CN108163428A - A kind of speed intelligent barrier avoiding of sports equipment follows method - Google Patents
A kind of speed intelligent barrier avoiding of sports equipment follows method Download PDFInfo
- Publication number
- CN108163428A CN108163428A CN201711212538.9A CN201711212538A CN108163428A CN 108163428 A CN108163428 A CN 108163428A CN 201711212538 A CN201711212538 A CN 201711212538A CN 108163428 A CN108163428 A CN 108163428A
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- CN
- China
- Prior art keywords
- sports equipment
- speed
- distance
- shuttle
- equipment
- 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
- B65G1/0492—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 present invention provides a kind of speed intelligent barrier avoiding of sports equipment and follows method, by obtaining and analyzing rear sports equipment current time, real-time speed, the speed for calculating relative to the real-time range of forward equipment forward equipment, so as to control the speed of rear sports equipment after comparing, rear shuttle is avoided since excessive velocities knock into the back forward equipment.
Description
Technical field
The present invention relates to the field of intelligent control of shelf storage, especially a kind of control skills to sports equipment in shelf
Art.
Background technology
In shelf storage facilities field, using shuttle as the automatic device for transporting cargo.In specific application,
As the efficiency requirements for going out storage to cargo are higher and higher, two or more can be run on certain layer of shelf same track simultaneously and is worn
Shuttle car, and different shuttles will not be traveled at the uniform speed always due to transport task difference.Therefore it is positioned at the shuttle in rear position
It needs that excessive velocities is avoided to knock into the back in the shuttle of front position.Therefore just an effective intelligent barrier avoiding method is needed to realize this
Function.
Invention content
The present invention is to solve the above problems, provide a kind of intelligent barrier avoiding method for shuttle.
In order to achieve the above objectives, following technical solution can be used in the present invention：
A kind of speed intelligent barrier avoiding of sports equipment follows method,
Distance measuring sensor, timer, velocity sensor, driving device, controller are set on the sports equipment of rear,
Distance measuring sensor is perceiving distance between rear sports equipment and preceding forward equipment；Timer to
Record current time；Velocity sensor is recording present speed；Driving device is driving the movement of rear sports equipment；Control
Device is handling analysis data and control driving device；
This method includes the following steps：
(1), by timer record current time t1, first time speed V1 is recorded by velocity sensor in t1, and
The distance S1 between rear sports equipment and forward equipment is recorded by distance measuring sensor in t1；
(2), subsequent time t2 is re-recorded by preset time, second of speed is recorded by velocity sensor in t2
V1 ', and the distance between rear sports equipment and forward equipment S1 ' are recorded by distance measuring sensor in t1 ', it sets at this time
It is equal with V1 to determine V1 '；
(3), therefore controller is by following formula calculating forward equipment speed in t2
V2=V1- (S1 '-S1)/(t2-t1)；
(4), work as V2>V1, then the running velocity of rear sports equipment remain unchanged；Work as V2<V1, then controller pass through control
Driving device makes the speed reduction of rear sports equipment to less than V2；
Step (1) is still carried out during the deceleration to rear sports equipment to the cycle of step (4).
Advantageous effect：
The present invention can provide calculating and control to whether rear sports equipment need to slow down automatically and in real time, after avoiding
Square shuttle is knocked into the back forward equipment due to excessive velocities.
Description of the drawings
Fig. 1 is the hardware schematic set on shuttle of the present invention to realize the avoidance method of following.
Specific embodiment
The present invention provides a kind of speed intelligent barrier avoiding of sports equipment and follows method.The sports equipment is stored in a warehouse for shelf
System, as shuttle.In the present embodiment i.e. by taking shuttle as an example.
First, the hardware of shuttle should be configured, refering to Figure 1, setting ranging on the shuttle of rear
Sensor, timer, velocity sensor, driving device, controller.The distance measuring sensor for ultrasonic distance-measuring sensor or
Laser range sensor.The driving device includes servo-driver and servo motor, and speed values are conveyed to and watch by controller
Driver is taken, servo motor is controlled by servo-driver.
Distance measuring sensor is perceiving distance between rear shuttle and preceding front shuttle；Timer is recording
Current time；Velocity sensor is recording present speed；Driving device is driving the movement of rear shuttle；Controller to
Processing analysis data simultaneously control driving device.In specifically used, since each shuttle may be rear shuttle, therefore on
It is respectively provided on each shuttle that the hardware for stating setting should be in shelf warehousing system.
This method includes the following steps：
(1), by timer record current time t1, first time speed V1 is recorded by velocity sensor in t1, and
The distance S1 between rear shuttle and front shuttle is recorded by distance measuring sensor in t1；
(2), subsequent time t2 is re-recorded by preset time, second of speed is recorded by velocity sensor in t2
V1 ', and the distance between rear shuttle and front shuttle S1 ' are recorded by distance measuring sensor in t1 ', it sets at this time
V1 ' is equal with V1；
(3), therefore controller is by following formula calculating front shuttle speed in t2
V2=V1- (S1 '-S1)/(t2-t1)；
(4), work as V2>V1, then the running velocity of rear shuttle remain unchanged；Work as V2<V1, then controller is by controlling drive
Dynamic device makes the speed reduction of rear shuttle to less than V2；
Step (1) is still carried out during the deceleration to rear shuttle to the cycle of step (4).
At one in special circumstances, the corresponding limiting values of setting S1, the limiting value established standards are rear shuttle with most
The tail end for being parked in front shuttle that big speed is capable of safety (moves, front shuttle is quiet assuming that rear shuttle is maximum speed
Only state).Therefore in this case should emergency brake without again pass through above-mentioned steps (1)~(4) judge.When rear is worn
The distance S1 of shuttle car first time ranging is less than limiting value, then automatically controls rear shuttle brake.
