CN111874503B - Device and method for four-way shuttle dispatching and cargo calibration - Google Patents
Device and method for four-way shuttle dispatching and cargo calibration Download PDFInfo
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- CN111874503B CN111874503B CN202010703065.8A CN202010703065A CN111874503B CN 111874503 B CN111874503 B CN 111874503B CN 202010703065 A CN202010703065 A CN 202010703065A CN 111874503 B CN111874503 B CN 111874503B
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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
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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
- B65G1/137—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
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Abstract
The invention discloses a device and a method for dispatching a four-way shuttle and calibrating goods, which comprise the following steps: four-way shuttle, its characterized in that: the device comprises a tray, a four-direction shuttle car, a lifting plate, a sensor mounting bracket, a distance sensor and a positioning reference structure, wherein the lifting plate is arranged above the four-direction shuttle car and symmetrically distributed around a central shaft, the peripheral plate on at least one side of the four-direction shuttle car is symmetrically provided with two sensor mounting brackets along the central shaft through bolts, each sensor mounting bracket is provided with the distance sensor, and the distance sensor is used for detecting signals reflected by the positioning reference structure on the tray. The device and the method for dispatching the four-way shuttle and calibrating the goods, provided by the invention, have the advantages that the structure is simple, the operation is stable, the tray calibration of the four-way shuttle can be automatically completed, and the safety and the reliability of the four-way shuttle are improved.
Description
Technical Field
The invention relates to a device and a method for dispatching and cargo calibration of a four-way shuttle vehicle, and belongs to the technical field of automatic control of the four-way shuttle vehicle.
Background
The four-way shuttle is a carrying device in the storage field, has the advantages of automatic control, high moving speed, high carrying efficiency, high running precision and the like, and is widely applied to various storage occasions.
At present, the common scheduling of the four-way shuttle includes warehousing and ex-warehousing of the four-way shuttle, wherein the warehousing process is as follows: the upper computer sends a cargo warehousing task to the four-way shuttle, controls the AGV to convey the cargo position to the conveying line, and when the four-way shuttle plans the path to reach the cargo taking position of the conveying line, the jacking plate rises to convey the cargo to the designated cargo position. The ex-warehouse process comprises the following steps: and the upper computer sends the warehouse-out task goods position to the four-way shuttle, the four-way shuttle plans a corresponding route according to the coordinates of the task goods position to reach a specified target point, the jacking plate rises, and the goods are delivered to a specified warehouse-out position after being lifted.
When the four-way shuttle car is used for dispatching, the upper computer sends tasks, the target goods positions are all used as objects, the coordinates of the target goods positions are all based on the coordinates of a database in the upper computer, due to the fact that errors exist in shelf installation, the coordinates in the database need to be measured one by one, the operation is complex, in actual operation, the actual positions where the four-way shuttle car arrives are inconsistent with the position coordinates in the database due to some reasons, for example, when the four-way shuttle car carries goods with large weight, the internal transmission mechanism receives larger resistance, the distance of actual driving is shorter than the theoretical distance, and the deviations can have an accumulative effect along with the movement distance of the four-way shuttle car, and the positioning accuracy of the four-way shuttle car can be directly influenced.
When the four-way shuttle does not reach the target goods space coordinate point; the goods are jacked, the positions of the goods deviate from the positions of the four-way shuttle cars, the goods deviate from one side of the four-way shuttle cars, the four-way shuttle cars run at high speed (the running speed of the common four-way shuttle cars can reach 1.4m/s), due to the inertia of the goods, the jacking plates are in direct contact with the trays, the friction factor between the jacking plates is small, the trays and the jacking plates can slide relatively in the process of speed reduction and reversing, the distance of the goods deviating from the centers of the four-way shuttle cars is more obvious, and when the deviation of the goods on the four-way shuttle cars is too large, the goods can slide on the four-way shuttle cars.
The four-way shuttle vehicles are frequently put in and out of the warehouse, the goods overturn phenomenon seriously influences the carrying efficiency and the safety performance of the four-way shuttle vehicles, and the four-way shuttle vehicles do not meet the actual use requirements.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a device and a method for dispatching a four-way shuttle and calibrating cargos.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an apparatus for four-way shuttle dispatching and cargo calibration, comprising: four-way shuttle, its characterized in that: the device comprises a tray, a four-direction shuttle car, a lifting plate, a sensor mounting bracket, a distance sensor and a positioning reference structure, wherein the lifting plate is arranged above the four-direction shuttle car and symmetrically distributed around a central shaft, the peripheral plate on at least one side of the four-direction shuttle car is symmetrically provided with two sensor mounting brackets along the central shaft through bolts, each sensor mounting bracket is provided with the distance sensor, and the distance sensor is used for detecting signals reflected by the positioning reference structure on the tray.
