CN113023276B - Logistics shuttle and tray alignment method thereof - Google Patents
Logistics shuttle and tray alignment method thereof Download PDFInfo
- Publication number
- CN113023276B CN113023276B CN202110245818.XA CN202110245818A CN113023276B CN 113023276 B CN113023276 B CN 113023276B CN 202110245818 A CN202110245818 A CN 202110245818A CN 113023276 B CN113023276 B CN 113023276B
- Authority
- CN
- China
- Prior art keywords
- shuttle
- positioning sensor
- positioning
- tray
- sensors
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Abstract
The invention discloses a method for aligning a tray of a logistics shuttle vehicle and the logistics shuttle vehicle, wherein the method for aligning the tray of the logistics shuttle vehicle comprises the following steps: when at least one positioning sensor of the shuttle vehicle detects a signal, determining the relative position relationship between the tray and the shuttle vehicle according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is located, wherein the tray bearing surface of the shuttle vehicle comprises at least one positioning sensor group, and at least two positioning sensors in each positioning sensor group are respectively and symmetrically located at two opposite sides of the running direction of the shuttle vehicle; and controlling the shuttle car to reciprocate below the tray along the running direction of the shuttle car according to the relative position relationship between the tray and the shuttle car, and controlling the shuttle car to be symmetrical with the center of the tray through the detection of each group of positioning sensors in the reciprocating motion process. The embodiment of the invention discloses a tray alignment method of a logistics shuttle and the logistics shuttle, which can improve the storage efficiency of a warehousing system of the logistics shuttle.
Description
Technical Field
The embodiment of the invention relates to a logistics technology, in particular to a tray alignment method of a logistics shuttle and the logistics shuttle.
Background
With the increasing use price of land, the requirement on the land use efficiency of the warehouse logistics industry is higher and higher. As a mature and efficient storage method, the shuttle storage system is widely used in various industries.
Shuttle vehicles are increasingly used as key storage and retrieval equipment in shuttle storage systems with high efficiency of space utilization. When the shuttle car is in stock, the goods carrying tray needs to be placed on the rail of the shuttle car by a manual operation forklift, and then the goods carrying tray is lifted by the shuttle car for stock operation. However, manual operations inevitably involve errors, which may result in the pallet not being placed in the correct position. If the pallets are not placed at the correct positions, the pallets cannot be accurately stored at the preset positions when the shuttle car lifts the pallets, which affects the storage efficiency of the shuttle-type logistics storage system.
Disclosure of Invention
The invention provides a tray alignment method of a logistics shuttle vehicle and the logistics shuttle vehicle, which can improve the storage efficiency of a shuttle type storage system.
In a first aspect, an embodiment of the present invention provides a method for aligning a tray of a logistics shuttle, including:
when at least one positioning sensor of the shuttle vehicle detects a signal, determining the relative position relation between the tray and the shuttle vehicle according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is positioned, wherein the tray bearing surface of the shuttle vehicle comprises at least one positioning sensor group, each positioning sensor group comprises at least two positioning sensors with the detection direction vertical to the upward direction of the tray bearing surface, and at least two positioning sensors in each positioning sensor group are respectively and symmetrically positioned at two opposite sides of the running direction of the shuttle vehicle;
and controlling the shuttle car to reciprocate below the tray along the running direction of the shuttle car according to the relative position relationship between the tray and the shuttle car, and controlling the shuttle car to be symmetrical with the center of the tray through the detection of each group of positioning sensors in the reciprocating motion process.
In a possible implementation manner of the first aspect, the controlling the shuttle car to reciprocate below the pallet along the traveling direction of the shuttle car according to the relative position relationship between the pallet and the shuttle car, and controlling the shuttle car to be centrosymmetric with the pallet through the detection of each group of positioning sensors during the reciprocating motion process includes:
if only the first positioning sensor positioned on one side of the shuttle car in the first positioning sensor group detects a signal, controlling the shuttle car to run under the tray in the direction of the first positioning sensor;
when a second positioning sensor which is symmetrical to the first positioning sensor in the first positioning sensor group detects a signal or the first positioning sensor does not detect the signal, controlling the shuttle vehicle to continue to drive towards the first positioning sensor and start to record the driving distance of the shuttle vehicle;
when the first positioning sensor does not detect the signal or the second positioning sensor detects the signal, controlling the shuttle car to stop and determining the first running distance recorded by the shuttle car;
and controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor so that the shuttle is symmetrical with the center of the pallet.
In a possible implementation manner of the first aspect, controlling the shuttle car to reciprocate below the pallet along a traveling direction of the shuttle car according to a relative position relationship between the pallet and the shuttle car, and controlling the shuttle car to be centrosymmetric with the pallet through detection of each group of positioning sensors during the reciprocating motion process includes:
if the first positioning sensor and the second positioning sensor which are symmetrically positioned at two sides of the shuttle car in the first positioning sensor group detect signals, the shuttle car is controlled to run in a first direction of the running of the shuttle car at one side of the first positioning sensor or the second positioning sensor under the tray;
when the first positioning sensor or the second positioning sensor does not detect the signal, controlling the shuttle to run towards a second direction opposite to the first direction and starting to record the running distance of the shuttle;
when the second positioning sensor or the first positioning sensor does not detect the signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle;
and controlling the shuttle vehicle to travel half of the second travel distance towards the first direction again so that the shuttle vehicle is symmetrical with the center of the tray.
In a possible implementation manner of the first aspect, each positioning sensor group includes four positioning sensors, and the four positioning sensors in each positioning sensor group are divided into two pairs, the two pairs of positioning sensors are respectively and symmetrically located at two opposite sides of the traveling direction of the shuttle, and the distance from the first pair of positioning sensors to the edge of the shuttle is greater than the distance from the second pair of positioning sensors to the edge of the shuttle;
when at least one positioning sensor of the shuttle car detects a signal, determining the relative position relationship between the tray and the shuttle car according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is positioned, and the method comprises the following steps:
when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect signals, the relative position relation between the tray and the shuttle car is determined according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals are located.
In a possible implementation manner of the first aspect, the method further includes:
if only one positioning sensor group of the shuttle car detects a signal, the alarm information that the tray is not aligned is sent out.
In a possible implementation manner of the first aspect, the method further includes:
when at least one distance sensor of the shuttle car detects a signal, collision alarm information is sent, the detection direction of the at least one distance sensor is located on the plane where the driving direction of the shuttle car is located, and the detection distance of the at least one distance sensor is a preset distance.
