CN113581702B - Positioning method based on driving distance of four-way vehicle - Google Patents
Positioning method based on driving distance of four-way vehicle Download PDFInfo
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- CN113581702B CN113581702B CN202110760691.5A CN202110760691A CN113581702B CN 113581702 B CN113581702 B CN 113581702B CN 202110760691 A CN202110760691 A CN 202110760691A CN 113581702 B CN113581702 B CN 113581702B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
A positioning method based on a four-way vehicle driving distance relates to the technical field of vehicle control, and comprises the following steps: and S01, the control end receives the serial number of the stop where the four-way vehicle initially runs, determines the initial running direction of the four-way vehicle according to the position of the optical sensor at the stop where the shading signal is received, and determines the layer where the four-way vehicle is located according to the obtained current accumulated running distance of the four-way vehicle. And S02, the control end sends signals to enable the plurality of distance measuring sensors to stretch to a layer where the four-way vehicle is located, then the plurality of distance measuring sensors rotate until any one of the distance measuring sensors measures to obtain the positioning distance and the rotation angle of the distance measuring sensor, and the positioning distance and the rotation angle are sent to the control end. And S03, the control end obtains the current position of the four-way vehicle according to the rotation angle and the positioning distance of the distance measuring sensor on the layer where the four-way vehicle is located and the serial number of the distance measuring sensor stored in the control end. The invention has the advantages of convenient installation, low cost and convenient adaptation to the update of the four-way vehicle and the track.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a positioning method based on the driving distance of a four-way vehicle.
Background
The shuttle car is used as intelligent track guide handling equipment in an automatic logistics system, has the function of dynamically transferring along a fixed path, can realize the transmission of materials among different stations, enables the equipment layout of the automatic conveying system to be more compact and simpler, improves the material conveying efficiency, and is increasingly widely applied to the automatic logistics system. The shuttle car is equipped with intelligent induction system, can automatic memory initial point position, automatic acceleration, deceleration control system to intelligence, nimble characteristics have obtained more and more applications. The shuttle car travels on the goods shelf track in a reciprocating or looping mode to realize the tasks of picking, transporting, storing goods and the like. The shuttle positioning method and the positioning precision have great influence on the design and installation of the goods shelf track and the space utilization rate of the goods shelf.
The height of the shuttle vehicle is difficult to determine by adopting GPS positioning, and the positioning is inaccurate for a multi-layer library. Based on cost consideration, the existing shuttle vehicles mostly adopt a hole-counting positioning method, namely, a small hole is formed in the side surface of the running track of the shuttle vehicle corresponding to a storage position, and the shuttle vehicle senses the small hole through a sensing system to control the running speed, the direction and the acceleration and deceleration. But punching requires more processes and manpower in manufacturing and is not favorable for equipment updating.
For example, the invention is a shuttle vehicle walking positioning method under the name of an invention patent authorization publication number CN106628791B, publication date 2018, 11 month and 20 days, and the application discloses a shuttle vehicle walking positioning method, which comprises the following steps: 1) Acquiring position information of a storage position from an original point to a tail end of the track, and learning and storing the acquired storage position information; 2) Receiving a pre-arrived target bit storage instruction; 3) Calculating the position of the target storage position according to the current position of the shuttle vehicle; 4) After the attributes of the master positioning sensor and the slave positioning sensor are set, the shuttle car runs and the number of the shuttle car passing through the storage positions is calculated; 5) The shuttle vehicle runs to the front n storage positions of the target storage position, wherein n is a positive integer, and the shuttle vehicle decelerates; 6) When the shuttle vehicle detects that the shuttle vehicle runs to the target storage position from the positioning sensor, the shuttle vehicle stops. The invention solves the problem that the requirement precision of the hole counting positioning method for the size of the hole formed in the rail and the seam on the side surface of the rail is high, but does not solve the problem of high cost of hole forming in the rail.
Disclosure of Invention
The invention aims to provide a positioning method based on the running distance of a four-way vehicle aiming at the defects of the prior art, and aims to solve the technical problems that the hole-counting positioning method in the prior art has high cost for drilling a hole on a track and is not beneficial to updating and upgrading of a shuttle vehicle.
The technical scheme of the invention is as follows:
a positioning method based on a four-way vehicle driving distance is applied to a three-dimensional multi-layer garage, the three-dimensional multi-layer garage is provided with a plurality of parking places, and two ends of each parking place are provided with optical sensors; a plurality of distance measuring sensors capable of lifting and rotating are fixed outside the three-dimensional multi-layer warehouse; if the four-way vehicle stops at the stopping position, clearing the accumulated running distance; the method comprises the following steps:
step S01, the control end receives the number of a stop where the four-way vehicle starts to run, determines the starting running direction of the four-way vehicle according to the position of the optical sensor at the stop where the shading signal is received, and determines the layer where the four-way vehicle is located according to the obtained current accumulated running distance of the four-way vehicle; the driving direction comprises an uplink direction and a downlink direction; the current accumulated running distance of the four-way vehicle is positive accumulation when the four-way vehicle runs along the initial running direction, and is negative accumulation when the four-way vehicle runs reversely along the initial running direction;
s02, the control end sends a signal to enable the plurality of distance measuring sensors to stretch to a layer where the four-way vehicle is located, then the plurality of distance measuring sensors rotate until any one of the distance measuring sensors measures to obtain the positioning distance between the distance measuring sensor and the four-way vehicle and the rotating angle of the distance measuring sensor, and the positioning distance and the rotating angle of the distance measuring sensor are sent to the control end;
and S03, the control end obtains the current position of the four-way vehicle according to the rotation angle and the positioning distance of the distance measuring sensor on the layer where the four-way vehicle is located and the serial number of the distance measuring sensor stored in the control end.
The invention carries out four-way vehicle positioning through the current accumulated running distance of the four-way vehicle and the distance measuring sensor, does not need to open a hole on the track or arrange a positioning device, is convenient to install integrally, has low cost, is convenient to adapt to the updating and upgrading of the four-way vehicle and the track, is convenient to use continuously and saves the cost. When the four-way vehicle starts to be transported, the four-way vehicle can be driven out from a stop, the driving direction of the four-way vehicle is simply determined according to the position, at the stop, of the optical sensor, receiving the shading signal, of the stop, and subsequent layer determination and specific positioning are facilitated. The current accumulated running distance of the four-way vehicle is positive accumulated when the four-way vehicle runs along the initial running direction, and is negative accumulated when the four-way vehicle runs along the reverse direction of the initial running direction, so that inaccurate positioning caused by repeated running of the four-way vehicle on the track is effectively avoided. The method solves the problems that the height of the shuttle vehicle is difficult to determine by the existing GPS and the positioning is inaccurate for a multi-layer library by positioning the layer number and then positioning the specific position.
Preferably, the step S01 specifically includes: the control end receives the number of the stop where the four-way vehicle starts to run, the starting running direction of the four-way vehicle is determined according to the position of the optical sensor at the stop where the shading signal is received, then, after the current accumulated running distance of the four-way vehicle is obtained, the corresponding layer number determining table stored in the control end is obtained through the number of the stop and the starting running direction of the four-way vehicle, and then the layer number determining table is inquired through the current accumulated running distance to obtain the layer where the four-way vehicle is located.
The arrangement is convenient for determining the number of layers where the four-way vehicle is located, namely the height of the location, and the accuracy of positioning is ensured.
Preferably, the step S01 of obtaining the current accumulated travel distance of the four-way vehicle specifically includes: the control end receives the accumulated forward rotation number of turns of the motor rotating along the initial driving direction and the accumulated reverse rotation number of turns of the motor rotating in the reverse direction along the initial driving direction sensed by the four-direction vehicle counting sensor, and obtains the outer diameter of the four-direction vehicle tire; and the control end calculates and obtains the outer circumference of the four-way vehicle tire through the outer diameter of the four-way vehicle tire, and calculates and obtains the current accumulated running distance of the four-way vehicle through the outer circumference of the four-way vehicle tire, the accumulated forward rotation number and the accumulated reverse rotation number respectively.
Therefore, the data of the accumulated running distance is calculated more accurately, the calculation is simple, and the method is suitable for various four-way vehicles.
Preferably, when the four-way vehicle is at a stop, the accumulated rotation number of the motor sensed by the counting sensor is cleared.
Therefore, the next four-way vehicle is not influenced by the previous driving condition.
Preferably, in step S02, the step of sending a signal by the control end to enable the plurality of ranging sensors to stretch to the layer where the four-way vehicle is located specifically includes: the control end acquires the current height from the ground of each distance measuring sensor, and acquires the distance measuring height corresponding to the distance measuring sensor according to the layer where the four-way vehicle is located, calculates the difference value between the current height from the ground of each distance measuring sensor and the distance measuring height, and sends a signal to enable the corresponding distance measuring sensor to retract downwards to the distance of the difference value if the difference value is a positive value; if the difference value is a negative value, a signal is sent to enable the corresponding distance measuring sensor to extend upwards by the distance of the difference value.
Preferably, in step S02, the step of rotating the plurality of distance measuring sensors until any one of the distance measuring sensors measures to obtain the positioning distance between the distance measuring sensor and the four-way vehicle includes: and the control end enables the plurality of distance measuring sensors to start rotating until the positioning distance measured by any one of the distance measuring sensors is smaller than the preset distance measurement, and the positioning distance is the positioning distance between the distance measuring sensor and the four-way vehicle.
Therefore, the positioning speed is high, the condition that the four-direction vehicle is missed due to long-time rotation is avoided, and the positioning accuracy is ensured.
Preferably, the preset distance measurement value is larger than the maximum value of the positioning distance between all the distance measurement sensors and the four-way vehicle.
Thus, the influence of equipment outside the three-dimensional multi-layer warehouse on positioning is avoided.
Preferably, in step S02, rotating the plurality of distance measuring sensors until any one of the distance measuring sensors measures the rotation angle of the distance measuring sensor specifically includes: the direction of the plurality of distance measuring sensors is parallel to the outer side track of the three-dimensional multi-layer warehouse when the distance measuring sensors are static, the direction of the distance measuring sensors when the distance measuring sensors are static is set as a rotation angle of 0 degree, and each distance measuring sensor starts to rotate from the direction of the distance measuring sensors when the distance measuring sensors are static; when any ranging sensor measures and obtains the positioning distance between the ranging sensor and a four-direction vehicle, the rotating passing angle sensed by the angle sensor on the ranging sensor is the rotating angle of the ranging sensor.
Preferably, the step S02 further includes: and if all the ranging sensors do not obtain the positioning distance smaller than the preset ranging distance, returning to the step S01.
This is to allow for the presence of a four-way switch floor and so reposition the floor in time.
Preferably, the step S03 specifically includes that the control end queries a position table stored in the control end according to the rotation angle and the positioning distance of the ranging sensor in the layer where the four-way vehicle is located, and the ranging sensor number stored in the control end, so as to obtain the current position of the four-way vehicle.
The invention has the advantages that:
(1) The invention carries out four-way vehicle positioning through the current accumulated running distance of the four-way vehicle and the distance measuring sensor, does not need to open a hole on the track or arrange a positioning device, is convenient to install integrally, has low cost, is convenient to adapt to the updating and upgrading of the four-way vehicle and the track, is convenient to use continuously and saves the cost.
(2) The current accumulated running distance of the four-way vehicle is positive accumulated when the four-way vehicle runs along the initial running direction, and is negative accumulated when the four-way vehicle runs along the reverse direction of the initial running direction, so that inaccurate positioning caused by repeated running of the four-way vehicle on the track is effectively avoided.
(3) The method solves the problems that the height of the shuttle vehicle is difficult to determine by the existing GPS and the positioning is inaccurate for a multilayer library by positioning the number of layers and then positioning the specific position.
(4) The invention has more accurate data of the calculated and accumulated running distance, simple calculation, suitability for various four-way vehicles and rapid positioning.
Drawings
Fig. 1 is a flowchart of a positioning method based on a driving distance of a four-way vehicle according to the present invention.
Fig. 2 is a rotation angle determination diagram of a positioning method based on a driving distance of a four-way vehicle according to the present invention.
Fig. 3 is a schematic diagram of measuring the height from the ground based on the positioning method for the driving distance of the four-way vehicle.
In the figure: 1-track, 2-distance measuring sensor and 3-four-way vehicle.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 3, a positioning method based on a driving distance of a four-way vehicle is applied to a three-dimensional multi-layer garage, wherein the three-dimensional multi-layer garage is provided with a plurality of parking places, and two ends of each parking place are provided with optical sensors. The parking places are arranged on the outer side of the track, the track cannot be influenced when the four-way vehicle is parked, and the two optical sensors are arranged at two ends, connected with the parking places, of the track. A plurality of distance measuring sensors capable of lifting and rotating are fixed outside the three-dimensional multi-layer warehouse. And clearing the accumulated running distance when the four-way vehicle stops at the stopping position. The method comprises the following steps:
and S01, the control end receives the number of the stop where the four-way vehicle starts to run, determines the starting running direction of the four-way vehicle according to the position of the optical sensor at the stop where the shading signal is received, and determines the layer where the four-way vehicle is located according to the obtained current accumulated running distance of the four-way vehicle. The driving direction comprises an uplink direction and a downlink direction. The current accumulated running distance of the four-way vehicle is positive accumulation when the four-way vehicle runs along the initial running direction, and is negative accumulation when the four-way vehicle runs along the reverse direction of the initial running direction.
Specifically, the control end receives the number of the stop where the four-way vehicle initially runs, determines the initial running direction of the four-way vehicle according to the position of the optical sensor at the stop where the shading signal is received, acquires the corresponding layer number determination table stored in the control end according to the number of the stop and the initial running direction of the four-way vehicle after acquiring the current accumulated running distance of the four-way vehicle, and inquires the layer number determination table according to the current accumulated running distance to acquire the layer number of the four-way vehicle. Each number in the table corresponds to an uplink direction and a downlink direction respectively, each direction covers a plurality of distance ranges, and each distance range corresponds to a layer where a four-way vehicle is located. The arrangement facilitates determining the number of layers where the four-direction vehicle is located, namely the height of the location, and the accuracy of positioning is ensured.
The step of acquiring the current accumulated running distance of the four-way vehicle specifically comprises the following steps: and the control end receives the accumulated forward rotation number of turns of the motor rotating along the initial running direction and the accumulated reverse rotation number of turns of the motor rotating in the reverse direction along the initial running direction sensed by the four-direction vehicle counting sensor, and acquires the outer diameter of the four-direction vehicle tire. The control end obtains the outer perimeter of the four-way vehicle tire through the calculation of the outer diameter of the four-way vehicle tire, and obtains the current accumulated running distance of the four-way vehicle through the calculation of the outer perimeter of the four-way vehicle tire, the accumulated forward rotation number and the accumulated reverse rotation number respectively, and specifically, the current accumulated running distance of the four-way vehicle can be obtained by multiplying the difference value obtained by subtracting the accumulated reverse rotation number from the accumulated forward rotation number by the outer perimeter of the four-way vehicle tire. When the four-way vehicle is stopped, the accumulated rotating circles of the motor sensed by the counting sensor are cleared, so that the four-way vehicle cannot be influenced by the last-time running condition when being transported next time.
And S02, the control end sends a signal to enable the plurality of distance measuring sensors to stretch to a layer where the four-way vehicle is located, then the plurality of distance measuring sensors rotate until any one of the distance measuring sensors measures to obtain the positioning distance between the distance measuring sensor and the four-way vehicle and the rotation angle of the distance measuring sensor, and the signals are sent to the control end.
The distance measuring sensor can adopt a laser distance measuring sensor, and the distance measuring sensors with different precisions are selected according to the three-dimensional multilayer libraries with different scales. When the laser ranging sensor works, a laser diode of the laser ranging sensor is aligned to a target to emit laser pulses. The laser light is scattered in all directions after being reflected by the target. Part of the scattered light returns to the sensor receiver, is received by the optical system and is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function inside, and therefore it can detect an extremely weak optical signal. The time from the emission of the light pulse to the return of the light pulse is recorded and processed, and the positioning distance between the ranging sensor and the four-way vehicle can be determined.
The control end sends a signal and makes a plurality of range finding sensor stretch out and draw back to the layer that the quadriversal car belongs to specifically include: range finding sensor evenly distributed is in the three-dimensional multilayer storehouse outside, and range finding sensor all fixes on the telescopic link, and range finding sensor reciprocates through the flexible of the telescopic link of below in vertical direction. As shown in fig. 3, the control end obtains the current height from the ground of each distance measuring sensor, mainly rotates the sensing part of each distance measuring sensor until the measuring direction is perpendicular to the ground, measures to obtain the current height H from the ground as shown in fig. 3, and then restores to the original state. And acquiring the distance measuring height corresponding to the distance measuring sensor according to the layer where the four-way vehicle is located, wherein the distance measuring height is stored in the control end. And calculating the difference between the current height of each ranging sensor from the ground and the ranging height, and if the difference is a positive value, sending a signal to enable the corresponding ranging sensor to retract downwards to the distance of the difference value. If the difference value is a negative value, a signal is sent to enable the corresponding distance measuring sensor to extend upwards by the distance of the difference value.
Making a plurality of range finding sensor rotate until arbitrary range finding sensor measures and obtains this range finding sensor and the location distance between the four-way car specifically include: the control end enables the plurality of distance measuring sensors to start rotating until the positioning distance measured by any one of the distance measuring sensors is smaller than the preset distance, and the positioning distance is the positioning distance between the distance measuring sensor and the four-way vehicle. Therefore, the positioning speed is high, the condition that the four-direction vehicle is missed due to long-time rotation is avoided, and the positioning accuracy is ensured. The positioning distance is a straight-line distance between the ranging sensor and the four-way vehicle. And the preset distance measurement value is greater than the maximum value of the positioning distance between all the distance measurement sensors and the four-way vehicle.
As shown in fig. 2, the step of rotating a plurality of distance measuring sensors 2 until any one of the distance measuring sensors 2 measures to obtain the rotation angle of the distance measuring sensor 2 specifically includes: the orientation of the plurality of distance measuring sensors 2 is parallel to the outer track 1 of the three-dimensional multi-layer warehouse when the distance measuring sensors are static, the orientation of the distance measuring sensors 2 when the distance measuring sensors are static is set as a rotation angle of 0 degree, and each distance measuring sensor 2 starts to rotate from the orientation of the distance measuring sensors when the distance measuring sensors are static, specifically, rotates towards the three-dimensional multi-layer warehouse. When any ranging sensor 2 measures and obtains the positioning distance between the ranging sensor and the four-way vehicle 3, the rotating passing angle a sensed by the angle sensor on the ranging sensor is the rotating angle of the ranging sensor.
And if all the ranging sensors do not obtain the positioning distance smaller than the preset ranging distance, returning to the step S01. This is to allow for the presence of a four-way switch floor and so reposition the floor in time.
And S03, the control end obtains the current position of the four-way vehicle according to the rotation angle and the positioning distance of the distance measuring sensor on the layer where the four-way vehicle is located and the serial number of the distance measuring sensor stored by the control end. The number of each ranging sensor represents the location where it is located.
Specifically, the control end inquires a position table stored in the control end according to the rotation angle and the positioning distance of the ranging sensor on the layer where the four-way vehicle is located and the ranging sensor number stored in the control end to obtain the current position of the four-way vehicle. The layer where the four-way vehicle is located can determine the Z-axis numerical value of the position coordinate of the four-way vehicle according to the height of the layer, the serial number of the distance measuring sensor can determine the coordinate system of the distance measuring sensor as 0 point, the X-axis numerical value and the Y-axis numerical value of the four-way vehicle in the coordinate system can be obtained through calculation according to the rotation angle and the positioning distance of the distance measuring sensor, and then the Z-axis numerical value, the X-axis numerical value and the Y-axis numerical value are connected together to form the position coordinate of the four-way vehicle.
The invention carries out four-way vehicle positioning through the current accumulated running distance of the four-way vehicle and the distance measuring sensor, does not need to open a hole on the track or arrange a positioning device, is convenient to install integrally, has low cost, is convenient to adapt to the four-way vehicle and the update of the track, is convenient to use continuously and saves the cost. When the four-way vehicle starts to be transported, the four-way vehicle can be driven out from a stop, the driving direction of the four-way vehicle is simply determined according to the position of the optical sensor at the stop, which receives the shading signal, of the stop, and subsequent layer determination and specific positioning are facilitated. The current accumulated running distance of the four-way vehicle is positive accumulated when the four-way vehicle runs along the initial running direction, and negative accumulated when the four-way vehicle runs along the reverse direction of the initial running direction, so that inaccurate positioning caused by repeated running of the four-way vehicle on the track is effectively avoided. The method solves the problems that the height of the shuttle vehicle is difficult to determine by the existing GPS and the positioning is inaccurate for a multilayer library by positioning the number of layers and then positioning the specific position.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. A positioning method based on four-way vehicle driving distance is applied to a three-dimensional multi-layer garage, the three-dimensional multi-layer garage is provided with a plurality of parking places, and two ends of each parking place are provided with optical sensors; a plurality of distance measuring sensors capable of lifting and rotating are fixed outside the three-dimensional multi-layer warehouse; if the four-way vehicle stops at the stopping position, clearing the accumulated running distance; the method is characterized by comprising the following steps:
step S01, the control end receives the number of a stop where the four-way vehicle starts to run, determines the starting running direction of the four-way vehicle according to the position of the optical sensor at the stop where the shading signal is received, and determines the layer where the four-way vehicle is located according to the obtained current accumulated running distance of the four-way vehicle; the driving direction comprises an uplink direction and a downlink direction; the current accumulated running distance of the four-way vehicle is positive accumulation when the four-way vehicle runs along the initial running direction, and is negative accumulation when the four-way vehicle runs reversely along the initial running direction;
s02, the control end sends a signal to enable the plurality of distance measuring sensors to stretch to a layer where the four-way vehicle is located, then the plurality of distance measuring sensors rotate until any one of the distance measuring sensors measures to obtain the positioning distance between the distance measuring sensor and the four-way vehicle and the rotating angle of the distance measuring sensor, and the positioning distance and the rotating angle of the distance measuring sensor are sent to the control end;
and S03, the control end obtains the current position of the four-way vehicle according to the rotation angle and the positioning distance of the distance measuring sensor on the layer where the four-way vehicle is located and the serial number of the distance measuring sensor stored in the control end.
2. The method according to claim 1, wherein the step S01 specifically comprises: the control end receives the number of the stop where the four-way vehicle starts to run, the starting running direction of the four-way vehicle is determined according to the position of the optical sensor at the stop where the shading signal is received, then, after the current accumulated running distance of the four-way vehicle is obtained, the corresponding layer number determining table stored in the control end is obtained through the number of the stop and the starting running direction of the four-way vehicle, and then the layer number determining table is inquired through the current accumulated running distance to obtain the layer where the four-way vehicle is located.
3. The positioning method based on the driving distance of the four-way vehicle according to claim 2, wherein in the step S01, the obtaining of the current accumulated driving distance of the four-way vehicle specifically comprises: the control end receives the accumulated forward rotation turns of the motor rotating along the initial driving direction and the accumulated reverse rotation turns of the motor rotating reversely along the initial driving direction sensed by the four-direction vehicle counting sensor, and obtains the outer diameter of the four-direction vehicle tire; and the control end calculates and obtains the outer circumference of the four-way vehicle tire through the outer diameter of the four-way vehicle tire, and calculates and obtains the current accumulated running distance of the four-way vehicle through the outer circumference of the four-way vehicle tire, the accumulated forward rotation number and the accumulated reverse rotation number respectively.
4. The positioning method based on the driving distance of the four-way vehicle as claimed in claim 3, wherein the accumulated number of rotations of the motor sensed by the counting sensor is cleared when the four-way vehicle is parked.
5. The positioning method based on the driving distance of the four-way vehicle according to claim 1, wherein in the step S02, the step of sending a signal by the control end to enable the plurality of ranging sensors to stretch to the layer where the four-way vehicle is located specifically comprises the steps of: the control end acquires the current height from the ground of each distance measuring sensor, and acquires the distance measuring height corresponding to the distance measuring sensor according to the layer where the four-way vehicle is located, calculates the difference value between the current height from the ground of each distance measuring sensor and the distance measuring height, and sends a signal to enable the corresponding distance measuring sensor to retract downwards to the distance of the difference value if the difference value is a positive value; if the difference is negative, a signal is sent to enable the corresponding distance measuring sensor to extend upwards by the distance of the difference value.
6. The method according to claim 1, wherein in step S02, rotating the plurality of distance measuring sensors until any one of the distance measuring sensors measures the positioning distance between the distance measuring sensor and the four-way vehicle specifically comprises: and the control end enables the plurality of distance measuring sensors to start rotating until the positioning distance measured by any one of the distance measuring sensors is smaller than the preset distance measurement, and the positioning distance is the positioning distance between the distance measuring sensor and the four-way vehicle.
7. The positioning method based on the driving distance of the four-way vehicle according to claim 6, wherein the preset distance measurement value is larger than the maximum value of the positioning distance between all the distance measurement sensors and the four-way vehicle.
8. The method according to claim 6, wherein in step S02, the step of rotating the plurality of distance measuring sensors until any one of the distance measuring sensors measures the rotation angle of the distance measuring sensor comprises: the direction of the plurality of distance measuring sensors is parallel to the outer side track of the three-dimensional multi-layer warehouse when the distance measuring sensors are static, the direction of the distance measuring sensors when the distance measuring sensors are static is set as a rotation angle of 0 degree, and each distance measuring sensor starts to rotate from the direction of the distance measuring sensors when the distance measuring sensors are static; when any ranging sensor measures and obtains the positioning distance between the ranging sensor and the four-way vehicle, the rotating passing angle sensed by the angle sensor on the ranging sensor is the rotating angle of the ranging sensor.
9. The method for locating based on the driving distance of the four-way vehicle according to claim 6, wherein the step S02 further comprises: and if all the ranging sensors do not obtain the positioning distance smaller than the preset ranging distance, returning to the step S01.
10. The positioning method based on the driving distance of the four-way vehicle according to claim 1, wherein the step S03 specifically includes that the control end queries a position table stored in the control end according to the rotation angle and the positioning distance of the distance measuring sensor at the layer where the four-way vehicle is located and the serial number of the distance measuring sensor stored in the control end, so as to obtain the current position of the four-way vehicle.
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| CN105631616B (en) * | 2014-10-25 | 2020-03-06 | 深圳市科陆电子科技股份有限公司 | Intelligent positioning system and positioning method for warehouse logistics |
| CN204624477U (en) * | 2015-04-02 | 2015-09-09 | 南京工程学院 | A kind of automatic stereowarehouse positioning control system |
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| CN110554690B (en) * | 2018-05-31 | 2022-11-08 | 北京京东乾石科技有限公司 | Positioning method and system of intelligent trolley |
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| CN112880683B (en) * | 2021-01-15 | 2023-09-05 | 珠海一微半导体股份有限公司 | Robot positioning control method, system and chip based on reference linear distance |
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