Preferably, the distance sensor is a triangulation sensor.
As a preferred scheme, the triangulation sensor is provided with two lenses, namely an emission lens and a receiving lens, wherein the emission lens is used for emitting light; the receiving lens is used for detecting the intensity of the returned light.
A method for four-way shuttle dispatching and cargo calibration, characterized by: the method comprises the following steps:
receiving a target goods position and a path sent by an upper computer, calculating the quantity of goods passing through a walking path of the four-way shuttle vehicle, judging the positions of the four-way shuttle vehicle and the goods by the four-way shuttle vehicle according to the intensity of reflected light received by two triangulation sensors at one side close to the goods position, and counting the quantity of the passed goods;
when the shuttle car passes through a goods space in front of the target goods, the four-way shuttle car is positioned at the position coincident with the central line of the tray according to the intensity of the reflected light received by the two triangulation sensors at one side.
Preferably, the method further comprises the following steps: the triangulation sensor is initialized and adjusted, the measurement distance of the triangulation sensor is adjusted according to the colors of different positioning reference structures, the measurement distance is the distance between the emission lens and the positioning reference structures, and outside the distance, emitted light cannot be reflected back.
As a preferred scheme, the four-way shuttle vehicle judges the positions of the four-way shuttle vehicle and the goods according to the intensity of reflected light received by two triangulation sensors at one side close to the goods space, and the method comprises the following specific steps:
when the two triangulation sensors cannot receive the reflected light, judging that the goods are not available;
when the two triangulation sensors receive reflected light rays with different light ray intensities, the state of the goods is judged to be close to the goods state;
when the two triangulation sensors receive the reflected light rays with the same light ray intensity, judging that the number of the goods is counted;
when the two triangulation sensors receive the reflected light rays with different light ray intensities, the state of being far away from the goods is judged, and the next cycle counting period is started.
Preferably, when passing through a front cargo space of the target cargo, the four-way shuttle vehicle positions the four-way shuttle vehicle at a position coinciding with the center line of the pallet according to the intensity of reflected light received by the two triangulation sensors on one side, and the specific steps are as follows:
when the two triangulation sensors receive reflected light rays with different light ray intensities, the intensity E of the reflected light rays of the two triangulation sensors is compared1And E2，E1＜E2Controlling the directional strength of the four-way shuttle to be E2One side of (a) moves;
when the intensity E of the reflected light of two triangulation sensors1＝E2When the four-way shuttle vehicle stops, the deviation between the center lines of the two triangulation sensors and the center line of the positioning reference structure is smaller than the positioning precision of the four-way shuttle vehicle, and the center lines of the four-way shuttle vehicle and the tray coincide.
Preferably, the distance t between the two triangulation sensors is 2p + q, p is the positioning accuracy of the four-way shuttle, and q is the width of the positioning reference structure.
Preferably, the control four-way shuttle directional strength is E2Is set to a rated speed
And (4) doubling.
Has the advantages that: the device and the method for dispatching the four-way shuttle and calibrating the goods can realize that the four-way shuttle can simply and quickly reach the goods position when executing a goods taking task, automatically calibrate and find the central position of the goods, avoid the phenomenon that the goods are easily toppled in the current goods taking process of the four-way shuttle, embody the excellent safety performance of the heavy-load four-way shuttle and meet the actual use requirement. This design simple structure, the operation is stable, can accomplish the tray calibration to the quadriversal shuttle automatically, has improved the security and the reliability of quadriversal shuttle.
Drawings
FIG. 1 is a front view of the apparatus of the present invention.
FIG. 2 is a top view of the apparatus of the present invention.
FIG. 3 is a schematic flow chart of the method of the present invention.
Fig. 4 is a schematic diagram of the positioning reference structure position state when the reflected light intensities of the two triangulation sensors on one side are the same.
Fig. 5 is a schematic diagram showing a state where the positions of the positioning reference structures are different when the reflected light intensities of the two triangulation sensors on one side are different.