In a second aspect, an embodiment of the present invention provides a logistics shuttle vehicle, including: the shuttle car body, at least one positioning sensor group and the controller;
the shuttle vehicle comprises a vehicle body, at least one positioning sensor group, at least two positioning sensors and a controller, wherein the at least one positioning sensor group is arranged on a tray bearing surface of the vehicle body of the shuttle vehicle, each positioning sensor group comprises at least two positioning sensors with the detection directions vertical to the tray bearing surface and upward, and the at least two positioning sensors in each positioning sensor group are respectively and symmetrically positioned at two opposite sides of the running direction of the shuttle vehicle;
the controller is used for determining the relative position relation between the tray and the shuttle car according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals when at least one positioning sensor detects the signals; and controlling the shuttle car to reciprocate below the tray along the running direction of the shuttle car according to the relative position relationship between the tray and the shuttle car, and controlling the shuttle car to be symmetrical with the center of the tray through the detection of each group of positioning sensors in the reciprocating motion process.
In a possible implementation manner of the second aspect, the controller is specifically configured to control the shuttle car to travel under the pallet in a direction toward the first positioning sensor if only the first positioning sensor located on one side of the shuttle car in the first positioning sensor group detects a signal; when a second positioning sensor which is symmetrical to the first positioning sensor in the first positioning sensor group detects a signal or the first positioning sensor does not detect the signal, controlling the shuttle car to continue to run towards the first positioning sensor and start to record the running distance of the shuttle car; when the first positioning sensor does not detect a signal or the second positioning sensor detects a signal, controlling the shuttle vehicle to stop and determining a first running distance recorded by the shuttle vehicle; and controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor so that the shuttle is symmetrical with the center of the tray.
In a possible implementation manner of the second aspect, the controller is specifically configured to control the shuttle car to run in a first direction in which the shuttle car runs towards one side of the first positioning sensor or the second positioning sensor under the pallet if the first positioning sensor and the second positioning sensor, which are symmetrically located at two sides of the shuttle car, in the first positioning sensor group detect signals; when the first positioning sensor or the second positioning sensor does not detect the signal, controlling the shuttle to run towards a second direction opposite to the first direction and starting to record the running distance of the shuttle; when the second positioning sensor or the first positioning sensor does not detect the signal, controlling the shuttle car to stop and determining a second driving distance recorded by the shuttle car; and controlling the shuttle vehicle to travel half of the second travel distance towards the first direction again so that the shuttle vehicle is symmetrical with the center of the tray.
In a possible implementation manner of the second aspect, each positioning sensor group includes four positioning sensors, and the four positioning sensors in each positioning sensor group are divided into two pairs, the two pairs of positioning sensors are respectively and symmetrically located at two opposite sides of the traveling direction of the shuttle, and the distance from the first pair of positioning sensors to the edge of the shuttle is greater than the distance from the second pair of positioning sensors to the edge of the shuttle;
the controller is specifically used for determining the relative position relationship between the tray and the shuttle car according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals are located when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect the signals.
In a possible implementation manner of the second aspect, the controller is further configured to send out a tray misalignment warning message if only one positioning sensor in one positioning sensor group of the shuttle detects a signal.
In a possible implementation manner of the second aspect, the controller is further configured to send collision warning information after at least one distance sensor of the shuttle car detects a signal, a detection direction of the at least one distance sensor is located on a plane where a driving direction of the shuttle car is located, and a detection distance of the at least one distance sensor is a preset distance.
According to the method for aligning the trays of the logistics shuttle vehicle and the logistics shuttle vehicle, provided by the embodiment of the invention, at least one positioning sensor group is arranged on the tray bearing surface of the shuttle vehicle, each positioning sensor group comprises at least two positioning sensors with the detection directions vertical to the tray bearing surface, when at least one positioning sensor of the shuttle vehicle detects a signal, the relative position relation between the tray and the shuttle vehicle is determined according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensors which detect the signal are located, and the shuttle vehicle is controlled to reciprocate under the tray along the driving direction of the shuttle vehicle according to the relative position relation between the tray and the shuttle vehicle, so that the center symmetry between the shuttle vehicle and the tray is controlled, the alignment treatment of the shuttle vehicle and the tray is realized, and the storage efficiency of the shuttle vehicle type storage system can be improved.
Drawings
Fig. 1 is a flowchart of a method for aligning pallets of a logistics shuttle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a shuttle provided in an embodiment of the present invention;
fig. 3 is a schematic structural view of another shuttle vehicle provided by the embodiment of the invention;
fig. 4A to 4C are schematic views illustrating relative positions of the pallet and the shuttle;
fig. 5A to 5E are schematic diagrams illustrating adjustment of the pallet alignment of the logistics shuttle;
FIG. 6 is a schematic illustration of shuttle car inventory operation provided by an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a logistics shuttle provided in an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
In the field of logistics warehousing, shuttle-type logistics warehousing systems have been widely used due to high space utilization and high automation level. The shuttle car bears the weight of the pallet and goes on fixed track, through a series of sensors and automatic control logic, realizes the automatic access of goods. The shuttle-type logistics storage system comprises a plurality of storage areas, each storage area is provided with a long straight track, and the shuttle vehicles carrying the cargo pallets compactly arrange the cargo pallets in the storage areas to complete the acquisition and storage.
In order to improve the efficiency of the storage of goods, it is necessary to arrange the pallets compactly in the storage area, and the spacing between the pallets needs to be smaller than a predetermined spacing threshold, so that a predetermined number of pallets can be stored in the storage area. When the shuttle cars are in stock, the goods pallet needs to be placed on the shuttle car track by a manual forklift right above the shuttle cars, and then the goods pallet is lifted by the shuttle cars for stock operation. However, manual handling inevitably involves errors, which may result in the pallet not being placed in the correct position. If the pallet is not placed in the correct position, the pallet is not directly above the shuttle when the shuttle lifts the pallet inventory. When the shuttle vehicle is in stock operation according to the stock logic, the goods pallet can not be accurately stored to the preset position, and the storage efficiency of the shuttle type logistics storage system is affected.
