CN106697695A - Shuttle vehicle speed control system - Google Patents
Shuttle vehicle speed control system Download PDFInfo
- Publication number
- CN106697695A CN106697695A CN201611161338.0A CN201611161338A CN106697695A CN 106697695 A CN106697695 A CN 106697695A CN 201611161338 A CN201611161338 A CN 201611161338A CN 106697695 A CN106697695 A CN 106697695A
- Authority
- CN
- China
- Prior art keywords
- shuttle
- control system
- speed
- speed control
- goods
- 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.)
- Pending
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
- 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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a shuttle vehicle speed control system which comprises a communication server, a shuttle vehicle module, a goods level crossing and a timing module; the communication server comprises a data storage unit, a central processing unit and a temporary storage unit; a plurality of goods level crossing serial numbers, a plurality of rail lengths, and standard speed information are stored in the data storage unit; the shuttle vehicle module comprises a speed information receiving unit, a pressure sensor and a laser bar code address recognition unit; the speed information receiving unit receives acceleration information and deceleration information that are sent by the central processing unit, and feeds back the acceleration information and the deceleration information to a shuttle vehicle; the pressure sensor acquires the weight of goods carried by the shuttle vehicle, and sends goods weight information to the central processing unit; and the laser bar code address recognition unit comprises a bar code reader and a plurality of bar code bands. According to the shuttle vehicle speed control system, the pressure sensor is additionally arranged on the shuttle vehicle, so that situations like derailing of the shuttle vehicle caused by too heavy load, and goods falling are avoided, the safety coefficient of the shuttle vehicle speed control system is increased, and the working efficiency is improved.
Description
Technical field
The invention belongs to shuttle technical field, more particularly to a kind of shuttle speed control system.
Background technology
RGV, is the english abbreviation of shuttle vehicle (Rail Guided Vehicle), is called rail Shuttling trolley, and RGV is small
Car can be used for the warehouse of all kinds of high density storage modes, and small vehicle passage can design arbitrarily long, can improve whole warehouse storage amount, and
And sail tunnel into without fork truck in operation, make its security higher.The advantage in tunnel need not entered using fork truck, coordinated
Quick operation of the dolly in tunnel, effectively improves the operational efficiency in warehouse.
Barcode scanner is generally also known as bar code scanner/reader, is for reading bar code institute comprising information
Equipment, one-dimensional, two-dimensional bar code scanner can be divided into.The structure of barcode scanner is usually following sections：Light source, reception dress
Put, photoelectric conversion part, decoding circuit, computer interface.The basic functional principle of scanner is：The light sent by light source is passed through
Irradiation optical system is crossed to above bar code symbol.The light being reflected back on optical-electrical converter, is passed through by optical system imaging
Decoder is construed to the data signal that computer can directly receive.Except the classification of one, two-dimensional bar code scanner.Can also be categorized as：
CCD, full angle laser and laser hand formula barcode scanner.
The content of the invention
It is an object of the invention to provide a kind of shuttle speed control system, by increasing pressure sensing on shuttle
Device, increased the safety coefficient of shuttle system, improve operating efficiency.
The present invention is achieved by the following technical solutions：
A kind of shuttle speed control system, including communication server, shuttle module, goods road junction, timing module；
The communication server includes data storage cell, CPU, temporary storage cell；
Be stored with multiple goods road junction numberings, multiple track lengths, standard speed information in the data storage cell；
The shuttle module includes velocity information receiving unit, and pressure sensor, laser bar code recognizes location unit；
The velocity information receiving unit receives the acceleration information and deceleration of CPU transmission and feeds back to
Shuttle；
The pressure sensor collection contained goods weight of shuttle is simultaneously sent to CPU goods weight；
The laser bar code recognizes location unit includes barcode reader and multiple barcode strip.
Further, the standard speed information includes standard acceleration time T10, standard speed V0, standard deceleration time
T20。
Further, standard acceleration time T10It is acceleration time when shuttle is unloaded, the standard deceleration time
T20It is deceleration time when shuttle is unloaded, the standard speed V0It is at the uniform velocity travel speed when shuttle is unloaded.
Further, each described goods road junction associates with a goods road junction numbering.
Further, the track length is the length of track between two neighboring goods road junction, and each described track is long
Degree is associated with a goods road junction numbering.
Further, the acceleration information includes acceleration time T1At the uniform velocity travel speed V, the velocity information receives single
Unit receives acceleration information and feeds back to shuttle, and the shuttle is by acceleration time T1Speed is accelerated to from zero and at the uniform velocity travelled afterwards
Speed V.
Further, the deceleration includes deceleration time T2At the uniform velocity travel speed V, the velocity information receives single
Unit receives deceleration and feeds back to shuttle, and the shuttle is by deceleration time T2Speed is subtracted by the uniform velocity travel speed V afterwards
Speed is to zero.
Further, the barcode reader is on the shuttle, the barcode strip at goods road junction, described in each
Barcode strip includes a bar code information, and each described bar code information is associated with a goods road junction numbering.
Further, the barcode reader and barcode strip are located at same level highly.
The invention has the advantages that：
The present invention gathers weight information, and adjust shuttle according to weight information by increasing pressure sensor on shuttle
Car acceleration and at the uniform velocity travel speed, it is to avoid shuttle because bear a heavy burden it is too high caused by derail, situations such as goods drops, increase
The safety coefficient of shuttle system, improves operating efficiency.
Certainly, implement any product of the invention to it is not absolutely required to while reaching all the above advantage.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, uses required for being described to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also obtain other attached according to these accompanying drawings
Figure.
Fig. 1 is system schematic provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of shuttle speed control system, it includes communication server 1, shuttle module 2, goods road
Mouth 3, timing module 4；
Communication server 1 includes data storage cell 101, CPU 102, temporary storage cell 103；
Be stored with data storage cell 101 multiple goods road junctions 3 number, multiple track length, standard speed information；
Standard speed information includes standard acceleration time T10, standard speed V0, standard deceleration time T20；
Its Plays acceleration time T10It is acceleration time when shuttle is unloaded, standard deceleration time T20For shuttle is empty
Deceleration time during load, standard speed V0It is at the uniform velocity travel speed when shuttle is unloaded；
It should be noted that each goods road junction 3 associates with a numbering of goods road junction 3, track length is two neighboring
The length of track between goods road junction 3, each track length is associated with a numbering of goods road junction 3；
In the present embodiment, shuttle travel direction is fixed, and track length is the two neighboring goods in shuttle travel direction
The length of track between thing road junction 3；
Shuttle module 2 includes velocity information receiving unit 201, and pressure sensor 202, laser bar code recognizes location unit 203；
Velocity information receiving unit 201 receives the acceleration information and deceleration of the transmission of CPU 102 and feeds back
To shuttle, information is accelerated to include acceleration time T1At the uniform velocity travel speed V, deceleration includes deceleration time T2At the uniform velocity go
Sail speed V；
Velocity information receiving unit 201 receives acceleration information and feeds back to shuttle, and shuttle is by acceleration time T1Afterwards
Speed accelerates at the uniform velocity travel speed V from zero；
Velocity information receiving unit 201 receives deceleration and feeds back to shuttle, and shuttle is by deceleration time T2Afterwards
Speed is decelerated to zero by the uniform velocity travel speed V；
Pressure sensor 202 gathers the contained goods weight A of shuttle and sends to CPU goods weight A
102, goods weight A unit are kg；
Laser bar code recognizes location unit 203 includes barcode reader 2031 and multiple barcode strip 2032, barcode reader 2031
On shuttle, at goods road junction 3, each barcode strip 2032 includes a bar code information to barcode strip 2032, each
Code information is associated with a numbering of goods road junction 3；
Barcode reader 2031 and barcode strip 2032 are located at same level highly；
A kind of arrival time Forecasting Methodology based on shuttle vehicle, the method includes：
After S1, shuttle loading are finished, barcode reader 2031 reads the barcode strip 2032 at current cargo road junction 3, shuttles
Car sends to CPU 102 fully loaded information；
Wherein, being fully loaded with information includes bar code information and goods weight；
S2, CPU 102 are calculated and send acceleration information to velocity information receiving unit 201, wherein, during acceleration
Between T1Computing formula be
Unit is s；
The computing formula of at the uniform velocity travel speed V is
Unit is m/s；
Velocity information receiving unit 201 receives acceleration information and feeds back to shuttle, and shuttle is by acceleration time T1Afterwards
Speed accelerates at the uniform velocity travel speed V from zero；
S3, CPU 102 send clocking information to timing unit 4, and timing unit 4 starts timing；
S4, CPU 102 calculate deceleration time T2And send to timing unit 4, deceleration time T2Computing formula
For,
Unit is s；
Timing unit 4 collects the elapsed time for deceleration time T2Afterwards, send timing and complete information to CPU
102；
S5, CPU 102 send deceleration to velocity information receiving unit 201；
Velocity information receiving unit 201 receives deceleration and feeds back to shuttle, and shuttle is by deceleration time T2Afterwards
Speed is decelerated to zero by the uniform velocity travel speed V.
Above content is only citing made for the present invention and explanation, and affiliated those skilled in the art are to being retouched
The specific embodiment stated is made various modifications or supplement or is substituted using similar mode, without departing from invention or super
More scope defined in the claims, all should belong to protection scope of the present invention.
Claims (9)
1. a kind of shuttle speed control system, it is characterised in that including communication server (1), shuttle module (2), goods
Road junction (3), timing module (4)；
The communication server (1) includes data storage cell (101), CPU (102), temporary storage cell
(103)；
Be stored with multiple goods road junction (3) numberings, multiple track lengths, standard speed letter in the data storage cell (101)
Breath；
The shuttle module (2) includes velocity information receiving unit (201), and pressure sensor (202), laser bar code recognizes location list
First (203)；
The velocity information receiving unit (201) receives the acceleration information and deceleration of CPU (102) transmission simultaneously
Feed back to shuttle；
Pressure sensor (202) the collection contained goods weight of shuttle is simultaneously sent to CPU goods weight
(102)；
The laser bar code recognizes location unit (203) includes barcode reader (2031) and multiple barcode strip (2032).
2. a kind of shuttle speed control system according to claim 1, it is characterised in that：The standard speed packet
Include standard acceleration time T10, standard speed V0, standard deceleration time T20。
3. a kind of shuttle speed control system according to claim 2, it is characterised in that：Standard acceleration time T10
It is acceleration time when shuttle is unloaded, standard deceleration time T20It is deceleration time when shuttle is unloaded, the standard
Speed V0It is at the uniform velocity travel speed when shuttle is unloaded.
4. a kind of shuttle speed control system according to claim 1, it is characterised in that：Each described goods road junction
(3) associated with goods road junction (3) numbering.
5. a kind of shuttle speed control system according to claim 1, it is characterised in that：The track length is adjacent
The length of track between two goods road junctions (3), each described track length is associated with goods road junction (3) numbering.
6. a kind of shuttle speed control system according to claim 1, it is characterised in that：The acceleration information includes adding
Fast time T1At the uniform velocity travel speed V, the velocity information receiving unit (201) receives acceleration information and feeds back to shuttle,
The shuttle is by acceleration time T1Speed accelerates at the uniform velocity travel speed V from zero afterwards.
7. a kind of shuttle speed control system according to claim 1, it is characterised in that：The deceleration includes subtracting
Fast time T2At the uniform velocity travel speed V, the velocity information receiving unit (201) receives deceleration and feeds back to shuttle,
The shuttle is by deceleration time T2Speed is decelerated to zero by the uniform velocity travel speed V afterwards.
8. a kind of shuttle speed control system according to claim 1, it is characterised in that：The barcode reader
(2031) on shuttle, located at goods road junction (3) place, each described barcode strip (2032) includes the barcode strip (2032)
One bar code information, each described bar code information is associated with goods road junction (3) numbering.
9. a kind of shuttle speed control system according to claim 1 or 8, it is characterised in that：The barcode reader
(2031) and barcode strip (2032) located at same level highly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161338.0A CN106697695A (en) | 2016-12-15 | 2016-12-15 | Shuttle vehicle speed control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161338.0A CN106697695A (en) | 2016-12-15 | 2016-12-15 | Shuttle vehicle speed control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106697695A true CN106697695A (en) | 2017-05-24 |
Family
ID=58937750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611161338.0A Pending CN106697695A (en) | 2016-12-15 | 2016-12-15 | Shuttle vehicle speed control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106697695A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163428A (en) * | 2017-11-28 | 2018-06-15 | 南京音飞储存设备（集团）股份有限公司 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
| EP3878774A1 (en) * | 2020-03-09 | 2021-09-15 | AJ Produkter AB | Shuttle for delivering and retrieving goods, a storage system comprising such shuttle and a method associated therewith |
| CN114408440A (en) * | 2022-04-02 | 2022-04-29 | 山东西曼克技术有限公司 | Four-way shuttle vehicle speed tracking control method and control system for refrigeration house |
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| JPH03106800A (en) * | 1989-09-20 | 1991-05-07 | Hitachi Ltd | Running control of mobile body |
| GB2267696A (en) * | 1992-06-12 | 1993-12-15 | Murata Machinery Ltd | Stacker crane. |
| JPH09142617A (en) * | 1995-11-17 | 1997-06-03 | Itoki Crebio Corp | Automatic warehouse |
| JP2002255309A (en) * | 2001-03-02 | 2002-09-11 | Dainippon Printing Co Ltd | Carrying truck |
| JP3538554B2 (en) * | 1998-10-19 | 2004-06-14 | 株式会社イトーキクレビオ | Automatic warehouse |
| JP2004258989A (en) * | 2003-02-26 | 2004-09-16 | Hitachi Kiden Kogyo Ltd | Traveling control method of automated carrier truck |
| CN203855076U (en) * | 2014-03-11 | 2014-10-01 | 四川烟草工业有限责任公司 | Shuttle positioning and fault diagnosis system combining barcode recognition and laser ranging |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
-
2016
- 2016-12-15 CN CN201611161338.0A patent/CN106697695A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03106800A (en) * | 1989-09-20 | 1991-05-07 | Hitachi Ltd | Running control of mobile body |
| GB2267696A (en) * | 1992-06-12 | 1993-12-15 | Murata Machinery Ltd | Stacker crane. |
| JPH09142617A (en) * | 1995-11-17 | 1997-06-03 | Itoki Crebio Corp | Automatic warehouse |
| JP3538554B2 (en) * | 1998-10-19 | 2004-06-14 | 株式会社イトーキクレビオ | Automatic warehouse |
| JP2002255309A (en) * | 2001-03-02 | 2002-09-11 | Dainippon Printing Co Ltd | Carrying truck |
| JP2004258989A (en) * | 2003-02-26 | 2004-09-16 | Hitachi Kiden Kogyo Ltd | Traveling control method of automated carrier truck |
| CN203855076U (en) * | 2014-03-11 | 2014-10-01 | 四川烟草工业有限责任公司 | Shuttle positioning and fault diagnosis system combining barcode recognition and laser ranging |
| CN106115197A (en) * | 2016-07-04 | 2016-11-16 | 长沙长泰智能装备有限公司 | Shuttle alignment system and control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163428A (en) * | 2017-11-28 | 2018-06-15 | 南京音飞储存设备（集团）股份有限公司 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
| CN108163428B (en) * | 2017-11-28 | 2019-08-13 | 南京音飞储存设备（集团）股份有限公司 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
| EP3878774A1 (en) * | 2020-03-09 | 2021-09-15 | AJ Produkter AB | Shuttle for delivering and retrieving goods, a storage system comprising such shuttle and a method associated therewith |
| CN114408440A (en) * | 2022-04-02 | 2022-04-29 | 山东西曼克技术有限公司 | Four-way shuttle vehicle speed tracking control method and control system for refrigeration house |
| CN114408440B (en) * | 2022-04-02 | 2022-07-26 | 山东西曼克技术有限公司 | Four-way shuttle vehicle speed tracking control method and control system for refrigeration house |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |