CN112230655A - Walking control system and method of four-way shuttle - Google Patents
Walking control system and method of four-way shuttle Download PDFInfo
- Publication number
- CN112230655A CN112230655A CN202011059090.3A CN202011059090A CN112230655A CN 112230655 A CN112230655 A CN 112230655A CN 202011059090 A CN202011059090 A CN 202011059090A CN 112230655 A CN112230655 A CN 112230655A
- Authority
- CN
- China
- Prior art keywords
- way shuttle
- displacement
- vehicle
- running
- plc
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 80
- 230000008569 process Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a walking control system and a walking control method of a four-way shuttle vehicle, wherein in the running process, a PLC (programmable logic controller) acquires actual running displacement through an encoder, and unfinished displacement is determined according to the set running displacement and the actual running displacement; when the actual running displacement is within a first set distance, accelerating the speed from zero to a set maximum speed; when the actual running displacement is greater than or equal to the first set distance and the unfinished displacement is greater than the second set distance, the running speed is the set maximum speed and moves at a constant speed; when the incomplete displacement is less than or equal to a second set distance, the running speed is changed to 0 from the set maximum speed; and when the unfinished displacement is less than or equal to a third set distance, the PLC judges whether the four-way shuttle car reaches a designated area or not according to the received signal returned by the photoelectric sensor. The invention is provided with the vehicle-mounted positioning module and the photoelectric sensor module, and the positioning precision of the four-way shuttle vehicle is judged by feeding back data through the photoelectric sensor and the encoder.
Description
Technical Field
The invention belongs to the technology of the field of automatic stereoscopic warehouse storage, and particularly relates to a walking control system and method of a four-way shuttle vehicle.
Background
With the rapid development of domestic economy for decades, the problems of population aging aggravation, labor cost rise and industrial structure upgrading optimization are met, so that the rapid development of the logistics storage industry is accompanied with the rapid development and gradual maturity of the intelligent storage technology. The four-way shuttle vehicle is important automatic storage and transportation equipment in modern manufacturing industry integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors and the like, is high-tech storage logistics equipment integrating automatic transportation, unmanned guidance and intelligent control, can run in four directions, efficiently and flexibly operate across roadways, is not limited by space, and fully utilizes space. The application of the four-way shuttle vehicle greatly improves the utilization rate of the storage space, and the four-way shuttle vehicle is also rapidly applied to modern warehouse logistics systems.
Because the traditional four-way shuttle vehicle has the defects of walking shake, low precision, repeated stroke, low speed and the like in the running process, the development of the four-way shuttle vehicle which is stable in walking, high in speed and high in precision is necessary.
Disclosure of Invention
The invention aims to provide a walking control system and a walking control method of a four-way shuttle vehicle, which aim to overcome the defects of low positioning precision, walking jitter, low speed and the like of the four-way shuttle vehicle in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
in one aspect, the present invention provides a walking control system for a four-way shuttle, comprising: the system comprises a vehicle-mounted control module, a vehicle-mounted positioning module and a photoelectric sensor module; the vehicle-mounted control module comprises a PLC (programmable logic controller), a servo driving module and a servo motor, wherein the PLC is electrically connected with the servo driving module, and the servo driving module is electrically connected with the servo motor; the vehicle-mounted positioning module comprises an encoder which is electrically connected with the servo drive and the servo motor; the vehicle-mounted control module and the vehicle-mounted positioning are both arranged in the four-way shuttle vehicle;
the photoelectric sensor is arranged outside the four-way shuttle and irradiates a designated area of a goods shelf, and the photoelectric sensor is electrically connected with the PLC.
Further, the photoelectric sensor module comprises four diffuse reflection sensors which are respectively arranged in four directions above the designated area of the shelf.
Furthermore, the walking control system also comprises a vehicle-mounted communication module which is arranged in the four-way shuttle and electrically connected with the PLC.
Further, the vehicle-mounted communication module comprises a wireless access point and a wireless network bridge, and a wireless network channel is established between the wireless access point and the wireless network bridge to transmit data; the wireless access point is electrically connected with the PLC, and the wireless network bridge is connected with an upper system.