Wherein: 1. a jacking plate; 2. a tray; 3. positioning a reference structure; 4. a triangulation sensor; 5. a peripheral plate; 6. a sensor mounting bracket.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1-2, an apparatus for four-way shuttle dispatching and cargo calibration includes: the lifting plates 1 are arranged above the four-way shuttle vehicle and symmetrically distributed around the central shaft, and are used for completing the actions of lifting and descending the tray 2; the jacking plate 1 is loaded with an iron pallet 2 and goods, wherein the goods are usually 1.5t of metal materials and are placed in the center of the pallet; the tray 2 is provided with a positioning reference structure 3, and the positioning reference structure 3 is arranged as a middle leg at the bottom of the tray; two sensor mounting brackets 6 are symmetrically and respectively mounted on peripheral plates 5 on two sides of the four-way shuttle car along a central shaft through bolts, and a triangulation sensor 4 is mounted on each sensor mounting bracket through a waist-shaped groove.
The triangulation sensor is provided with two lenses, namely an emission lens and a receiving lens, wherein the emission lens is used for emitting light rays with good straightness; the receiving lens is a focusing lens that detects the intensity of the returning light. The triangulation sensor used in the invention adopts the working principle of background suppression, the measuring distance can be adjusted according to the colors of different positioning reference structures, the measuring distance needs to be adjusted to be the distance from the transmitting lens to the positioning reference structure, and the light reflected outside the distance cannot be received by the receiving lens no matter the intensity of the light.
Example 1:
when the goods taking device is used, when the four-way shuttle car receives a goods taking task, the upper computer sends a target goods position of goods, a path of the four-way shuttle car is planned, accurate position coordinates of related goods positions do not need to be sent, the four-way shuttle car automatically judges the position of the tray relative to the four-way shuttle car, the tray reaches an appointed goods taking position, the center line of the tray is enabled to be coincident with the center line of the four-way shuttle car, and the tray is located in the middle position after the four-way shuttle car is jacked.
As shown in fig. 3, a method for four-way shuttle dispatching and cargo calibration includes the following steps:
the triangulation sensor is initialized and adjusted, the measurement distance of the triangulation sensor is adjusted according to the colors of different positioning reference structures, the measurement distance is the distance between the emission lens and the positioning reference structures, and outside the distance, emitted light cannot be reflected back.
Receiving a target goods position and a path sent by an upper computer, calculating the quantity of goods passing through the traveling path of the four-way shuttle vehicle, judging the positions of the four-way shuttle vehicle and the goods by the four-way shuttle vehicle according to the intensity of reflected light received by two triangulation sensors at one side close to the goods position, and counting the quantity of the passing goods.
When the shuttle car passes through a goods space in front of the target goods, the four-way shuttle car is positioned at the position coincident with the central line of the tray according to the intensity of the reflected light received by the two triangulation sensors at one side.
The four-way shuttle vehicle judges the positions of the four-way shuttle vehicle and the goods according to the intensity of the reflected light received by the two triangulation sensors on one side close to the goods space, and the method comprises the following specific steps:
when the two triangulation sensors cannot receive the reflected light, judging that the goods are not available;
when the two triangulation sensors receive reflected light rays with different light ray intensities, the state of the goods is judged to be close to the goods state;
when the two triangulation sensors receive the reflected light rays with the same light ray intensity, judging that the number of the goods is counted;
when the two triangulation sensors receive the reflected light rays with different light ray intensities, the state of being far away from the goods is judged, and the next cycle counting period is started.
As shown in fig. 4 and 5, when passing through the front cargo space of the target cargo, the four-way shuttle vehicle positions the four-way shuttle vehicle at a position coinciding with the center line of the pallet according to the intensity of the reflected light received by the two triangulation sensors on one side, and the specific steps are as follows:
when the two triangulation sensors receive reflected light rays with different light ray intensities, the intensity E of the reflected light rays of the two triangulation sensors is compared1And E2，E1＜E2Controlling the directional strength of the four-way shuttle to be E2One side of (a) moves;
when the intensity E of the reflected light of two triangulation sensors1＝E2When the four-way shuttle vehicle stops, the deviation between the center lines of the two triangulation sensors and the center line of the positioning reference structure is smaller than the positioning precision of the four-way shuttle vehicle, and the center lines of the four-way shuttle vehicle and the tray coincide.
The distance t between the two triangulation sensors is 2p + q, p is the positioning precision of the four-way shuttle, and q is the width of the positioning reference structure.
The directional strength of the four-way shuttle is controlled to be E2Is set to a rated speed
And (4) doubling.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. A method for four-way shuttle dispatching and cargo calibration, characterized by: including an apparatus for four-way shuttle dispatch and cargo calibration, the apparatus comprising: the device comprises a four-direction shuttle vehicle, a jacking plate, two sensor mounting brackets, a distance sensor and a positioning reference structure, wherein the jacking plate is symmetrically distributed above the four-direction shuttle vehicle about a central shaft, the two sensor mounting brackets are symmetrically mounted on a peripheral plate on at least one side of the four-direction shuttle vehicle along the central shaft through bolts, and each sensor mounting bracket is provided with the distance sensor which is used for detecting a signal reflected by the positioning reference structure on a tray;
the distance sensor adopts a triangulation sensor;
the triangulation sensor is provided with two lenses, an emission lens and a receiving lens, wherein the emission lens is used for emitting light; the receiving lens is used for detecting the intensity of the returned light;
the method comprises the following steps:
receiving a target goods position and a path sent by an upper computer, calculating the quantity of goods passing through a walking path of the four-way shuttle vehicle, judging the positions of the four-way shuttle vehicle and the goods by the four-way shuttle vehicle according to the intensity of reflected light received by two triangulation sensors at one side close to the goods position, and counting the quantity of the passed goods;
when the goods pass through a goods space in front of the target goods, the four-way shuttle vehicle positions the four-way shuttle vehicle at a position which is superposed with the central line of the tray according to the intensity of reflected light rays received by the two triangulation sensors at one side;
initializing and adjusting the triangulation sensor, and adjusting the measurement distance of the triangulation sensor according to the colors of different positioning reference structures, wherein the measurement distance is the distance between the emission lens and the positioning reference structures, and the emitted light cannot be reflected back beyond the distance;
the four-way shuttle vehicle judges the positions of the four-way shuttle vehicle and the goods according to the intensity of the reflected light received by the two triangulation sensors on one side close to the goods space, and the method comprises the following specific steps:
when the two triangulation sensors cannot receive the reflected light, judging that the goods are not available;
when the two triangulation sensors receive reflected light rays with different light ray intensities, the state of the goods is judged to be close to the goods state;
when the two triangulation sensors receive the reflected light rays with the same light ray intensity, judging that the number of the goods is counted;
when the two triangulation sensors receive reflected light rays with different light ray intensities, the state of being far away from the goods is judged, and a next cycle statistical period is started;
when the shuttle car passes through a front goods space of the target goods, the four-way shuttle car is positioned at the position coincident with the central line of the tray according to the intensity of reflected light rays received by the two triangulation sensors at one side, and the specific steps are as follows:
when the two triangulation sensors receive reflected light rays with different light ray intensities, the intensity E of the reflected light rays of the two triangulation sensors is compared1And E2，E1＜E2Controlling the directional strength of the four-way shuttle to be E2One side of (a) moves;
when the intensity E of the reflected light of two triangulation sensors1＝E2When the four-way shuttle vehicle stops, the deviation between the center lines of the two triangulation sensors and the center line of the positioning reference structure is smaller than the positioning precision of the four-way shuttle vehicle, and the center lines of the four-way shuttle vehicle and the tray coincide.
2. The method for four-way shuttle car dispatch and cargo calibration of claim 1, wherein: the distance t between the two triangulation sensors is 2p + q, p is the positioning precision of the four-way shuttle, and q is the width of the positioning reference structure.
3. The method for four-way shuttle car dispatch and cargo calibration of claim 1, wherein: the directional strength of the four-way shuttle is controlled to be E2Is set to a rated speed
And (4) doubling.
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| CN202010703065.8A CN111874503B (en) | 2020-07-20 | 2020-07-20 | Device and method for four-way shuttle dispatching and cargo calibration |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023276B (en) * | 2021-03-05 | 2022-12-20 | 浙江世仓智能仓储设备有限公司 | Logistics shuttle and tray alignment method thereof |
| CN113716254B (en) * | 2021-09-07 | 2023-05-02 | 江苏智库智能科技有限公司 | Positioning calibration system and method for four-way shuttle |
| CN114537940A (en) * | 2021-10-28 | 2022-05-27 | 北京迈格威科技有限公司 | Shuttle vehicle for warehousing system, warehousing system and control method of shuttle vehicle |
| CN114212433B (en) * | 2022-01-12 | 2024-01-12 | 北京京东乾石科技有限公司 | Shuttle control method and device, shuttle and storage medium |
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