initial Point, starts to calculate operating range, after having arrived distance to a declared goal, stops, that is, stops in location A.
Afterwards, turn to, rotated to B location, by rear magnetic inductive transducers 31 and preceding magnetic inductive transducers 32 to steering assistance magnetic
The scanning of bar 43, confirms to turn in place, afterwards the step of it is similar to the above embodiments.
Claims (10)
1. a kind of access pallet control method of magnetic stripe guiding vehicle, comprising carrier and sets on the ground for guiding described remove
Transport garage into magnetic stripe, the magnetic stripe includes that walking is leading to draw magnetic stripe, walking auxiliary magnetic stripe and steering assistance magnetic stripe, when vehicle by
Access goods yard position returns leading when drawing magnetic stripe, and the guiding priority level initializing of the walking auxiliary magnetic stripe is height, the carrier
It is equipped with the magnetic inductive transducers for being used for sensing the magnetic stripe, it is characterised in that：Comprise the following steps：
Step 1: Ground arrangement step：
It is laid with that walking is leading to draw magnetic stripe and steering assistance magnetic stripe on ground, the walking is leading to draw magnetic stripe and steering assistance magnetic stripe hangs down
Directly, the extending direction of the steering assistance magnetic stripe is the direct of travel when carrier accesses pallet；
Step 2: deceleration steps：
Dominate to draw in the walking and deceleration label is equipped with magnetic stripe, have the identification that can read the deceleration label on the carrier
Device, the identification device is by scanning the deceleration label so that the carrier reduces speed now, and is continued with lower-speed state
The walking is dominated to draw advances on magnetic stripe；
Step 3: fine positioning step：
The carrier it is described it is leading draw on magnetic stripe stop on default designated position；
Step 4: driving wheel direction set-up procedure：
Driving wheel is housed, the driving wheel turns to 90 degree, and vehicle body remains stationary as on the carrier；
Step 5: angle set-up procedure：
The carrier includes transfer, and the transfer running adjusts the relatively described pallet of tray rack of the carrier
Angle；
Step 6: angle locking step：
When redirecting to predetermined angle, carrier stops turning to；The tray rack central axes of the carrier and the steering are auxiliary at this time
Magnetic assisting strip overlaps, and driving wheel direction is recalled to the carrier axis direction；
Step 7: close to pallet step；
The carrier is retreated along the steering assistance magnetic stripe, close to goods yard；
Stop step Step 8: retreating；
The carrier backs to designated position, stops retreating；
Step 9: lift or put down pallet step；
The carrier includes lifting structure, for controlling the tray rack to rise or declining, holds up or put down the pallet；
Step 10: advance step：
The carrier relies on the magnetic inductive transducers sensing walking auxiliary magnetic stripe, is directed to the walking and dominates and draws magnetic stripe
On.
A kind of 2. access pallet control method of magnetic stripe guiding vehicle according to claim 1, it is characterised in that：It is described to subtract
Fast label is RFID card, and the identification device is RFID card reader；Or the deceleration label is a bit of vertical with traveling magnetic stripe
Magnetic stripe, the identification device is magnetic inductor；Or the deceleration label is reflector or Quick Response Code, the identification device is red
Outer transmit-receive tube or Quick Response Code inductor.
A kind of 3. access pallet control method of magnetic stripe guiding vehicle according to claim 1 or 2, it is characterised in that：
It is described Step 3: before fine positioning step, comprising centering step, the magnetic inductive transducers include rear magnetic inductive transducers and preceding magnetic conductance passes
Sensor, the rear magnetic inductive transducers and the preceding magnetic inductive transducers determine the carrier phase by scanning the sensing magnetic stripe
It is whether placed in the middle for the magnetic stripe, and adjusted in real time by controlling the transfer of the carrier.
A kind of 4. access pallet control method of magnetic stripe guiding vehicle according to claim 3, it is characterised in that：It is described to remove
Fortune car includes driving wheel, and the preceding magnetic inductive transducers follow the rotation of the driving wheel and synchronous rotary, the rear magnetic conductance sense
Device is fixed on vehicle body reverse side.
A kind of 5. access pallet control method of magnetic stripe guiding vehicle according to claim 1, it is characterised in that：The step
Rapid three, fine positioning step, ground, which is equipped with, stops label, and the identification device scanning senses the stopping label, then described to remove
Fortune car halts.
A kind of 6. access pallet control method of magnetic stripe guiding vehicle according to claim 1, it is characterised in that：The step
Rapid three, fine positioning step, the carrier include motor encoder, are counted by the motor encoder to calculate the carrying
The operating range of car, after driving to distance to a declared goal, the carrier halts.
7. a kind of access pallet control method of magnetic stripe guiding vehicle according to claim 1 or 2 or 5 or 6, its feature exist
In：Step 6: in angle locking step, another magnetic stripe is set up in predeterminated position, when the magnetic inductive transducers are scanned to described
Magnetic stripe, then the carrier stopping turn to.
A kind of 8. access pallet control method of magnetic stripe guiding vehicle according to claim 7, it is characterised in that：Default
It is the steering assistance magnetic stripe that another magnetic stripe is set up in position.
A kind of 9. access pallet control method of magnetic stripe guiding vehicle according to claim 1, it is characterised in that：It is described to remove
To transport and be equipped with traveling wheel and deflecting roller below the tray rack of car, the liftoff state that lands of the traveling wheel and deflecting roller is adjustable,
In step 1 and step 2, the traveling wheel lands, and the deflecting roller is liftoff, in the step 5, the traveling wheel from
Ground, the deflecting roller land, and the wheel axis of the deflecting roller and the wheel axis of the traveling wheel are at an angle.
A kind of 10. access pallet control method of magnetic stripe guiding vehicle according to claim 1, it is characterised in that：Step
Eight retreat stopping step to be obtained by the detection to pallet or cargo or collision alarm.
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| CN201610126417.1A CN105775540B (en) | 2016-03-07 | 2016-03-07 | A kind of access pallet control method of magnetic stripe guiding vehicle |
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| CN201610126417.1A CN105775540B (en) | 2016-03-07 | 2016-03-07 | A kind of access pallet control method of magnetic stripe guiding vehicle |
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