In a second aspect, the present invention provides a walking control method for a four-way shuttle, where the walking control method is applied to a walking control system for the four-way shuttle, and the walking control system for the four-way shuttle is the walking control system for the four-way shuttle provided in any possible embodiment of the first aspect, and the walking control method includes the following steps:
the PLC controller outputs a corresponding pulse speed signal to the servo driving module to drive the servo motor to rotate according to the preset current running speed of the four-way shuttle vehicle;
in the running process of the four-way shuttle vehicle, the PLC reads the concrete running displacement of the servo motor which is read by the encoder, converts the actual running displacement of the servo motor based on the concrete displacement and determines the unfinished displacement according to the set running displacement and the actual running displacement;
when the actual running displacement is within a first set distance, the PLC controller controls the running speed V of the four-way shuttle vehicle to accelerate from zero to a set maximum speed;
when the actual running displacement is greater than or equal to a first set distance and the incomplete displacement is greater than a second set distance, the PLC controls the running speed of the four-way shuttle vehicle to move at a constant speed at a set maximum speed;
when the incomplete displacement is less than or equal to a second set distance, the PLC controller controls the running speed V of the four-way shuttle vehicle to change from the set maximum speed to 0;
and when the incomplete displacement is less than or equal to a third set distance, the PLC judges whether the four-way shuttle car reaches a designated area or not according to the received signal returned by the photoelectric sensor. The walking control system is further characterized by further comprising a vehicle-mounted communication module, wherein the vehicle-mounted communication module is arranged in the four-way shuttle car and is electrically connected with the PLC; the set running displacement is obtained by the PLC in the vehicle-mounted control module receiving the issuing of an upper system through a vehicle-mounted communication module. The optional vehicle-mounted communication module comprises a wireless access point and a wireless network bridge, and a wireless network channel is established between the wireless access point and the wireless network bridge to transmit data; the wireless access point is electrically connected with the PLC, and the wireless network bridge is connected with an upper system.
Further, the method for converting the actual running displacement of the servo motor by the PLC based on the specific displacement comprises the following steps:
S2＝S1*n1*p/π*d*n2
wherein S2D is the diameter of the running wheel of the four-way shuttle car, p is the number of pulses of one turn of the servo motor, n1Is a gear ratio of n2Reduction ratio, S1A specific displacement.
Further, the PLC judges the positive and negative of the running displacement S according to the set running displacement S, and if the S is less than 0, the running direction of the four-way shuttle vehicle is reverse; if S is larger than 0, the four-way shuttle vehicle runs in the forward direction.
Further, the first set distance is 0.25 meter, and the second set distance is 0.5 meter; when the actual running displacement is within 0.25 meter, the expression of the running speed V of the four-way shuttle vehicle controlled by the PLC controller is as follows: v-sin (pi/4 + pi + S)2)*Vmax；
When the actual running displacement is more than or equal to 0.25 m and the unfinished displacement is more than 0.5 m, the PLC controls the running speed V of the four-way shuttle to be Vmax；
When the incomplete displacement is less than or equal to 0.5 m, the running speed V of the four-way shuttle vehicle controlled by the PLC controller has the expression: v ═ cos (pi ═ S)3)*Vmax，
Wherein VmaxIs the set maximum speed.
Further, the third distance is 0.1 meter, when the unfinished displacement is less than or equal to 0.1 meter, the PLC controller determines, according to the received signal returned by the photoelectric sensor, that the four-way shuttle vehicle reaches the designated area, and then the four-way shuttle vehicle stops running, and if the four-way shuttle vehicle is determined not to reach the designated area, the four-way shuttle vehicle advances or retreats to the target point at a speed one tenth of the set maximum speed, and the photoelectric sensor assembly determines whether the four-way shuttle vehicle reaches the target point.
