CN112230655B - Walking control system and method of four-way shuttle - Google Patents
Walking control system and method of four-way shuttle Download PDFInfo
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- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- 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
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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 smaller 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 warehouse carrying equipment in modern manufacturing industry integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors and the like, is high-tech warehouse logistics equipment integrating automatic carrying, unmanned guiding and intelligent control, can run in four directions, efficiently and flexibly work 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 a modern warehouse logistics system.
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 the PLC to calculate the actual running displacement of the servo motor based on the specific displacement is as follows:
S 2 ＝S 1 *n 1 *p/π*d*n 2
wherein S 2 D is the diameter of the running wheel of the four-way shuttle car, and p is the pulse of the servo motor rotating one circleNumber of impulses, n 1 Is a gear ratio of n 2 Reduction ratio, S 1 A specific displacement.
Furthermore, 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 )*V max ；
When the actual running displacement is more than or equal to 0.25 meter and the unfinished displacement is more than 0.5 meter, the PLC controls the running speed V of the four-way shuttle vehicle to be V max ；
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 (π S) 3 )*V max ，
Wherein V max Is 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; in the driving process, the positioning device is matched with the encoder and the photoelectric sensor, 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 do not limit the invention.
In a traditional four-way shuttle vehicle, the four-way shuttle vehicle has the defects of slow running speed, repeated travel, low positioning precision and the like, so that 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 the technical problems, the invention is further explained by combining the drawings and the specific embodiments in the specification.
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 vehicle 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 drive 1 ，V 1 And N denotes a rated motor rotation speed represented by a servo motor included in the four-way shuttle.
In the running process of the four-way shuttle vehicle, the PLC reads the specific running displacement S of the servo motor through the encoder 1 And based on the specific displacement S 1 Converting actual running displacement S of servo motor 2 Based on the set running displacement S and the actual running displacement S 2 Determining an incomplete displacement S 3 (ii) a Actual travel displacement S 2 The calculation formula of (2) is as follows: s 2 ＝S 1 *n 1 *p/π*d*n 2 Where 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 motor 1 Is a gear ratio, n 2 For reduction ratio, S 1 A specific displacement.
Calculating the incomplete displacement S 3 The formula of (1) is: s 3 ＝S-S 2 It can be known that
S 3 ＝S-S 1 *n 1 *p/π*d*n 2 。
The four-way shuttle vehicle is divided into 3 driving stages in the driving process, namely an acceleration stage, a constant speed stage and a deceleration stage. At the time of accelerationIn sections, i.e. when the actual travel displacement S 2 Within 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 V max The expression of the running speed V is: v = sin (pi/4 + pi S) 2 )*V max 。
When the actual running displacement S 2 Is greater than or equal to a first set distance (0.25 m is set in the embodiment) and does not complete the displacement S 3 If 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 completed 3 And the running speed V of the four-way shuttle vehicle is controlled to change from the set maximum speed to 0 by the PLC controller, wherein the running speed V is less than or equal to a second set distance (0.5 meter is set in the embodiment), and the running speed V is expressed by the following expression: v = cos (π S) 3 )*V max 。
When the displacement S is not completed 3 And the distance is less 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 a designated area or not according to the received signal returned by the photoelectric sensor. If at S 3 When 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 does not reach a target point.
Further, the control method executed by the PLC controller further includes: the basis of reaching the target point of the four-way shuttle vehicle is that the photoelectric sensor irradiates the goods shelf when the four-way shuttle vehicle finally stops running. If the four-way shuttle vehicle exceeds or does not reach the target point after the travel is finished, the low speed is 0.1V max The 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 of the four-way shuttle vehicle 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 and a traveling control system of a four-way shuttle vehicle, in the first embodiment, the photoelectric sensor module includes 4 diffuse reflection sensors, the four diffuse reflection sensors are respectively arranged in four directions above a designated area of a shelf, and the four photoelectric sensors 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 device are both arranged in the four-way shuttle; the photoelectric sensor is arranged outside the four-way shuttle vehicle 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 disposed within the four-way shuttle and electrically connected to 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 flow chart of the control method is shown in fig. 3, after the four-way shuttle vehicle obtains the down-sending displacement, the PLC reads the encoder data to control the servo drive, and then the servo drive controls the motor to rotate, so that the four-way shuttle vehicle moves out of a fixed displacement stroke according to the down-sending 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 drive 1 ，V 1 And N denotes a rated motor rotation speed represented by a servo motor included in the four-way shuttle.