Fig. 1 is a flowchart of a method for aligning a tray of a logistics shuttle according to an embodiment of the present invention, and as shown in fig. 1, the method for aligning a tray of a logistics shuttle according to the embodiment includes:
step S101, when at least one positioning sensor of the shuttle car detects a signal, determining the relative position relation between the tray and the shuttle car according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is located, wherein the tray bearing surface of the shuttle car comprises at least one positioning sensor group, each positioning sensor group comprises at least two positioning sensors with the detection direction vertical to the upward direction of the tray bearing surface, and at least two positioning sensors in each positioning sensor group are respectively and symmetrically located on the two opposite sides of the running direction of the shuttle car.
In order to improve the storage efficiency of the shuttle type logistics storage system, the embodiment of the invention provides a tray alignment method of a logistics shuttle vehicle.
Firstly, since the pallet is located right above the shuttle and is carried and transported by the shuttle, in order to detect whether the pallet is placed on the shuttle and detect the relative position relationship between the pallet and the shuttle, a plurality of positioning sensors need to be arranged on the pallet carrying surface of the shuttle. The pallet bearing surface of the shuttle vehicle is a plane right above the shuttle vehicle, at least one positioning sensor group is arranged on the pallet bearing surface of the shuttle vehicle, each positioning sensor group comprises at least two positioning sensors, and the at least two positioning sensors in each positioning sensor group are respectively and symmetrically positioned at two opposite sides of the running direction of the shuttle vehicle. That is, the number of the position sensors in each position sensor group is an even number, and each two position sensors in each position sensor group are a symmetrical pair of position sensors. Each pair of positioning sensors are respectively and symmetrically positioned at two opposite sides of the running direction of the shuttle vehicle. The detection direction of each positioning sensor is perpendicular to the bearing surface of the tray of the shuttle vehicle and faces upwards. The detection distance of each positioning sensor is a preset detection distance, that is, when an object exists within the detection distance of each positioning sensor, the positioning sensor will detect a signal. Generally, the detection distance of each positioning sensor is slightly larger than the distance from the bottom of the tray to the positioning sensor after the tray is placed on the shuttle car. Then when the pallet is placed on the shuttle, the registration sensor will detect the bottom of the pallet and generate a corresponding detection signal.
As shown in fig. 2, fig. 2 is a schematic structural diagram of a shuttle car according to an embodiment of the present invention, and in fig. 2, a positioning sensor group is disposed on the shuttle car, and the positioning sensor group includes two positioning sensors for illustration.
A positioning sensor 22 and a positioning sensor 23 are arranged right above the shuttle 21, that is, on the pallet carrying surface, the positioning sensor 22 and the positioning sensor 23 are arranged on the shuttle 21 along the X direction, and the positioning sensor 22 and the positioning sensor 23 are symmetrically arranged with the center of the shuttle 21 as the symmetry center. The positioning sensor 22 and the positioning sensor 23 are respectively located on two sides of the shuttle 21, and the distance between the positioning sensor 22 and the positioning sensor 23 and the edge of the shuttle 21 is smaller than a preset distance threshold. Wherein, the X direction and the-X direction are the moving directions of the shuttle car. The detection directions of the position sensor 22 and the position sensor 23 are perpendicular to the plane of the X direction, that is, the detection directions of the position sensor 22 and the position sensor 23 are perpendicular to the ground.
Fig. 2 shows only a shuttle vehicle including one positioning sensor group and two positioning sensors on the shuttle vehicle, but the shuttle vehicle to which the method for aligning the pallet of the logistics shuttle vehicle according to the embodiment of the invention is applied is not limited thereto. The shuttle vehicle applying the pallet alignment method of the logistics shuttle vehicle provided by the embodiment of the invention can be provided with a plurality of positioning sensor groups, and the number of the positioning sensor groups on the shuttle vehicle corresponds to the form and direction of the shuttle vehicle. For example, if the shuttle vehicle is a shuttle vehicle with a four-direction form capability, two positioning sensor groups may be disposed on the shuttle vehicle, and the positioning sensors in each positioning sensor group are symmetrically disposed on two opposite sides of the shuttle vehicle in the traveling direction in the corresponding traveling direction. Each positioning sensor group can also comprise more than two positioning sensors, but a plurality of positioning sensors in one positioning sensor group are also arranged in a pairwise symmetrical mode, and the positioning sensors are close to the edge of the shuttle car.
If each positioning sensor group on the shuttle car comprises more than two positioning sensors, the more than two positioning sensors are symmetrically arranged in pairs, and the distances from each pair of positioning sensors to the edge of the shuttle car are different. Fig. 3 is a schematic structural diagram of another shuttle vehicle according to an embodiment of the present invention, and fig. 3 is different from fig. 2 in that the positioning sensor group includes four positioning sensors, where the positioning sensors 22 and 23 are the same as those in fig. 2, and the distance between the positioning sensors 22 and 23 and the edge of the shuttle vehicle 21 is a. A positioning sensor 24 and a positioning sensor 25 are also arranged on the pallet carrying surface of the shuttle 21, the positioning sensor 24 and the positioning sensor 25 are also arranged on the shuttle 21 along the X direction, and the positioning sensor 24 and the positioning sensor 25 are symmetrically arranged with the center of the shuttle 21 as the symmetry center. The distance between the positioning sensor 24 and the positioning sensor 25 and the edge of the shuttle 21 is b, and b > a.
It should be noted that, no matter how many positioning sensor groups are arranged on the shuttle, the distance between a pair of positioning sensors closest to each other in each positioning sensor group needs to be smaller than or equal to the maximum size of the tray that can be carried by the shuttle, so that it can be ensured that at least one positioning sensor can detect the tray when the tray is placed right above the shuttle.
Based on the shuttle shown in fig. 2 or 3, when the pallet is placed on the shuttle track by the manual operation fork truck and aligned right above the shuttle, although there may be some error, the error is not too large, and since the size of the pallet carrying surface of the shuttle is equivalent to the size of the pallet, at least one positioning sensor on the shuttle will be able to detect the signal. When at least one positioning sensor of the shuttle detects a signal, the shuttle will know that an existing pallet is placed directly above, and inventory operations can be performed. In order to ensure that the tray is positioned right above the shuttle vehicle so that the tray can be accurately stored to the stock area when the stock work is performed, the tray alignment method of the logistics shuttle vehicle provided by the embodiment can be performed. Namely, when at least one positioning sensor of the shuttle car detects a signal, the relative position relation between the tray and the shuttle car is determined according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is positioned.
When only one positioning sensor group is included on the shuttle car, when at least one positioning sensor detects a signal, the relative position relationship between the tray and the shuttle car is determined according to the number of the positioning sensors which detect the signal in the positioning sensor group. When the shuttle car comprises a plurality of positioning sensor groups, a plurality of relative position relations between the tray and the shuttle car are sequentially determined according to the number of the positioning sensors which detect signals in each positioning sensor group. After determining one or more relative positional relationships between the pallet and the shuttle, for each relative positional relationship, alignment adjustment of the shuttle with the pallet in central symmetry is performed according to the processing of step S102.
The relative position relationship between the pallet and the shuttle includes various situations, and the following description takes the drawings as an example. The shuttle vehicle is the shuttle vehicle shown in fig. 3, that is, four positioning sensors are included in the X direction. Fig. 4A to 4C are schematic views of relative positions of the pallet and the shuttle. Fig. 4A to 4C illustrate one traveling direction of the shuttle vehicle, and the other traveling directions of the shuttle vehicle are similarly understood. In fig. 4A, the pallet is shown in the center of the shuttle, i.e. four registration sensors are all able to detect the signal; FIG. 4B shows the situation where the pallet is off center with three registration sensors capable of detecting the signal; the situation where the pallet is off center with two registration sensors capable of detecting the signal is shown in fig. 4C. Since the positioning sensors arranged on one side of the shuttle car are generally relatively close to each other, when the shuttle car comprises four positioning sensors in the X direction as shown in fig. 3, the situation that only one positioning sensor detects a signal is difficult to occur, in this situation, the tray deviates from the correct position very far, and the human eyes can obviously find that the position deviation occurs, so that a person operating the forklift can automatically adjust the position of the tray, and the situation is not involved in the embodiment of the invention.
In addition, because the shuttle car that this application relates to is the shuttle car that traveles in the track, therefore the range that the shuttle car adjusted well the tray to adjusting also can be set for less, consequently when a location sensor group of shuttle car includes four positioning sensor, divide into two pairs with four positioning sensor, two pairs of positioning sensor are located the relative both sides of shuttle car direction of travel respectively symmetrically, and wherein the distance of first pair of positioning sensor from the shuttle car edge is greater than the distance of second pair of positioning sensor from the shuttle car edge, that is to say that the second pair of positioning sensor is the positioning sensor who is located the outside, and the first pair of positioning sensor is the positioning sensor who is located the inboard. Then, when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect signals, the relative position relationship between the pallet and the shuttle car is determined according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals are located, and if the first pair of positioning sensors do not detect the signals, the shuttle car cannot align and adjust the pallet, and at the moment, the shuttle car can be controlled to send out pallet misalignment alarm information. Therefore, the worker operating the forklift can know that the tray is not aligned, and can manually adjust the position of the tray.
Further, if only one positioning sensor group of the shuttle car detects a signal, the alarm information of tray misalignment can be sent out. That is to say, the adjustment needs to have certain adjustment range is adjusted well to the tray of shuttle, needs all at least one positioning sensor in a positioning sensor group shuttle both sides to detect the signal at least, otherwise will send out the tray and not adjust the alarm information well. Therefore, the worker operating the forklift can know that the tray is not aligned, and can manually adjust the position of the tray.
And S102, controlling the shuttle car to reciprocate below the tray along the running direction of the shuttle car according to the relative position relationship between the tray and the shuttle car, and controlling the shuttle car to be symmetrical with the center of the tray through the detection of each group of positioning sensors in the reciprocating motion process.
After the relative position relation between the tray and the shuttle vehicle is determined, the shuttle vehicle can be controlled to reciprocate below the tray along the running direction of the shuttle vehicle, and the distance between the shuttle vehicle and the center of the tray is determined through the detection of each group of positioning sensors in the reciprocating process, so that the shuttle vehicle is controlled to be symmetrical to the center of the tray.
The specific method for controlling the central symmetry of the shuttle car and the pallet according to the relative position relationship of the pallet and the shuttle car can be divided into two cases, wherein in one case, only the first positioning sensor positioned on one side of the shuttle car in the first positioning sensor group detects a signal, and the shuttle car is controlled to run under the pallet in the direction of the first positioning sensor; when a second positioning sensor which is symmetrical to the first positioning sensor in the first positioning sensor group detects a signal or the first positioning sensor does not detect the signal, controlling the shuttle vehicle to continue to drive towards the first positioning sensor and start to record the driving distance of the shuttle vehicle; when the first positioning sensor does not detect the signal or the second positioning sensor detects the signal, controlling the shuttle car to stop and determining the first running distance recorded by the shuttle car; and controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor so that the shuttle is symmetrical with the center of the pallet.
In another case, if the first positioning sensor and the second positioning sensor which are symmetrically positioned at two sides of the shuttle car in the first positioning sensor group detect signals, the shuttle car is controlled to run in a first direction under the tray towards the shuttle car at one side of the first positioning sensor or the second positioning sensor; when the first positioning sensor or the second positioning sensor does not detect the signal, controlling the shuttle to run towards a second direction opposite to the first direction and starting to record the running distance of the shuttle; when the second positioning sensor or the first positioning sensor does not detect the signal, controlling the shuttle car to stop and determining a second driving distance recorded by the shuttle car; and controlling the shuttle vehicle to travel half of the second travel distance in the first direction again so that the shuttle vehicle is symmetrical with the center of the tray. The first direction in which the shuttle vehicle travels is any traveling direction of the shuttle vehicle, and when the first direction of the shuttle vehicle is determined, the formal direction of the shuttle vehicle opposite to the first direction is the second direction.
Still taking the situation shown in fig. 4A to 4C as an example for detailed description, fig. 5A to 5E are schematic diagrams illustrating the adjustment of the pallet alignment of the logistics shuttle.
In the case shown in fig. 4A, since the four positioning sensors of the shuttle can detect signals, it can be considered that the pallet is symmetrical with the center of the shuttle, and alignment adjustment may not be performed. Because the sizes of the tray bearing surfaces of the tray and the shuttle vehicle are possibly different, when the four positioning sensors of the shuttle vehicle can detect signals, the tray and the shuttle vehicle are not possible to be centrosymmetric, and therefore the shuttle vehicle can be controlled to move, and the shuttle vehicle is enabled to be centrosymmetric with the tray. Specifically, since the four positioning sensors in the X direction of the shuttle car detect signals, the size of the pallet is necessarily greater than or equal to the distance between the positioning sensor 22 and the positioning sensor 23, the shuttle car may be controlled to move in the X direction until the positioning sensor 23 does not detect a signal, then the shuttle car may be controlled to move in the-X direction until the positioning sensor 22 does not detect a signal, and the travel distance of the shuttle car at this time is recorded as d1. And then the shuttle vehicle is controlled to run d1/2 in the X direction, so that the central symmetry of the shuttle vehicle and the pallet can be realized. Of course, the shuttle could be controlled to move in the-X direction first, with the same result. The specific adjustment is shown in fig. 5A.
In the situation shown in fig. 4B, three positioning sensors of the shuttle can detect a signal, as shown in fig. 4B, no signal is detected by positioning sensor 22. The shuttle can be controlled to move in the X direction until either the position sensor 22 also detects a signal or the position sensor 23, which is symmetrical to the position sensor 22, does not detect a signal. If the positioning sensor 23 still detects the signal when the positioning sensor 22 detects the signal, it indicates that the maximum distance between the positioning sensors of the shuttle is smaller than or equal to the size of the pallet, at this time, the shuttle is continuously controlled to move in the X direction until the positioning sensor 23 does not detect the signal, the running distance d2 from the position sensor 22 to the shuttle where the positioning sensor 23 does not detect the signal is recorded, and then the shuttle is controlled to run in the-X direction d2/2, so that the central symmetry between the shuttle and the pallet can be realized. The specific adjustment is shown in fig. 5B. If the shuttle vehicle is controlled to move towards the X direction, if the positioning sensor 23 does not detect the signal before the positioning sensor 22 detects the signal, the maximum distance between the positioning sensors of the shuttle vehicle is larger than the size of the tray, the shuttle vehicle continuously moves towards the X direction from the position where the positioning sensor 23 does not detect the signal until the positioning sensor 22 detects the signal, the running distance d3 of the shuttle vehicle is recorded, and then the shuttle vehicle is controlled to run towards the-X direction d3/2, so that the central symmetry between the shuttle vehicle and the tray can be realized. The specific adjustment is shown in fig. 5C.
In the situation shown in fig. 4C, both positioning sensors of the shuttle are able to detect a signal, as shown in fig. 4C, and no signal is detected by positioning sensor 22 and positioning sensor 24. The shuttle can be controlled to move in the X direction until either the alignment sensor 22 detects a signal or the alignment sensor 23, which is symmetrical, does not detect a signal. If the positioning sensor 23 still detects the signal when the positioning sensor 22 detects the signal, the shuttle vehicle is continuously controlled to move towards the X direction until the positioning sensor 23 does not detect the signal, the shuttle vehicle driving distance d4 from the position of the positioning sensor 22 to the position of the positioning sensor 23 is recorded, and then the shuttle vehicle is controlled to drive towards the-X direction d4/2, so that the central symmetry of the shuttle vehicle and the pallet can be realized. The specific adjustment is shown in fig. 5D. If the shuttle vehicle is controlled to move towards the X direction, if the positioning sensor 23 does not detect the signal before the positioning sensor 22 detects the signal, the shuttle vehicle continues to move towards the X direction from the position where the positioning sensor 23 does not detect the signal until the positioning sensor 22 detects the signal, the running distance d5 of the shuttle vehicle is recorded, and then the shuttle vehicle is controlled to run towards the-X direction for d5/2, so that the central symmetry of the shuttle vehicle and the pallet can be realized. The specific adjustment is shown in fig. 5E.
In a word, after the relative position relation between the tray and the shuttle vehicle is determined, the shuttle vehicle can be controlled to reciprocate below the tray along the running direction of the shuttle vehicle, and because the positioning sensors on the shuttle vehicle are symmetrically arranged at the center of the shuttle vehicle, when the shuttle vehicle is controlled to reciprocate, the central position relation between the shuttle vehicle and the tray can be determined according to the signal detection of the symmetrical group of positioning sensors on the tray, so that the shuttle vehicle and the tray can be controlled to be symmetrically arranged. When the shuttle car has a plurality of driving directions, the alignment adjustment is carried out in the plurality of driving directions, namely the central symmetry of the trays and the shuttle car can be realized in the plurality of driving directions, so that the trays can be ensured to be positioned in the center of the shuttle car, and the trays borne by the shuttle car can be accurately stored to a preset storage position when the shuttle car carries out the stock according to the stock operation flow, thereby ensuring the storage efficiency of the shuttle type logistics storage system.
It should be noted that, a Programmable Logic Controller (PLC) and an encoder may be disposed in the shuttle car, the PLC controls the motion of the shuttle car, the encoder counts the number of the shuttle car in the driving process, and the PLC may calculate the driving distance of the shuttle car according to the data of the encoder, so as to determine the driving distance of the shuttle car in each driving direction.
In addition, when the shuttle cars are stocked, the forklift needs to be manually driven to load the pallet onto the shuttle cars, when the pallet is placed, the distance between the forklift and the shuttle cars and the track of the shuttle cars is short, if the pallet cannot be operated, the forklift can collide with the shuttle cars or the track of the shuttle cars, and therefore safety accidents can be caused. Therefore, the shuttle provided by the embodiment of the invention can also provide collision alarm indication, as shown in fig. 6, and fig. 6 is a schematic diagram of the stock operation of the shuttle provided by the embodiment of the invention. At least one distance sensor 62 is provided on a plane in which the shuttle 61 travels, and one distance sensor 62 will be described as an example in fig. 6. The detection direction of the distance sensor 62 is located on the plane of the traveling direction of the shuttle car 61, and the detection distance of the at least one distance sensor 62 is a preset distance set according to the safe collision distance of the forklift 63. When the forklift 63 is manually operated to place the pallet 64 on the shuttle 61, the forklift 63 approaches the shuttle 61. When the distance between the forklift 63 and the shuttle 61 is smaller than the preset detection distance of the distance sensor 62, collision alarm information can be sent out, and a driver driving the forklift 63 can know the early warning of collision danger at the moment, so that emergency treatment measures are taken, and the potential safety hazard of inventory operation is eliminated. In addition, marks such as reflective stickers and the like which are convenient to detect can be pasted at the positions of the forklift 63 corresponding to the distance sensors 62, so that the distance sensors 62 can detect conveniently.
It should be noted that the misalignment alarm information and the collision alarm information sent by the shuttle car may be sound alarm information, light alarm information or mixed alarm information of sound and light.
According to the method for aligning the trays of the logistics shuttle vehicle, provided by the embodiment of the invention, at least one positioning sensor group is arranged on the tray bearing surface of the shuttle vehicle, each positioning sensor group comprises at least two positioning sensors with the detection directions vertical to the tray bearing surface, when the at least one positioning sensor of the shuttle vehicle detects a signal, the relative position relation between the trays and the shuttle vehicle is determined according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensors which detect the signal are located, and the shuttle vehicle is controlled to reciprocate along the driving direction of the shuttle vehicle under the trays according to the relative position relation between the trays and the shuttle vehicle so as to control the center symmetry between the shuttle vehicle and the trays, so that the alignment processing of the shuttle vehicle and the trays is realized, and the storage efficiency of the shuttle vehicle type storage system can be improved.
Fig. 7 is a schematic structural diagram of a logistics shuttle provided in an embodiment of the present invention, and as shown in fig. 7, the logistics shuttle provided in this embodiment includes: the shuttle vehicle comprises a shuttle vehicle body 71, a positioning sensor group 72 and a controller 73, wherein the positioning sensor group 72 comprises four positioning sensors, namely a positioning sensor 74, a positioning sensor 75, a positioning sensor 77 and a positioning sensor 77. In the present embodiment, one positioning sensor group 72 is taken as an example, and the positioning sensor group 72 includes four positioning sensors. However, in the logistics shuttle provided by the embodiment of the invention, the number of the positioning sensor groups can be multiple, and each positioning sensor group can comprise at least two positioning sensors.
The positioning sensor groups 72 are arranged on a tray bearing surface of the shuttle vehicle body 71, each positioning sensor group 72 comprises four positioning sensors 74, 75, 77 and 77, the detection directions of which are vertical to the tray bearing surface, and the positioning sensors in the positioning sensor groups 72 are symmetrically positioned on two opposite sides of the running direction of the shuttle vehicle respectively;
the controller 73 is used for determining the relative position relation between the tray and the shuttle vehicle according to the number of the positioning sensors which detect the signals in the positioning sensor group 72 where the positioning sensors which detect the signals when at least one positioning sensor detects the signals; according to the relative position relationship between the tray and the shuttle, the shuttle is controlled to reciprocate below the tray along the running direction of the shuttle, and the shuttle is controlled to be symmetrical with the center of the tray through the detection of the positioning sensor group 72 in the reciprocating process.
The logistics shuttle provided by this embodiment is used for implementing the tray alignment method of the logistics shuttle shown in fig. 1, and the implementation principle and technical effects are similar, which are not described herein again.
It should be noted that the controller 73 in the embodiment shown in fig. 7 may be any device having a logic control function, for example, the controller 73 may be a PLC.
Further, the controller 73 in the embodiment shown in fig. 7 is specifically configured to control the shuttle car to travel under the pallet in the direction of the first positioning sensor if only the first positioning sensor located on one side of the shuttle car in the first positioning sensor group detects a signal; when a second positioning sensor which is symmetrical to the first positioning sensor in the first positioning sensor group detects a signal or the first positioning sensor does not detect the signal, controlling the shuttle vehicle to continue to drive towards the first positioning sensor and start to record the driving distance of the shuttle vehicle; when the first positioning sensor does not detect the signal or the second positioning sensor detects the signal, controlling the shuttle car to stop and determining the first running distance recorded by the shuttle car; and controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor so that the shuttle is symmetrical with the center of the tray.
Further, the controller 73 in the embodiment shown in fig. 7 is specifically configured to, if both the first positioning sensor and the second positioning sensor symmetrically located at two sides of the shuttle vehicle in the first positioning sensor group detect signals, control the shuttle vehicle to travel in a first direction of travel towards the first positioning sensor or the second positioning sensor side of the shuttle vehicle under the pallet; when the first positioning sensor or the second positioning sensor does not detect the signal, controlling the shuttle to run towards a second direction opposite to the first direction and starting to record the running distance of the shuttle; when the second positioning sensor or the first positioning sensor does not detect the signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle; and controlling the shuttle vehicle to travel half of the second travel distance towards the first direction again so that the shuttle vehicle is symmetrical with the center of the tray.
Further, in the embodiment shown in fig. 7, each positioning sensor group includes four positioning sensors, and the four positioning sensors in each positioning sensor group are divided into two pairs, and the two pairs of positioning sensors are respectively and symmetrically located at two opposite sides of the traveling direction of the shuttle, and the distance from the first pair of positioning sensors to the edge of the shuttle is greater than the distance from the second pair of positioning sensors to the edge of the shuttle; the controller 73 is specifically configured to, when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect a signal, determine the relative positional relationship between the pallet and the shuttle car according to the number of the positioning sensors that detect the signal in the positioning sensor group where the positioning sensor that detects the signal is located.
Further, the controller 73 in the embodiment shown in fig. 7 is also configured to send a tray misalignment warning message if only one positioning sensor in one positioning sensor group of the shuttle detects a signal.
Further, the controller 73 in the embodiment shown in fig. 7 is further configured to send collision warning information after the at least one distance sensor of the shuttle car detects a signal, where a detection direction of the at least one distance sensor is located on a plane where a driving direction of the shuttle car is located, and a detection distance of the at least one distance sensor is a preset distance.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A method for aligning a tray of a logistics shuttle vehicle is characterized by comprising the following steps:
when at least one positioning sensor of the shuttle vehicle detects a signal, determining the relative position relationship between the tray and the shuttle vehicle according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is located, wherein the tray bearing surface of the shuttle vehicle comprises at least one positioning sensor group, each positioning sensor group comprises at least two positioning sensors with the detection direction vertical to the upward direction of the tray bearing surface, and at least two positioning sensors in each positioning sensor group are respectively and symmetrically located at two opposite sides of the traveling direction of the shuttle vehicle;
according to the relative position relation between the tray and the shuttle vehicle, the shuttle vehicle is controlled to reciprocate below the tray along the running direction of the shuttle vehicle, and the shuttle vehicle is controlled to be in central symmetry with the tray through the detection of each group of positioning sensors in the reciprocating motion process.
2. The method as claimed in claim 1, wherein the controlling the shuttle car to reciprocate under the pallet along the driving direction of the shuttle car according to the relative position relationship between the pallet and the shuttle car, and controlling the shuttle car to be symmetrical with the pallet center through the detection of each group of positioning sensors during the reciprocating motion comprises:
if only the first positioning sensor positioned on one side of the shuttle car in the first positioning sensor group detects a signal, controlling the shuttle car to run under the tray in the direction of the first positioning sensor;
if the distance between second positioning sensors, which are symmetrical to the first positioning sensor, in the first positioning sensor group needs to be smaller than or equal to the size of the tray, when the second positioning sensors, which are symmetrical to the first positioning sensor, in the first positioning sensor group detect a signal, controlling the shuttle car to continue to run towards the direction of the first positioning sensor and start to record the running distance of the shuttle car; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a first driving distance recorded by the shuttle vehicle; controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor such that the shuttle is centered symmetrically with the pallet;
if the distance between second positioning sensors, which are symmetrical to the first positioning sensor, in the first positioning sensor group is larger than the size of the tray, when the first positioning sensors do not detect signals, controlling the shuttle car to continue to run towards the first positioning sensors and start to record the running distance of the shuttle car; when the second positioning sensor detects a signal, controlling the shuttle vehicle to stop and determining a first driving distance recorded by the shuttle vehicle; controlling the shuttle to travel half of the first travel distance in a direction of the second positioning sensor such that the shuttle is centered symmetrically with respect to the pallet.
3. The method as claimed in claim 1, wherein the controlling the shuttle car to reciprocate under the pallet along the driving direction of the shuttle car according to the relative position relationship between the pallet and the shuttle car, and controlling the shuttle car to be symmetrical with the pallet center through the detection of each group of positioning sensors during the reciprocating motion comprises:
if the first positioning sensor and the second positioning sensor which are symmetrically positioned at two sides of the shuttle car in the first positioning sensor group detect signals, controlling the shuttle car to run in a first direction from the lower part of the tray to one side of the first positioning sensor or the second positioning sensor;
if the shuttle car runs in a first direction below the tray and to one side of the first positioning sensor; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to run in a second direction opposite to the first direction and starting to record the running distance of the shuttle vehicle; when the second positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle; controlling the shuttle car to travel half of a second travel distance again in the first direction so that the shuttle car is symmetrical with the center of the tray;
if the shuttle car runs in a first direction below the tray and to one side of the second positioning sensor; when the second positioning sensor does not detect a signal, controlling the shuttle vehicle to run in a second direction opposite to the first direction and starting to record the running distance of the shuttle vehicle; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle; and controlling the shuttle car to run half of the second running distance towards the first direction again so that the shuttle car is symmetrical with the center of the tray.
4. The method of claim 1~3 wherein each set of position sensors comprises four position sensors and the four position sensors in each set of position sensors are in two pairs, the two pairs of position sensors being symmetrically located on opposite sides of the shuttle from the direction of travel, and wherein the first pair of position sensors are located a greater distance from the shuttle edge than the second pair of position sensors;
when at least one positioning sensor of the shuttle car detects a signal, determining the relative position relationship between the tray and the shuttle car according to the number of the positioning sensors which detect the signal in the positioning sensor group where the positioning sensor which detects the signal is positioned, and the method comprises the following steps:
when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect signals, the relative position relation between the tray and the shuttle car is determined according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals are located.
5. The method of claim 4, further comprising:
and if only one positioning sensor group of the shuttle car detects a signal, sending out alarm information that the tray is not aligned.
6. The method of any one of claims 1~3, further comprising:
when at least one distance sensor of the shuttle car detects a signal, collision alarm information is sent, the detection direction of the at least one distance sensor is located on the plane where the driving direction of the shuttle car is located, and the detection distance of the at least one distance sensor is a preset distance.
7. A logistics shuttle vehicle, comprising: the shuttle car body, at least one positioning sensor group and the controller;
the at least one positioning sensor group is arranged on a tray bearing surface of the shuttle vehicle body, each positioning sensor group comprises at least two positioning sensors with the detection direction vertical to the upward direction of the tray bearing surface, and the at least two positioning sensors in each positioning sensor group are respectively and symmetrically positioned on two opposite sides of the running direction of the shuttle vehicle;
the controller is used for determining the relative position relation between the tray and the shuttle car according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals when at least one positioning sensor detects the signals; and controlling the shuttle car to reciprocate below the tray along the running direction of the shuttle car according to the relative position relationship between the tray and the shuttle car, and controlling the shuttle car to be in central symmetry with the tray through the detection of each group of positioning sensors in the reciprocating motion process.
8. The logistics shuttle of claim 7, wherein the controller is specifically configured to,
if only the first positioning sensor positioned on one side of the shuttle car in the first positioning sensor group detects a signal, controlling the shuttle car to run under the tray in the direction of the first positioning sensor;
if the distance between second positioning sensors in the first positioning sensor group, which are symmetrical to the first positioning sensors, needs to be smaller than or equal to the size of the tray, controlling the shuttle car to continue to run towards the first positioning sensors and start recording the running distance of the shuttle car when the second positioning sensors in the first positioning sensor group, which are symmetrical to the first positioning sensors, detect signals; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a first driving distance recorded by the shuttle vehicle; controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor such that the shuttle is centered symmetrically with respect to the pallet;
if the distance between second positioning sensors, which are symmetrical to the first positioning sensors, in the first positioning sensor group is larger than the size of the tray, when the first positioning sensors do not detect signals, controlling the shuttle car to continue to drive towards the first positioning sensors and start to record the driving distance of the shuttle car; when the second positioning sensor detects a signal, controlling the shuttle vehicle to stop and determining a first driving distance recorded by the shuttle vehicle; controlling the shuttle to travel half of the first travel distance in the direction of the second positioning sensor such that the shuttle is centered symmetrically with respect to the pallet.
9. The logistics shuttle of claim 7, wherein the controller is specifically configured to,
if the first positioning sensor and the second positioning sensor which are symmetrically positioned at two sides of the shuttle car in the first positioning sensor group detect signals, controlling the shuttle car to run in a first direction from the lower part of the tray to one side of the first positioning sensor or the second positioning sensor;
if the shuttle car runs in a first direction below the tray and to one side of the first positioning sensor; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to run in a second direction opposite to the first direction and starting to record the running distance of the shuttle vehicle; when the second positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle; controlling the shuttle car to travel to the first direction again for half of a second travel distance so that the shuttle car is in central symmetry with the pallet;
if the shuttle car runs in a first direction below the tray and to one side of the second positioning sensor; when the second positioning sensor does not detect a signal, controlling the shuttle vehicle to travel to a second direction opposite to the first direction and starting to record the travel distance of the shuttle vehicle; when the first positioning sensor does not detect a signal, controlling the shuttle vehicle to stop and determining a second driving distance recorded by the shuttle vehicle; and controlling the shuttle car to run half of the second running distance towards the first direction again so that the shuttle car is symmetrical with the center of the tray.
10. The logistics shuttle of claim 7~9 wherein each positioning sensor set comprises four positioning sensors, and the four positioning sensors in each positioning sensor set are divided into two pairs, the two pairs of positioning sensors being symmetrically located on opposite sides of the direction of travel of the shuttle, and wherein a first pair of positioning sensors is located a greater distance from an edge of the shuttle than a second pair of positioning sensors is located from the edge of the shuttle;
the controller is specifically used for determining the relative position relationship between the tray and the shuttle car according to the number of the positioning sensors which detect the signals in the positioning sensor group where the positioning sensors which detect the signals are located when the first pair of positioning sensors of one positioning sensor group of the shuttle car detect the signals.
11. The logistics shuttle of claim 10 wherein the controller is further configured to send a pallet misalignment warning message if only one positioning sensor of a set of positioning sensors of the shuttle detects a signal.
12. The logistics shuttle vehicle of claim 7~9 wherein the controller is further configured to send a collision warning message when at least one distance sensor of the shuttle vehicle detects a signal, wherein a detection direction of the at least one distance sensor is located on a plane where a driving direction of the shuttle vehicle is located, and a detection distance of the at least one distance sensor is a preset distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245818.XA CN113023276B (en) | 2021-03-05 | 2021-03-05 | Logistics shuttle and tray alignment method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245818.XA CN113023276B (en) | 2021-03-05 | 2021-03-05 | Logistics shuttle and tray alignment method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113023276A CN113023276A (en) | 2021-06-25 |
| CN113023276B true CN113023276B (en) | 2022-12-20 |
Family
ID=76468083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110245818.XA Active CN113023276B (en) | 2021-03-05 | 2021-03-05 | Logistics shuttle and tray alignment method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113023276B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194675A (en) * | 2021-10-28 | 2022-03-18 | 北京迈格威科技有限公司 | Shuttle vehicle control method, warehousing system, control device and computer program product |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58135022A (en) * | 1982-02-03 | 1983-08-11 | Hitachi Ltd | Center aligning device of handled object |
| JP2004182455A (en) * | 2002-12-06 | 2004-07-02 | Toyota Industries Corp | Load shift preventing device in forklift |
| JP4905074B2 (en) * | 2006-11-14 | 2012-03-28 | 株式会社デンソー | Detection center axis deviation amount detection method |
| CN104609086B (en) * | 2015-01-12 | 2017-01-11 | 世仓智能仓储设备（上海）股份有限公司 | Four-directional shuttle vehicle control system based on road right tokens |
| CN205441786U (en) * | 2015-12-24 | 2016-08-10 | 广东科达洁能股份有限公司 | Tray positioner for AGV |
| CN105775540B (en) * | 2016-03-07 | 2018-05-11 | 上海诺力智能科技有限公司 | A kind of access pallet control method of magnetic stripe guiding vehicle |
| CN205873032U (en) * | 2016-06-21 | 2017-01-11 | 美克国际家私（天津）制造有限公司 | Electron plate cutting saw buffer memory storehouse have a rail shuttle control system |
| CN206218612U (en) * | 2016-11-29 | 2017-06-06 | 赵铭竹 | A kind of piler pallet specification automatic recognition system |
| CN107324004A (en) * | 2017-06-26 | 2017-11-07 | 北京首钢股份有限公司 | A kind of pallet travelling platform position detecting device |
| CN109095096A (en) * | 2018-07-09 | 2018-12-28 | 湖南驰众机器人有限公司 | A kind of control method of automatic loading/unloading AGV vehicle |
| CN111038944A (en) * | 2019-12-20 | 2020-04-21 | 百特（福建）智能装备科技有限公司 | AGV material tray positioner |
| CN111874503B (en) * | 2020-07-20 | 2022-02-15 | 江苏智库智能科技有限公司 | Device and method for four-way shuttle dispatching and cargo calibration |
-
2021
- 2021-03-05 CN CN202110245818.XA patent/CN113023276B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113023276A (en) | 2021-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108860174B (en) | Article transport vehicle | |
| JP4306723B2 (en) | Conveyor cart system | |
| JP4775650B2 (en) | Mobile equipment | |
| US8165746B2 (en) | Industrial truck control system | |
| JP5928402B2 (en) | Traveling vehicle control system | |
| CN109466903A (en) | Multi-tray automatic transport vehicle and transport method thereof | |
| JP6717121B2 (en) | Goods transport facility | |
| CN104495186B (en) | Stacker direction and positioning reinspection method | |
| KR20070048585A (en) | Controller for movable body | |
| CN113023276B (en) | Logistics shuttle and tray alignment method thereof | |
| CN109335531B (en) | Material taking and discharging method for shuttle vehicle | |
| CN113534804A (en) | Automatic loading method | |
| CN111559655A (en) | Portal frame of cargo stacking and loading system and displacement control method thereof | |
| EP3771955A1 (en) | Method and system for operating an autonomous mobile robot based on payload sensing | |
| CN112731920A (en) | Method and device for controlling conveying equipment, conveying equipment and storage medium | |
| CN112777196B (en) | Logistics shuttle positioning method and logistics shuttle | |
| CN115303695A (en) | Shuttle vehicle control device and control method thereof | |
| KR102139127B1 (en) | Method for controlling speed of RTV | |
| JP5157054B2 (en) | Transportation device, transportation device entry restriction system | |
| JP6978743B2 (en) | AGV control system | |
| KR200343357Y1 (en) | Apparatus for determining positon on rail of stacker crane | |
| CN219885591U (en) | Positioning assembly and cargo handling device | |
| EP4109196B1 (en) | A method for operating an automated guided vehicle and an automated guided vehicle | |
| CN217256302U (en) | Cargo detection and handling system of transfer robot | |
| US20230399213A1 (en) | Device and method for checking a contour of a load accommodated on an industrial truck |
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 |