The invention has the beneficial technical effects;
(1) because the vehicle-mounted positioning module and the photoelectric sensor module are arranged, the positioning precision of the four-way shuttle vehicle is judged by feeding back data through the photoelectric sensor and the encoder;
(2) the four-direction shuttle vehicle positioning system adopts the mutual matching of the four photoelectric sensors and the encoder, can definitely know the current position of the four-direction shuttle vehicle, and improves the positioning precision.
(3) The PLC judges the current driving direction and travel according to the set driving displacement, and realizes stable driving by changing the speed according to the set distance; the automobile seat track positioning device is matched with the encoder and the photoelectric sensor in the driving process, so that accurate positioning is realized, the positioning precision is improved, and the real-time distance can be obtained.
(4) The vehicle-mounted communication module is arranged, so that the set running distance sent by the upper-layer system can be received, and the upper-layer system can conveniently carry out remote real-time control on the four-direction balance car.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block topology connection diagram of a preferred embodiment of the present invention;
FIG. 2 is a device topology connection diagram of the preferred embodiment of the present invention
Fig. 3 is a flow chart of a preferred embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the traditional four-way shuttle, the four-way shuttle has the defects of slow running speed, repeated travel, low positioning precision and the like, so the influences of low utilization rate, low efficiency and the like are formed. The invention aims to solve the defects of low positioning precision, walking jitter, low speed and the like of a four-way shuttle vehicle in the prior art. To solve these technical problems, the present invention will be further described with reference to the drawings and specific embodiments.
The embodiment one, walking control system of four-way shuttle includes: the system comprises a vehicle-mounted control module, a vehicle-mounted positioning module and a photoelectric sensor module; the vehicle-mounted control module comprises a PLC (programmable logic controller), a servo driving module and a servo motor, wherein the PLC is electrically connected with the servo driving module, and the servo driving module is electrically connected with the servo motor; the vehicle-mounted positioning module comprises an encoder which is electrically connected with the servo drive and the servo motor; the vehicle-mounted control module and the vehicle-mounted positioning are both arranged in the four-way shuttle vehicle;
the photoelectric sensor is arranged outside the four-way shuttle and irradiates a designated area of a goods shelf, and the photoelectric sensor is electrically connected with the PLC.
In this embodiment, the PLC controller executes the following control method: the PLC controller outputs a corresponding pulse speed signal to the servo driving module to drive the servo motor to rotate according to the preset current running speed V of the four-way shuttle vehicle; converting the speed V into a pulse speed V acceptable for the servo drive1，V1V × N, N indicates a rated rotational speed of a motor represented by a servo motor included in the four-way shuttle.
In the running process of the four-way shuttle vehicle, the PLC controller passes throughEncoder reads specific walking displacement S of servo motor1And based on the specific displacement S1Converting actual running displacement S of servo motor2Based on the set running displacement S and the actual running displacement S2Determining an incomplete displacement S3(ii) a Actual travel displacement S2The calculation formula of (2) is as follows: s2＝S1*n1*p/π*d*n2Where d is the diameter of the running wheel of the four-way shuttle, p is the number of pulses of one revolution of the servo motor, and n is the number of pulses of one revolution of the servo motor1Is a gear ratio of n2For reduction ratio, S1A specific displacement.