In the running process of the four-way shuttle, the encoder reads the specific running displacement S of the servo motor 1 The PLC is connected with the encoder data through servo drive to obtain the specific displacement S of the servo motor 1 The diameter d of a running wheel of the four-way shuttle, the number p of pulses of one rotation of the servo motor and the gear ratio n 1 And a reduction ratio n 2 And a specific displacement S 1 Performing conversion to obtain the currentRunning displacement S 2 ，S 2 ＝S 1 *n 1 *p/π*d*n 2 。
Calculating incomplete displacement S in real time 3 ,S 3 ＝S-S 2 It can be known that
S 3 ＝S-S 1 *n 1 *p/π*d*n 2 。
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 V max ，V＝sin(π/4+π*S 2 )*V max In which S is 2 The actual running displacement is represented, namely the four-way shuttle vehicle runs for 0.25 meter and accelerates to the maximum speed. Namely S 2 And when the speed is 0.25, the four-way shuttle vehicle enters a constant speed section. When S is 3 When =0.5, the vehicle enters a deceleration section, and the running speed V of the four-way shuttle vehicle is changed from V max Onset of change to 0,V = cos (π S) 3 )*V max 。
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 car 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 is 3 When =0.1, the four photoelectric sensor assemblies collect data in real time, if the data is in S 3 In 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 is closer to the target point, the PLC judges that in the process, the four sensors are fed back by the four photoelectric sensorsAnd if the photoelectric sensor irradiates the goods shelf, 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.
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 vehicle exceeds or does not reach the target point after the travel is finished, the low speed is 0.1V max The speed of the sensor unit is advanced or retreated to a target point, and whether the speed reaches the target point is judged by the photoelectric sensor unit. 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 quadriversal shuttle, are mutually supported by four photoelectric sensor and encoder, can definitely know quadriversal shuttle current position, improve positioning accuracy. Judging the current driving direction and the current travel according to the issued displacement, and stably driving by changing the speed; in the driving process, the encoder and the four photoelectric sensors are matched with each other, so that accurate positioning is realized, the positioning precision is improved, and the real-time distance can be acquired.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (8)
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, and the encoder 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;
the walking control method of the system 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 larger than or equal to a first set distance and the unfinished displacement is larger than a second set distance, the PLC controls the running speed of the four-way shuttle vehicle to be a set maximum speed and to move at a constant 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;
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 method for converting the actual running displacement of the servo motor by the PLC based on the specific displacement comprises the following steps:
S 2 ＝S 1 *n 1 *p/π*d*n 2
wherein S 2 D 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, n 1 Is a gear ratio of n 2 Reduction ratio, S 1 A specific displacement.
2. The walking control system of four-way shuttle vehicle according to claim 1, wherein said photoelectric sensor module comprises four diffuse reflection sensors respectively disposed in four directions above a designated area of the shelf.
3. The walking control system of the four-way shuttle according to claim 1, further comprising an on-board 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 car 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 system of the four-way shuttle car according to claim 1, further comprising a vehicle-mounted communication module, wherein the vehicle-mounted communication module is arranged in the four-way shuttle car and 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.
6. The traveling control system for a four-way shuttle according to claim 1, wherein the PLC controller determines the sign of the traveling displacement S based on 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.
7. The walking control system of a four-way shuttle according to claim 1,
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 m, the running speed V of the four-way shuttle vehicle controlled by the PLC controller has the expression: v = sin (pi/4 + pi S) 2 )*V max ；
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 V max ；
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 (π S) 3 )*V max ，
Wherein V max Is the set maximum speed.
8. The walking control system of the four-way shuttle according to claim 1, wherein the third set 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.
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| CN202011059090.3A CN112230655B (en) | 2020-09-30 | 2020-09-30 | Walking control system and method of four-way shuttle |
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| CN202011059090.3A CN112230655B (en) | 2020-09-30 | 2020-09-30 | Walking control system and method of four-way shuttle |
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| 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 |
| 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 |
| 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 |
| CN116216159B (en) * | 2023-05-08 | 2023-07-14 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
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