Claims (5)
1. a kind of speed intelligent barrier avoiding of sports equipment follows method, it is characterised in that：
Distance measuring sensor, timer, velocity sensor, driving device, controller are set on the sports equipment of rear,
Distance measuring sensor is perceiving distance between rear sports equipment and preceding forward equipment；Timer is recording
Current time；Velocity sensor is recording present speed；Driving device is driving the movement of rear sports equipment；Controller is used
With processing analysis data and control driving device；
This method includes the following steps：
(1), by timer record current time t1, first time speed V1 is recorded by velocity sensor in t1, and in t1
When pass through distance measuring sensor and record the distance between rear sports equipment and forward equipment S1；
(2), subsequent time t2 is re-recorded by preset time, second of speed V1 ' is recorded by velocity sensor in t2, and
The distance between rear sports equipment and forward equipment S1 ' are recorded by distance measuring sensor in t1 ', set V1 ' at this time
It is equal with V1；
(3), therefore controller is by following formula calculating forward equipment speed in t2
V2=V1- (S1 '-S1)/(t2-t1)；
(4), work as V2>V1, then the running velocity of rear sports equipment remain unchanged；Work as V2<V1, then controller is by controlling driving
Device makes the speed reduction of rear sports equipment to less than V2；
Step (1) is still carried out during the deceleration to rear sports equipment to the cycle of step (4).
2. the speed intelligent barrier avoiding of sports equipment according to claim 1 follows method, it is characterised in that：The movement is set
The standby shuttle being used in shelf warehousing system.
3. the speed intelligent barrier avoiding of sports equipment according to claim 2 follows method, it is characterised in that：The ranging passes
Sensor is ultrasonic distance-measuring sensor or laser range sensor.
4. the speed intelligent barrier avoiding of sports equipment according to claim 3 follows method, it is characterised in that：The driving dress
It puts including servo-driver and servo motor, speed values are conveyed to servo-driver by controller, pass through servo-driver pair
Servo motor is controlled.
5. the speed intelligent barrier avoiding of sports equipment according to claim 4 follows method, it is characterised in that：S1 is set to correspond to
Limiting value, when the distance S1 of rear shuttle first time ranging is less than limiting value, then automatically control the brake of rear shuttle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711212538.9A CN108163428B (en) | 2017-11-28 | 2017-11-28 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711212538.9A CN108163428B (en) | 2017-11-28 | 2017-11-28 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108163428A true CN108163428A (en) | 2018-06-15 |
| CN108163428B CN108163428B (en) | 2019-08-13 |
Family
ID=62524596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711212538.9A Active CN108163428B (en) | 2017-11-28 | 2017-11-28 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108163428B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821747A (en) * | 2019-03-28 | 2019-05-31 | 上海中通吉网络技术有限公司 | Automatic sorting method and device |
| CN110482101A (en) * | 2019-08-21 | 2019-11-22 | 广州秉优信息科技有限公司 | A kind of double vehicle dispatching methods of a rail |
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| CN102226932A (en) * | 2011-05-31 | 2011-10-26 | 东北大学 | Vehicle speed measuring method based on radio frequency identification technology |
| US20130187771A1 (en) * | 2012-01-23 | 2013-07-25 | Ariel Inventions, Llc | System and method for display of vehicular separation distance |
| CN104229370A (en) * | 2014-09-26 | 2014-12-24 | 昆明七零五所科技发展总公司 | Positioning device and positioning method for rail guide vehicle with steering function |
| CN104326242A (en) * | 2014-09-05 | 2015-02-04 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
| CN106516529A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guided vehicle control method based on pressure sensor |
| CN106697695A (en) * | 2016-12-15 | 2017-05-24 | 合肥捷曼信息科技有限公司 | Shuttle vehicle speed control system |
| CN107139919A (en) * | 2017-04-10 | 2017-09-08 | 浙江亚太机电股份有限公司 | For the self-protection method of vehicle anti-rear collision early warning, system and vehicle |
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2017
- 2017-11-28 CN CN201711212538.9A patent/CN108163428B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102226932A (en) * | 2011-05-31 | 2011-10-26 | 东北大学 | Vehicle speed measuring method based on radio frequency identification technology |
| US20130187771A1 (en) * | 2012-01-23 | 2013-07-25 | Ariel Inventions, Llc | System and method for display of vehicular separation distance |
| CN104326242A (en) * | 2014-09-05 | 2015-02-04 | 昆明七零五所科技发展总公司 | Method and device thereof for controlling running direction of rail guide vehicle |
| CN104229370A (en) * | 2014-09-26 | 2014-12-24 | 昆明七零五所科技发展总公司 | Positioning device and positioning method for rail guide vehicle with steering function |
| CN106516529A (en) * | 2016-12-15 | 2017-03-22 | 合肥捷曼信息科技有限公司 | Rail guided vehicle control method based on pressure sensor |
| CN106697695A (en) * | 2016-12-15 | 2017-05-24 | 合肥捷曼信息科技有限公司 | Shuttle vehicle speed control system |
| CN107139919A (en) * | 2017-04-10 | 2017-09-08 | 浙江亚太机电股份有限公司 | For the self-protection method of vehicle anti-rear collision early warning, system and vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821747A (en) * | 2019-03-28 | 2019-05-31 | 上海中通吉网络技术有限公司 | Automatic sorting method and device |
| CN110482101A (en) * | 2019-08-21 | 2019-11-22 | 广州秉优信息科技有限公司 | A kind of double vehicle dispatching methods of a rail |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108163428B (en) | 2019-08-13 |
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