Calculating the incomplete displacement S3The formula of (1) is: s3＝S-S2It can be known that
S3＝S-S1*n1*p/π*d*n2。
The four-direction shuttle vehicle is divided into 3 driving stages in the driving process, namely an acceleration stage, a constant speed stage and a deceleration stage. In the acceleration phase, i.e. when the actual travel distance S is reached2Within a first set distance (0.25 m set in the embodiment), the running speed V of the four-way shuttle changes from 0 to the set maximum speed VmaxThe expression of the running speed V is: v-sin (pi/4 + pi + S)2)*Vmax。
When the actual running displacement S2Is greater than or equal to a first set distance (0.25 m is set in the embodiment) and does not complete the displacement S3If the distance is greater than a second set distance (0.5 m is set in the embodiment), the PLC controls the speed of the four-way shuttle to be a set maximum speed and move at a constant speed;
when the displacement S is not completed3And the running speed V of the four-way shuttle vehicle is controlled by the PLC controller to change from the set maximum speed to 0, wherein the running speed V is less than or equal to a second set distance (0.5 m is set in the embodiment), and the expression of the running speed V is as follows: v ═ cos (pi ═ S)3)*Vmax。
When the displacement S is not completed3Less than or equal to a third set distance (0.1 meter is set in the embodiment), and the PLC judges whether the four-way shuttle car reaches the designated area or not according to the received signal returned by the photoelectric sensorA domain. If at S3When the distance between the four-way shuttle car and the target point is changed from 0.1 meter to 0, namely when the distance between the four-way shuttle car and the target point is 0.1 meter and the four-way shuttle car is closer to the target point, the PLC judges whether the photoelectric sensor irradiates the goods shelf or not by the data fed back by the photoelectric sensor in the process, and if the distance is larger than the target point, the four-way shuttle car exceeds the target point. After the operation is finished, the four photoelectric sensors do not irradiate the goods shelf, and the four-way shuttle car does not reach the target point.
Further, the control method executed by the PLC controller further includes: the four-way shuttle car reaches the target point according to the principle that the photoelectric sensor irradiates the goods shelf when the four-way shuttle car stops running finally. If the four-way shuttle exceeds or does not reach the target point after the travel of the four-way shuttle is finished, the low speed is 0.1VmaxThe speed of the sensor is advanced or retreated to a target point, and whether the sensor arrives or not is judged by a photoelectric sensor component.
Further, the control method executed by the PLC controller further includes: the PLC controller judges whether the set running position S is positive or negative, if S is less than 0, the running direction of the four-way shuttle vehicle is reverse; if S is larger than 0, the four-way shuttle vehicle runs in the forward direction.
In a second embodiment of the walking control system of a four-way shuttle, in the first embodiment, the photosensor module includes 4 diffuse reflection sensors, the four diffuse reflection sensors are respectively disposed in four directions above a designated area of the shelf, and the four photosensors all irradiate the shelf.
Through adopting four photoelectric sensor and encoder to mutually support, can definitely know four-way shuttle current position, improve positioning accuracy.
Third, on the basis of the above embodiments, the present embodiment provides a walking control system of a four-way shuttle, and the walking control system further includes a vehicle-mounted communication module, and the vehicle-mounted communication module is arranged in the four-way shuttle and is electrically connected with the PLC controller (a module topology connection diagram of the present embodiment is shown in fig. 1).
Optionally, the vehicle-mounted communication module includes a wireless access point and a wireless bridge, and a wireless network channel is established between the wireless access point and the wireless bridge to transmit data; the wireless access point is electrically connected to the PLC controller, and the wireless bridge is connected to an upper system (the device topology connection diagram of this embodiment is shown in fig. 2).
In a fourth embodiment, a method for controlling the movement of a four-way shuttle is applied to a system for controlling the movement of a four-way shuttle, and the system for controlling the movement of a four-way shuttle includes: the system comprises a vehicle-mounted control module, a vehicle-mounted positioning module and a photoelectric sensor module; the vehicle-mounted control module comprises a PLC (programmable logic controller), a servo driving module and a servo motor, wherein the PLC is electrically connected with the servo driving module, and the servo driving module is electrically connected with the servo motor; the vehicle-mounted positioning module comprises an encoder which is electrically connected with the servo drive and the servo motor; the vehicle-mounted control module and the vehicle-mounted positioning are both arranged in the four-way shuttle vehicle; the photoelectric sensor is arranged outside the four-way shuttle and irradiates a designated area of a goods shelf, and the photoelectric sensor is electrically connected with the PLC.
In this embodiment, the photoelectric sensor module adopts four diffuse reflection sensors, and the four diffuse reflection sensors are respectively arranged in four directions outside the four-direction shuttle car.
The PLC controller, the servo driving module and the servo motor which are contained in the vehicle-mounted control module are all arranged in the four-way shuttle car.
