CN108069175A - A kind of stacker systems and its control method - Google Patents
A kind of stacker systems and its control method Download PDFInfo
- Publication number
- CN108069175A CN108069175A CN201610967713.4A CN201610967713A CN108069175A CN 108069175 A CN108069175 A CN 108069175A CN 201610967713 A CN201610967713 A CN 201610967713A CN 108069175 A CN108069175 A CN 108069175A
- Authority
- CN
- China
- Prior art keywords
- piler
- goods yard
- label tag
- rfid label
- rfid
- 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.)
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The embodiment of the invention discloses a kind of stacker systems and its control methods.The stacker systems include：Piler and shelf, the piler further comprise infrared transceiver and RFID card reader, and the shelf further comprise metal baffle and RFID label tag；The infrared transceiver receives the signal that metal baffle reflects for sending infrared ray, and the signal returned according to the signal reflex judges warehouse compartment where piler；The RFID card reader is used to read the information of RFID label tag, and goods yard is determined according to the information for reading RFID label tag.Photoelectric Detection is combined by the stacker systems with RFID label tag location technology so that piler can learn the position in goods yard in advance, without goods yard Scanning Detction one by one and judge whether to reach designated position, improve the work efficiency of piler.
Description
Technical field
The present invention relates to a kind of piler and its control method fields, particularly a kind of intelligent stacker and its controlling party
Method.
Background technology
Automated warehouse management is very important technology in modern cargo movement system, therefore, modern production and sales
The development speed of type enterprise is largely restricted be subject to warehousing management efficiency.Efficient warehousing management can not only accelerate goods
The speed that logistics is led to reduces logistics cost, can also realize effective control and efficiently management to cargo.
Rapid development and storage of the storage dispensing business to the current e-commerce industry of the demand of technology and time and China
It is inseparable to dispense the requirement that JIT (Just In Time) is serviced.In the automated three-dimensional storage of enterprise's application at this stage, automatically
Change piler（PLC Programmable Logic Controller equipment）Typically rectilinear orbit access cargo, also
It is necessary mating rectilinear orbit and shelf, so then wants the tiered warehouse facility of larger space and greater number of automation piler,
For middle-size and small-size enterprise, storage dispensing space and disposable input cost limit its hair dispensed toward automated warehousing
Open up paces.All it is to have used PLC and WCS in many enterprises（Warehouse Control System warehouse control systems）
Information carries out two times transfer, the limitation for adding equipment cost and using.
The location technology of recognizing of stereo automatization storage at present recognizes location using bar code mostly, and bar code can be because by southern tide in south
Wet weather influences, it may occur that deformation, situations such as going mouldy or coming off so that goods yard location efficiency is very low, to normal operation of storing in a warehouse
Cause large effect.
The content of the invention
Above-mentioned in order to solve the problems, such as, the present invention proposes a kind of stacker systems and its control method.
The embodiment of the present invention proposes a kind of stacker systems, which includes：Piler and shelf, the piler into
One step includes infrared transceiver and RFID card reader, and the shelf further comprise metal baffle and RFID label tag；
The infrared transceiver receives the signal that metal baffle reflects for sending infrared ray, according to the signal
The signal reflected judges warehouse compartment where piler；
The RFID card reader is used to read the information of RFID label tag, and goods yard is determined according to the information for reading RFID label tag.
Preferably, the metal baffle is located at the bottoms of shelf towards track one side.
Preferably, the RFID label tag is located at the side that shelf are imported and exported towards track one side or goods yard.
Preferably, tablet computer and PC computers are further comprised, the tablet computer passes through RS-458 with the piler
Interface connects, and the tablet computer is used to receive the data of piler transmission, by the wireless network on tablet computer, by data
It is sent to the PC computers.
Preferably, the PC computers are communicated by Wireless Communication Equipment with tablet computer, and being run in the PC computers has storehouse
Control system is stored up, the warehouse control system is used for the data sent according to the piler and calculates and pass through result after handling
Wireless network returns to the tablet computer, and the tablet computer writes the identifiable operational order of piler according to result, so
The piler directly performs operational order afterwards.
The embodiment of the present invention also proposed a kind of stacker systems control method, and the method comprising the steps of：
S1：RFID scanning signals are emitted by RFID card reader；
S2：FRID label information is read, obtains the location information in goods yard；
S3：According to the location information in goods yard, the corresponding warehouse compartment in goods yard, adjustment mechanical arm to the corresponding height in goods yard are driven to.
Preferably, the step S3 further comprises step：
S31：N-th of metal baffle is detected by infrared transceiver, knows and is in n-th of warehouse compartment.
Preferably, the step S3 further comprises step：
S32：Whether the corresponding goods yard of the RFID label tag is reached by RFID card reader detection mechanical arm.
Preferably, step is further comprised：
S4：Cargo is put by the corresponding goods yard of the RFID label tag by mechanical arm or the RFID label tag is corresponded into goods yard
Cargo take out.
Preferably, step is further comprised：
S0：The goods yard number that bottom PC computers are sent is received, the corresponding warehouse compartment in goods yard is known according to goods yard number.
Compared with prior art, the embodiment of the present invention has the advantages that：The stacker systems by Photoelectric Detection with
RFID label tag location technology is combined so that piler can learn the position in goods yard in advance, without goods yard Scanning Detction one by one
And judge whether to reach designated position, improve the work efficiency of piler.Bar code positioning technology is avoided by southern simultaneously
Wet weather influences the problem of piler recognizes the accuracy of location.
Description of the drawings
Fig. 1 is the connection diagram of stacker systems of the present invention；
Fig. 2 is the track schematic diagram of stacker systems of the present invention；
Fig. 3 is the shelf schematic top plan view of stacker systems of the present invention；
Fig. 4 is the shelf schematic side view of stacker systems of the present invention；
Fig. 5 is the piler side structure schematic view of stacker systems of the present invention；
The control method flow chart of Fig. 6 stacker systems of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, all other reality that those of ordinary skill in the art are obtained without making creative work
Example is applied, belongs to the scope of protection of the invention.
Piler 1 is connected by RS-458 data-interfaces 2 with IPAD tablet computers 3, and piler 1 directly transmits data to upper
Position tablet computer tablet computer 3, using the wireless network on IPAD tablet computers 3, by Wireless Communication Equipment Router（Routing
Device）4 transmit data to the PC computers 6 of lower bit manipulation by interchanger 5, pass through the WCS run in PC computers 6（Warehouse
Control System warehouse control systems）Result is returned into IPAD tablet computers by wireless network after calculating and handling
3, IPAD tablet computers 3 write 1 identifiable operational order of piler according to result, then piler 1 directly performs operational order.
Piler 1 is connected 3 by RS-458 interfaces 2 with upper tablet computer, which is using balance driver and difference
Divide the combination of receiver, strong antijamming capability, i.e. noise immunity are good, so being realized in storage between piler 1 and PC6
Data conversion, and the signal of piler 1 can directly be passed by LAN by the radio function of upper tablet computer 3
It is defeated by lower bit manipulation PC6.This function can be extended to and be transferred to cloud server terminal.
Wireless Communication Equipment Router（Router）4 and interchanger 5 be storage in LAN equipment, for receiving and sending out
Serve the information transmitted between a tablet computer 3 and lower bit manipulation PC 6.
Upper tablet computer 3 connects piler 1 by RS485 interfaces 2, and is mounted with the automatic control system of WCS,
Information exchange can be carried out with lower bit manipulation PC computers 6 and directly control the operation of piler 1.
Lower bit manipulation PC computers 6 send and receive information to upper tablet computer 3 by LAN, can directly control heap
The operation of stack machine 1.
According to the length of piler 1, it can accurately calculate the track radian of 180 degree turn, application solutions 180 degree is fallen
Head rail road realizes the working procedure of a two-way inbound/outbound process of piler inside a storage, can save storage space and
Reduce the quantity of piler.
Calculate the radian of 180 degree track：By measuring the length of track pulley before and after piler, calculate what 180 degree was turned round
Radian, in order to reduce noise, the embodiment of the present invention has used the technology of day rail and track combination, can effectively reduce the rolling of piler
It is dynamic to cause noise and floor bearing capacity.
Calculation formula：F=mv^2/R
Wherein F is maximum centripetal force（The present embodiment F is 2 times of floor endurance）, the quality of M pilers, V is maximum speed, R
It is the radius of radian.
As shown in Fig. 2, the track of shelf 7 and the straight trip track of shelf 8 are connected by radian track 9, radian track 9 it is straight
Footpath is 2R.
Piler recognizes location structure design and principle：
1st, piler abscissa positions：In the close warehouse compartment one side of 1 direction of advance of piler, infrared transceiver 11 is installed,
One metal baffle 12 is installed in the centre position of each warehouse compartment, the metal baffle 12 of two warehouse compartments has interval 13, works as infrared ray
Transceiver 11 just has recorded the abscissa positions of warehouse compartment when passing through metal baffle.
2nd, ordinate positions：A RFID label tag 14, each RFID label tag are fixed among the longitudinal direction of each warehouse compartment
The card reader 15 of RFID is installed, when card reader has read in a corresponding goods yard, the close warehouse compartment one side of 1 direction of advance of piler
After the information of RFID label tag 14, goods yard just can determine that.Then according to WCS（Warehouse Control System storage controls
System processed）The goods yard height of middle record, piler 1 adjust the height of mechanical arm 16, reach the goods yard specified.
As shown in Fig. 3,4 and 5, the embodiment of the present invention includes two shelf of A, B, and A shelf include tetra- storehouses of A1, A2, A3, A4
Position, B shelf include tetra- warehouse compartments of B1, B2, B3, B4, and A1 warehouse compartments include tri- goods yards of A11, A12, A13.
When piler 1 often passes through a warehouse compartment, an interval 13 is run past, it is red because interval 13 is without metal baffle 12
Outer line transceiver 11 does not receive infrared signal, therefore can sequentially know which warehouse compartment piler 1 is in.Due to RFID's
Detection range can reach 1-5 meters or so, and the card reader 15 of RFID can be read when apart from goods yard 1-5 meters or so
The information of RFID label tag 14, therefore can learn that RFID label tag 14 corresponds to the information such as warehouse compartment and the height in goods yard, piler 1 can
According to the information such as warehouse compartment and height, first to drive to the warehouse compartment specified, then mechanical arm 16 is adjusted to specified altitude assignment, reaches and specify
Goods yard.
As shown in fig. 6, the control method flow chart of stacker systems of the present invention is as follows：
S1：RFID scanning signals are emitted by RFID card reader；
S2：FRID label information is read, obtains the location information in goods yard；
S3：According to the location information in goods yard, the corresponding warehouse compartment in goods yard, adjustment mechanical arm to the corresponding height in goods yard are driven to；
S4：Access the cargo on goods yard
Photoelectric Detection is combined by this warehousing system with RFID label tag location technology so that piler 1 can learn goods yard in advance
Position, without goods yard Scanning Detction one by one and judge whether to reach designated position, improve the work efficiency of piler 1, together
When avoid Bar code positioning technology and influenced the problem of piler recognizes the accuracy of location by southern wet weather.
Claims (10)
1. a kind of stacker systems, which includes：Piler and shelf, the piler further comprise infrared transceiver
And RFID card reader, the shelf further comprise metal baffle and RFID label tag；
The infrared transceiver receives the signal that metal baffle reflects for sending infrared ray, according to the signal
The signal reflected judges warehouse compartment where piler；
The RFID card reader is used to read the information of RFID label tag, and goods yard is determined according to the information for reading RFID label tag.
2. the system as claimed in claim 1, the metal baffle is located at the bottoms of shelf towards track one side.
3. the system as claimed in claim 1, the RFID label tag is located at what shelf were imported and exported towards track one side or goods yard
Side.
4. the system as claimed in claim 1 further comprises tablet computer and PC computers, the tablet computer and the stacking
Machine is connected by RS-458 interfaces, and the tablet computer is used to receive the data of piler transmission, passes through the nothing on tablet computer
Gauze network sends the data to the PC computers.
5. system as claimed in claim 4, the PC computers are communicated by Wireless Communication Equipment with tablet computer, the PC electricity
Operation has warehouse control system in brain, and the data that the warehouse control system is used to be sent according to the piler calculate and processing
Result is returned into the tablet computer by wireless network afterwards, the tablet computer is identifiable according to result write-in piler
Operational order, then the piler directly perform operational order.
6. a kind of stacker systems control method, the method comprising the steps of：
S1：RFID scanning signals are emitted by RFID card reader；
S2：FRID label information is read, obtains the location information in goods yard；
S3：According to the location information in goods yard, the corresponding warehouse compartment in goods yard, adjustment mechanical arm to the corresponding height in goods yard are driven to.
7. method as claimed in claim 6, the step S3 further comprises step：
S31：N-th of metal baffle is detected by infrared transceiver, knows and is in n-th of warehouse compartment.
8. method as claimed in claim 6, the step S3 further comprises step：
S32：Whether the corresponding goods yard of the RFID label tag is reached by RFID card reader detection mechanical arm.
9. method as claimed in claim 6, further comprises step：
S4：Cargo is put by the corresponding goods yard of the RFID label tag by mechanical arm or the RFID label tag is corresponded into goods yard
Cargo take out.
10. method as claimed in claim 6, further comprises step：
S0：The goods yard number that bottom PC computers are sent is received, the corresponding warehouse compartment in goods yard is known according to goods yard number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610967713.4A CN108069175A (en) | 2016-11-05 | 2016-11-05 | A kind of stacker systems and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610967713.4A CN108069175A (en) | 2016-11-05 | 2016-11-05 | A kind of stacker systems and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108069175A true CN108069175A (en) | 2018-05-25 |
Family
ID=62153224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610967713.4A Pending CN108069175A (en) | 2016-11-05 | 2016-11-05 | A kind of stacker systems and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108069175A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110893613A (en) * | 2018-09-13 | 2020-03-20 | 沈阳新松机器人自动化股份有限公司 | Upper and lower stick robot capable of running on S-shaped track |
| CN113135403A (en) * | 2021-05-17 | 2021-07-20 | 西门子工厂自动化工程有限公司 | Anti-swing control method and device for stacker and readable medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07291412A (en) * | 1994-04-28 | 1995-11-07 | Mitsubishi Electric Corp | Fixed-shelf picking system |
| WO1998058857A1 (en) * | 1997-06-12 | 1998-12-30 | Jomet Oy | Conveyor system for grouping products issuing from different sources |
| CN203158637U (en) * | 2013-03-25 | 2013-08-28 | 北京旭航电子新技术有限公司 | RFID intelligent stacking three-dimensional storeroom |
| CN203728016U (en) * | 2014-02-26 | 2014-07-23 | 北京旭航电子新技术有限公司 | Intelligent storage navigation trolley |
-
2016
- 2016-11-05 CN CN201610967713.4A patent/CN108069175A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07291412A (en) * | 1994-04-28 | 1995-11-07 | Mitsubishi Electric Corp | Fixed-shelf picking system |
| WO1998058857A1 (en) * | 1997-06-12 | 1998-12-30 | Jomet Oy | Conveyor system for grouping products issuing from different sources |
| CN203158637U (en) * | 2013-03-25 | 2013-08-28 | 北京旭航电子新技术有限公司 | RFID intelligent stacking three-dimensional storeroom |
| CN203728016U (en) * | 2014-02-26 | 2014-07-23 | 北京旭航电子新技术有限公司 | Intelligent storage navigation trolley |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110893613A (en) * | 2018-09-13 | 2020-03-20 | 沈阳新松机器人自动化股份有限公司 | Upper and lower stick robot capable of running on S-shaped track |
| CN113135403A (en) * | 2021-05-17 | 2021-07-20 | 西门子工厂自动化工程有限公司 | Anti-swing control method and device for stacker and readable medium |
| CN113135403B (en) * | 2021-05-17 | 2023-03-10 | 西门子工厂自动化工程有限公司 | Anti-shaking control method and device for stacker and readable medium |
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Application publication date: 20180525 |
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