Further optionally, the system comprises a vehicle-mounted communication module arranged in the four-way shuttle and electrically connected with the PLC controller; the vehicle-mounted communication module comprises a wireless AP and a wireless network bridge. The wireless AP is a wireless access point of the wireless network, and the wireless bridge is a bridging device of the wireless network. The wireless AP is electrically connected with the PLC, the wireless bridge is connected with the upper system, and a wireless network channel is established between the wireless AP and the wireless bridge to transmit data. The PLC receives a ground instruction from an upper layer system through an established wireless network channel to obtain the distance of the ground travel to be traveled of the four-way shuttle vehicle, namely to obtain the issued displacement S.
The control method has a flow chart as shown in the figureAnd 3, after the four-way shuttle vehicle obtains the issued displacement, reading the encoder data by the PLC to control servo driving, and controlling the motor to rotate by the servo driving so as to enable the four-way shuttle vehicle to move out of a fixed displacement stroke according to the issued displacement. Wherein, in the running process of the four-way shuttle vehicle, the PLC gives the current running speed V of the four-way shuttle vehicle and converts the running speed V into the pulse speed V which can be received by the servo drive1，V1V × N, N indicates a rated rotational speed of a motor represented by a servo motor included in the four-way shuttle.
During the running process of the four-way shuttle, the encoder reads the specific running displacement S of the servo motor1The PLC is connected with the encoder data through servo drive to obtain the specific displacement S of the servo motor1The diameter d of the running wheel of the four-way shuttle car, the number p of pulses of one turn of the servo motor and the gear ratio n1And a reduction ratio n2And a specific displacement S1The current running displacement S is obtained by conversion2，S2＝S1*n1*p/π*d*n2。
Calculating incomplete displacement S in real time3,S3＝S-S2It can be known that
S3＝S-S1*n1*p/π*d*n2。
The four-direction shuttle vehicle is divided into 3 driving stages in the driving process, namely an acceleration stage, a constant speed stage and a deceleration stage. In the acceleration section, the driving speed V of the four-way shuttle changes from 0 to the set maximum speed Vmax，V＝sin(π/4+π*S2)*VmaxIn which S is2Representing the actual running displacement, namely the acceleration of the four-way shuttle car to the maximum speed by 0.25 meter. Namely S2When the speed is equal to 0.25, the four-way shuttle vehicle enters a constant speed section. When S is3When the speed is equal to 0.5, the four-way shuttle vehicle enters a deceleration section, and the running speed V of the four-way shuttle vehicle is changed from VmaxStart to 0, V ═ cos (pi ═ S)3)*Vmax。
The photoelectric sensor assembly transmits an electric signal to the PLC in real time, the PLC receives the electric signal transmitted by the photoelectric sensor assembly to judge the current position, the PLC reads data of the encoder and feeds back the data to the PLC in a servo driving mode, and the PLC collects the electric signal of the photoelectric sensor assembly and controls the four-way shuttle to run in the servo driving mode.
The data obtained by the photoelectric sensor assembly of the four-way shuttle vehicle is used as an auxiliary judgment for the current position, and the PLC controller always reads signals from the four photoelectric sensors in the running process. Since the four-way shuttle is running on the goods shelf and finally stops, all four photoelectric sensors irradiate downwards. When the travel is about to end, the data fed back by the four photoelectric sensors are used for judging whether the four-way shuttle exceeds a target point or whether the four-way shuttle cannot reach the target point. When S is3When the signal value is 0.1, the four photoelectric sensor assemblies acquire data in real time, and if the signal value is S3In the process of changing from 0.1 to 0, namely when the four-way shuttle vehicle is 0.1 meter away from the target point and gets closer to the target point, the PLC judges whether the four photoelectric sensors irradiate the goods shelf or not by data fed back by the four photoelectric sensors in the process, and if so, the four-way shuttle vehicle exceeds the target point. After the operation is finished, the four photoelectric sensors do not irradiate the goods shelf, and the four-way shuttle car does not reach the target point.
The four-way shuttle vehicle reaches the target point according to the principle that the four photoelectric sensors irradiate the goods shelf when the four-way shuttle vehicle stops running finally. If the four-way shuttle exceeds or does not reach the target point after the travel of the four-way shuttle is finished, the low speed is 0.1VmaxThe speed of the sensor is advanced or retreated to a target point, and whether the sensor arrives or not is judged by a photoelectric sensor component. And when the four-way shuttle vehicle accurately reaches the target point, the task is ended.
In the fifth embodiment, on the basis of the fourth embodiment, referring to fig. 3 in the present embodiment, the four-way shuttle vehicle obtains the issued displacement S through the "vehicle-mounted communication module", and the PLC controller determines the moving direction of the four-way shuttle vehicle according to the issued displacement S, and starts the travel. If S is less than 0, the driving direction of the four-way shuttle vehicle is reverse; if S is larger than 0, the four-way shuttle vehicle runs in the forward direction.
This embodiment is owing to set up on-vehicle orientation module, and photoelectric sensor and the encoder feedback data of four directions of accessible make the judgement to the positioning accuracy of four-way shuttle, mutually supports by four photoelectric sensor and encoder, can definitely know four-way shuttle current position, improves positioning accuracy. Judging the current driving direction and travel according to the issued displacement, and stably driving by changing the speed; the automobile seat frame is matched with the encoder and the four photoelectric sensors in the driving process, so that accurate positioning is realized, the positioning precision is improved, and the real-time distance can be obtained.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The walking control system of the four-way shuttle is characterized by comprising: the system comprises a vehicle-mounted control module, a vehicle-mounted positioning module and a photoelectric sensor module; the vehicle-mounted control module comprises a PLC (programmable logic controller), a servo driving module and a servo motor, wherein the PLC is electrically connected with the servo driving module, and the servo driving module is electrically connected with the servo motor; the vehicle-mounted positioning module comprises an encoder which is electrically connected with the servo drive and the servo motor; the vehicle-mounted control module and the vehicle-mounted positioning are both arranged in the four-way shuttle vehicle;
the photoelectric sensor is arranged outside the four-way shuttle and irradiates a designated area of a goods shelf, and the photoelectric sensor is electrically connected with the PLC.
2. The walking control system of a four-way shuttle according to claim 1, wherein the photoelectric sensor module comprises four diffuse reflection sensors respectively disposed in four directions above a designated area of the rack.
3. The walking control system of a four-way shuttle according to claim 1, further comprising an onboard communication module disposed within the four-way shuttle and electrically connected to the PLC controller.
4. The walking control system of the four-way shuttle according to claim 3, wherein the vehicle-mounted communication module comprises a wireless access point and a wireless bridge, and a wireless network channel is established between the wireless access point and the wireless bridge to transmit data; the wireless access point is electrically connected with the PLC, and the wireless network bridge is connected with an upper system.
5. The walking control method of the four-way shuttle vehicle is characterized by being applied to a walking control system of the four-way shuttle vehicle, wherein the walking control system of the four-way shuttle vehicle is the walking control system of the four-way shuttle vehicle as claimed in any one of claims 1-2, and the walking control method comprises the following steps:
the PLC controller outputs a corresponding pulse speed signal to the servo driving module to drive the servo motor to rotate according to the preset current running speed of the four-way shuttle vehicle;
in the running process of the four-way shuttle vehicle, the PLC reads the concrete displacement of the servo motor which has run through the encoder, converts the actual running displacement of the servo motor based on the concrete displacement and determines the unfinished displacement according to the set running displacement and the actual running displacement;
when the actual running displacement is within a first set distance, the PLC controller controls the running speed V of the four-way shuttle vehicle to accelerate from zero to a set maximum speed;
when the actual running displacement is greater than or equal to a first set distance and the incomplete displacement is greater than a second set distance, the PLC controls the running speed of the four-way shuttle vehicle to move at a constant speed at a set maximum speed;
when the incomplete displacement is less than or equal to a second set distance, the PLC controller controls the running speed V of the four-way shuttle vehicle to change from the set maximum speed to 0;
and when the incomplete displacement is less than or equal to a third set distance, the PLC judges whether the four-way shuttle car reaches a designated area or not according to the received signal returned by the photoelectric sensor.
6. The walking control method of the four-way shuttle according to claim 5, wherein the walking control system further comprises a vehicle-mounted communication module, the vehicle-mounted communication module is arranged in the four-way shuttle and is electrically connected with the PLC controller; the set running displacement is obtained by the PLC in the vehicle-mounted control module receiving the issuing of an upper system through a vehicle-mounted communication module.
7. The travel control method of a four-way shuttle according to claim 5, wherein the method for the PLC controller to calculate the actual travel displacement of the servo motor based on the specific displacement is as follows:
S2＝S1*n1*p/π*d*n2
wherein S2D is the diameter of the running wheel of the four-way shuttle car, p is the number of pulses of one turn of the servo motor, n1Is a gear ratio of n2Reduction ratio, S1A specific displacement.
8. The traveling control method for the four-way shuttle according to claim 5, wherein the PLC controller determines the sign of the traveling displacement S according to the set traveling displacement S, and if S < 0, the traveling direction of the four-way shuttle is reverse; if S is larger than 0, the four-way shuttle vehicle runs in the forward direction.
9. The running control method of a four-way shuttle according to claim 5,
the first set distance is 0.25 meter, and the second set distance is 0.5 meter; when the actual running displacement is within 0.25 meter, the expression of the running speed V of the four-way shuttle vehicle controlled by the PLC controller is as follows: v-sin (pi/4 + pi + S)2)*Vmax；
When the actual running displacement is more than or equal to 0.25 m and the unfinished displacement is more than 0.5 m, the PLC controls the running speed V of the four-way shuttle vehicle to beVmax；
When the incomplete displacement is less than or equal to 0.5 m, the running speed V of the four-way shuttle vehicle controlled by the PLC controller has the expression: v ═ cos (pi ═ S)3)*Vmax，
Wherein VmaxIs the set maximum speed.
10. The walking control method of the four-way shuttle according to claim 5, wherein the third distance is 0.1 m, when the unfinished displacement is less than or equal to 0.1 m, the PLC controller determines that the four-way shuttle reaches the designated area according to the received signal returned by the photoelectric sensor, the four-way shuttle stops running, if the four-way shuttle does not reach the designated area, the four-way shuttle advances or retreats to the target point at a speed one tenth of the set maximum speed, and the photoelectric sensor assembly determines whether the four-way shuttle reaches the target point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011059090.3A CN112230655B (en) | 2020-09-30 | 2020-09-30 | Walking control system and method of four-way shuttle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011059090.3A CN112230655B (en) | 2020-09-30 | 2020-09-30 | Walking control system and method of four-way shuttle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112230655A true CN112230655A (en) | 2021-01-15 |
| CN112230655B CN112230655B (en) | 2023-02-14 |
Family
ID=74119818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011059090.3A Active CN112230655B (en) | 2020-09-30 | 2020-09-30 | Walking control system and method of four-way shuttle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112230655B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113009914A (en) * | 2021-03-04 | 2021-06-22 | 武汉钢铁有限公司 | Automatic walking control device and method for molten iron tank car |
| CN113716254A (en) * | 2021-09-07 | 2021-11-30 | 江苏智库智能科技有限公司 | Positioning and calibrating system and method for four-way shuttle |
| CN116216159A (en) * | 2023-05-08 | 2023-06-06 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
| CN116354277A (en) * | 2023-04-07 | 2023-06-30 | 苏州穗柯智能科技有限公司 | Electrical control system of curve double-drive fork type shuttle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN107826582A (en) * | 2017-11-30 | 2018-03-23 | 无锡凯乐士科技有限公司 | A kind of new logistics shuttle robot system and its control method |
| CN109883445A (en) * | 2019-03-14 | 2019-06-14 | 中国水利水电夹江水工机械有限公司 | A kind of testing calibration control method of operating mechanism stroke and position |
| CN110554690A (en) * | 2018-05-31 | 2019-12-10 | 北京京东尚科信息技术有限公司 | Positioning method and system of intelligent trolley |
-
2020
- 2020-09-30 CN CN202011059090.3A patent/CN112230655B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106628791A (en) * | 2017-03-08 | 2017-05-10 | 江苏华章物流科技股份有限公司 | Traveling positioning method for rail guided vehicle |
| CN107826582A (en) * | 2017-11-30 | 2018-03-23 | 无锡凯乐士科技有限公司 | A kind of new logistics shuttle robot system and its control method |
| CN110554690A (en) * | 2018-05-31 | 2019-12-10 | 北京京东尚科信息技术有限公司 | Positioning method and system of intelligent trolley |
| CN109883445A (en) * | 2019-03-14 | 2019-06-14 | 中国水利水电夹江水工机械有限公司 | A kind of testing calibration control method of operating mechanism stroke and position |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113009914A (en) * | 2021-03-04 | 2021-06-22 | 武汉钢铁有限公司 | Automatic walking control device and method for molten iron tank car |
| CN113716254A (en) * | 2021-09-07 | 2021-11-30 | 江苏智库智能科技有限公司 | Positioning and calibrating system and method for four-way shuttle |
| CN116354277A (en) * | 2023-04-07 | 2023-06-30 | 苏州穗柯智能科技有限公司 | Electrical control system of curve double-drive fork type shuttle |
| CN116354277B (en) * | 2023-04-07 | 2023-12-22 | 苏州穗柯智能科技有限公司 | Electrical control system of curve double-drive fork type shuttle |
| CN116216159A (en) * | 2023-05-08 | 2023-06-06 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112230655B (en) | 2023-02-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112230655B (en) | Walking control system and method of four-way shuttle | |
| CN105501863B (en) | One kind is based on pinpoint single track logistic car and its control method in greenhouse | |
| CN202879486U (en) | System for preventing electromobile from sliding downhill | |
| CN106004996A (en) | Intelligent vehicle steering control method and system | |
| CN110228470A (en) | A kind of rate of economizing gasoline real-time computing technique based on the prediction of hiding auto model | |
| CN102854878A (en) | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof | |
| CN101841295B (en) | Linear motor motion control method based on fixed-step speed measurement | |
| CN105015521A (en) | Automatic parking device of large vehicle based on magnetic nail | |
| CN105692021A (en) | STM-based intelligent control system for logistics storage rail guide vehicle and method thereof | |
| CN102913613A (en) | AMT (automatic mechanical transmission) gear position calibration method for hybrid automobiles | |
| CN108790938A (en) | Motor torque control method for different driving modes | |
| CN102501890A (en) | Track changing control system for inspection vehicle and control method | |
| CN202795055U (en) | Infrared light electric guide AGV (automatic guided vehicle) device | |
| CN111273657A (en) | Automatic laser positioning mode of RGV (gas insulated switchgear) trolley by adopting frequency converter | |
| CN113253773B (en) | Positioning control method and system based on frequency converter | |
| CN201965486U (en) | Intelligent tracking trolley | |
| CN105774655A (en) | Oblique parking space detection device and method | |
| CN104129715A (en) | Bridge type crane positioning system based on laser ranging and bar code positioning technology | |
| CN205311599U (en) | Single track commodity circulation car of accurate positioning for industrialized agriculture | |
| CN203490506U (en) | Vehicle-mounted laser automatic guiding control system | |
| CN115525051A (en) | Shuttle vehicle walking positioning control method based on encoder self-correction | |
| CN103616895B (en) | Based on carriage walking position control method and the system of discrete coordinates system | |
| CN103163795B (en) | Traction control system and method for positioning, calculating and correcting traction position | |
| CN104960606A (en) | Two-wheeled self-balancing car with adaptively adjusted perspective | |
| CN111785027B (en) | Automatic driving closed-loop information system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |