CN114275437A - System for realizing intelligent vehicle selection of annular shuttle - Google Patents
System for realizing intelligent vehicle selection of annular shuttle Download PDFInfo
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Abstract
The invention relates to a system for realizing intelligent vehicle selection of an annular shuttle vehicle, which comprises the following components: the system back platform end is arranged on an industrial personal computer, communicates with the shuttle cars walking on the circular track through soft PLC software, is connected with an upper computer through an industrial bus, receives each instruction at the front end of the system interface, communicates with the upper computer to receive an automatic task instruction, resolves the instruction into a specific task signal, issues the specific task signal to the shuttle cars advancing on the circular track and the transport machines on the platform, collects the real-time position information of the shuttle cars and the state information of the transport machines on the platform, and executes the intelligent vehicle selection and transport task flow; the system interface front end is used for realizing parameter setting and inputting a manual task instruction and sending the manual task instruction to the system background end by setting an interface window; and the system is also used for displaying the real-time position state of the shuttle on the circular track to a user in real time according to the information acquired by the background end of the system. The system outputs instructions to control the shuttle vehicles to move on the annular track, and the intelligent vehicle selection and transportation task flow among all stations is optimized.
Description
Technical Field
The invention belongs to the field of automatic warehouse logistics equipment, and particularly relates to a system and a method for realizing intelligent vehicle selection of an annular shuttle vehicle.
Background
The automatic stereoscopic warehouse is widely applied to industries such as industry, logistics, storage and the like, a conveying system is connected with a goods shelf and external material handling equipment in the warehouse, and the throughput rate of the whole stereoscopic warehouse is influenced by the efficiency of the conveying system.
The difficulty of the conveying system is that the whole efficiency of the annular conveying system is influenced by the jam of any point position of the annular conveying system because the annular conveying system is a closed loop line. The endless conveyor system can be broadly divided into an endless conveyor line system, an endless AGV system, and an endless shuttle system.
1. Annular conveying line system
Because the annular conveying line system is a closed conveying line ring spliced by a plurality of conveying lines, the installation process is complex, the annular conveying line system cannot move after installation is finished, the annular conveying line system is not flexible enough, and the conveying speed of the conveying lines is relatively slow.
2. Annular AGV system
The annular shuttle vehicle can flexibly and efficiently realize the carrying task of the annular system, but has low speed and high cost compared with the annular shuttle vehicle.
3. Annular shuttle system
The circular orbit can support the conventional single path and the variable path of the turnout at the same time, is suitable for flexible carrying and conveying of materials under the scenes of large-scale, long-distance and multi-station, greatly improves the flexibility of a logistics system, and realizes the integrated management and control of warehouse logistics and production logistics.
The system can be in seamless butt joint with a logistics execution system (WES system), a warehouse management system (WMS system) and a warehouse scheduling system (WCS system), receives material handling tasks of an upper layer system, decomposes the tasks into a plurality of sections of subtasks according to scheduling strategies and by combining tasks and state information of the shuttle cars, finishes material handling from stations to stations, and ensures real-time performance, consistency and effectiveness of interactive data among the systems.
Disclosure of Invention
Aiming at the defects in the prior art, when a stereoscopic warehouse is put in storage, in order to overcome the defects of low efficiency, high cost and resource waste of the conventional annular conveying line system and the conventional annular AGV system, the invention provides a system and a method for realizing intelligent vehicle selection of an annular shuttle vehicle.
A system for realizing intelligent vehicle selection of an annular shuttle vehicle, which outputs instructions to control the shuttle vehicle to travel on an annular track and optimizes the task flow of intelligent vehicle selection and transportation among stations, comprises:
the system back platform end is arranged on an industrial personal computer, communicates with a shuttle car walking on the circular track through soft PLC software, is connected with an upper computer through an industrial bus, receives an instruction at the front end of a system interface, communicates with the upper computer to receive an automatic task instruction, resolves the instruction into a specific task signal, issues the specific task signal to the shuttle car and a platform conveyor travelling on the circular track, collects real-time position information of the shuttle car and state information of the platform conveyor, and executes an intelligent vehicle selection and transportation task flow;
the system interface front end is used for realizing parameter setting and inputting a manual task instruction and sending the manual task instruction to the system background end by setting an interface window; and the system is also used for displaying the real-time position state of the shuttle on the circular track to a user in real time according to the information acquired by the background end of the system.
The shuttle car is provided with a leaky wave cable and a wireless AP, the leaky wave cable is a wireless antenna, and the leaky wave cable is connected with the wireless AP and used for carrying out wireless communication between the shuttle car and the industrial personal computer system.
The system interface front end, comprising:
the system menu area is used for task management, data query, parameter setting and system setting;
the stop button area is used for controlling the running state of the shuttle on the track, saving the energy consumption of empty vehicles and emergently suspending all vehicles to process emergency events;
the vehicle monitoring area is used for displaying the current running state of the vehicle in real time, wherein the running state comprises cargo carrying condition, running condition and fault information; the different colored identifiers represent different device states;
and the task data display area is used for presenting the task list information which is currently executed or waiting to be executed and the equipment instruction information split by the task, and quickly searching the task information, the system prompt information and the abnormal information which are currently executed by the vehicle according to the equipment index.
The system back end comprises the following modules:
the system setting module is used for carrying out online parameter setting on the RGV, allocating the flow of the shuttle car and setting an intelligent car selection algorithm;
the task management module is used for receiving an instruction input by the front end of the system interface or the upper computer, generating a task instruction of the upper computer, a manual task instruction of a user and a management task queue instruction, and sending the task instruction, the manual task instruction of the user and the management task queue instruction to the scheduling control module;
the dispatching control module is used for converting the received command into a bottom control command, generating a manual equipment command, a management equipment queue command and an automatic equipment command, sending the commands to the shuttle cars advancing on the annular track and the conveyors at the platforms, collecting the real-time position information of the shuttle cars and the state information of the conveyors at the platforms, and executing an intelligent vehicle selection and transportation task;
the data query module is used for performing data query service to the database, and comprises: inquiring equipment alarm, inquiring task record and inquiring interactive data between an upper computer and field equipment;
and the data storage module is used for establishing a database to store the collected running information of the shuttle vehicles and the platform conveyors, various instructions and task instructions input by the upper computer and the interface front-end user, and converted control signals.
The intelligent vehicle selection and transportation task flow comprises the following steps:
an intelligent vehicle selection step: according to the real-time position coordinates and the idle state of the shuttle vehicles running on the annular track, calculating and scheduling the optimal goods taking and delivering shuttle vehicle in real time to carry out goods taking and delivering tasks;
flow regulation: and adjusting the running flow of the shuttle car in real time according to the real-time position and the freight-carrying running state of the shuttle car running on the annular track, so as to avoid fault congestion.
The real-time position coordinates of the shuttle are obtained by the following method:
and a code scanner is installed on the chassis of the shuttle car downwards, and when the shuttle car moves forwards, the code scanner scans the bar codes posted on the track to obtain the coordinate values of the bar codes and sends the coordinate values to the industrial personal computer in real time.
The intelligent vehicle selection step comprises the following steps:
a. sending a goods taking instruction to the preliminarily selected candidate shuttle cars to enable the candidate shuttle cars to move to the target platform;
b. before the candidate shuttle vehicle finishes goods taking, the system background acquires empty vehicle information in real time, judges whether other empty vehicles with shorter paths from the target platform appear or not, replaces goods taking vehicles and releases the original candidate vehicles;
c. after the goods taking shuttle vehicle reaches the target goods taking platform, waiting for a conveyor at the platform to convey goods to a shuttle vehicle object stage; the shuttle car is driven to a target delivery position platform in full-load delivery;
d. when a delivery vehicle enters a key area of a target position platform, a system background detects whether a free conveyor at the target delivery position platform sends a signal in real time, if not, delivery is carried out to an adjacent platform, otherwise, the vehicle is delivered to the original target platform position;
and after the delivery shuttle vehicle reaches the target delivery platform, waiting for the conveyor at the platform to take the goods from the shuttle vehicle object stage and discharge the goods to the target platform, and completing the carrying task of the shuttle vehicle.
The real-time adjustment shuttle car traffic flow includes: and idle turnouts are utilized to control vehicles between the shuttles to avoid collision.
The invention has the following beneficial effects and advantages:
1. by reasonably allocating vehicles for the tasks, the problem of congestion caused by improper task allocation is effectively avoided, and the throughput rate of the whole vertical warehouse entering and exiting is greatly improved. When the carrying task is not available, the system can control the vehicle to stop running, so that unnecessary energy consumption is greatly reduced. When the carrying tasks are not too many, the system controls a part of vehicles to automatically drop to the temporary storage area, so that the flexibility of the whole system is improved.
2. The system has the advantages that the system has the structure that the interactive modules with other systems are arranged in a configurable mode, so that the expandability of the system is greatly improved. By introducing the Lucene search mechanism, the query is more convenient and faster, so that the information tracing is better carried out.
3. Interface universality: the interface can be butted with any upper software system to support a mainstream interface communication mode; the response timeliness. By using the soft PLC technology and through data memory interaction, the communication time between the upper computer and the PLC is effectively saved, the response is timely, and the operation is accurate and efficient. Information can be traced: key technologies such as a thread pool and Lucence are added, massive operation data are visualized, and a flexible, convenient and fast data query platform is provided. The parameters can be configured: the equipment monitoring picture can be automatically generated through parameter configuration (track length, curve radius, equipment coordinates and the like), and the software development period is shortened. And (3) multi-mode control: for the controlled annular shuttle, two algorithms of single vehicle selection and grouped vehicle selection can be adopted to carry out multi-mode control, the vehicle operation efficiency is optimized, and the energy consumption of the system is reduced. Vehicle deployment efficiency: the queuing theory algorithm is introduced into the system, so that congestion is greatly reduced, and the overall operation efficiency is improved.
Drawings
FIG. 1 is a diagram of the system architecture on an industrial personal computer of the present invention;
FIG. 2 is a schematic diagram of a system communication mechanism according to the present invention;
FIG. 3 is a functional diagram of the back end of the system of the present invention;
FIG. 4 is a schematic diagram of a system front end interface display of the present invention;
fig. 5 is a schematic view of the cart pick-up and delivery process of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The apparatus of the present invention comprises: the system comprises a shuttle car, an annular track, a leaky wave cable, a wireless AP, an industrial personal computer, soft PLC software and an annular shuttle car intelligent vehicle selection and distribution task algorithm.
For example, a plurality of shuttle cars run on the circular track, the leaky wave cable is a wireless antenna and is installed on the shuttle cars, and the leaky wave cable is connected with the wireless AP and is used for the shuttle cars to carry out wireless communication with the industrial personal computer.
As shown in fig. 1, a diagram of the system architecture on an industrial personal computer. The software system is installed on an industrial personal computer, is developed based on a Microsoft.Net platform by adopting a distributed multi-layer architecture system, adopts object-oriented language C # programming, is reconstructed and expanded on the basis of an IBatics.Net standard framework, and is suitable for any data source. The industrial personal computer needs to be provided with software such as 1507S, VS2010, SQL server2008 and the like, and the software is used as a software environment for the whole system to run.
The system communication mechanism is shown in fig. 2, the soft PLC of the intelligent vehicle selection of the annular shuttle vehicle runs on a CPU of an industrial personal computer, the operation speed is higher, the communication time of scheduling software and the PLC is saved, the bar code value of each vehicle is obtained more timely and accurately, an effective position basis is provided for a system vehicle-separating algorithm, and command receiving and sending with an upper computer and scheduling control with each shuttle vehicle device on site are realized. Wherein, the SSAR is the software program system of the present invention. The top-layer system transmits the plan tasks to the WMS system through the database, the WMS system divides the plan tasks into a plurality of warehousing tasks and transmits the warehousing tasks to the WCS system, the WCS system divides the corresponding warehousing tasks into a plurality of equipment tasks, and if the equipment tasks of the annular shuttle car exist, the equipment tasks are transmitted to the SSAR system.
The function of the system background end is shown in fig. 3, the annular shuttle vehicle monitoring and dispatching software distributes the shuttle vehicles reasonably to realize material conveying among different stations, task distribution is carried out according to the latest, reasonable and effective principle, and traffic control is carried out on the empty vehicles in real time; and meanwhile, vehicle information, platform information, real-time tasks, historical tasks and fault alarm are managed. The system back end comprises the following modules:
the system setting module is used for carrying out online parameter setting on the RGV, allocating the flow of the shuttle car and setting an intelligent car selection algorithm;
the task management module is used for receiving an instruction input by the front end of the system interface or the upper computer, generating a task instruction of the upper computer, a manual task instruction of a user and a management task queue instruction, and sending the task instruction, the manual task instruction of the user and the management task queue instruction to the scheduling control module;
the dispatching control module is used for converting the received command into a bottom control command, generating a manual equipment command, a management equipment queue command and an automatic equipment command, sending the commands to the shuttle cars advancing on the annular track and the conveyors at the platforms, collecting the real-time position information of the shuttle cars and the state information of the conveyors at the platforms, and executing an intelligent vehicle selection and transportation task;
the data query module is used for performing data query service to the database, and comprises: inquiring equipment alarm, inquiring task record and inquiring interactive data between an upper computer and field equipment;
and the data storage module is used for establishing a database to store the collected running information of the shuttle vehicles and the platform conveyors, various instructions and task instructions input by the upper computer and the interface front-end user, and converted control signals.
The looping system transfer task flow is shown in figure 5,
the method for operating the system background end of the industrial personal computer comprises the following steps:
1. coordinate acquisition
The bar code coordinate value of the shuttle car is one of important indexes for task allocation of the system, and the position distribution and the track length of all the shuttle cars can be known according to the coordinate, so that a powerful data basis is provided for the annular shuttle car system; each shuttle on the track sends the bar code coordinate value to the industrial personal computer in real time, and the industrial personal computer records the real-time position of each shuttle. The shuttle car chassis is installed the bar code scanner downwards, can scan the bar code of posting on the track when advancing forward, acquires the bar code coordinate value.
2. For the task of entering or exiting warehouse
The method comprises the steps of carrying out bottom layer operation management on the shuttle vehicles (including motion positioning and vehicle collision avoidance, when the distance between two vehicles reaches a threshold value, controlling the speed of the rear vehicle to reduce to avoid collision of the two vehicles by an SSAR (single sequence analysis and ranging) system of the industrial personal computer, taking charge of data summarization of vehicle states (including a goods taking state, a goods sending state, an operation state and a fault state), configuration of track parameters (including total track length, straight line length and curve length), dispatching task instructions to be sent to a specified vehicle-mounted controller according to the real-time position coordinate condition of the vehicles, the position information of tasks and the like, and realizing control of different shuttle vehicles.
(1) The vehicle selection algorithm at the back platform end of the industrial personal computer system distributes corresponding tasks for the idle vehicles according to the coordinates of the shuttle vehicles, and sends task instructions to the candidate vehicles, namely, the shortest path is the most reasonable and optimal according to the principle of the path length from the idle vehicles to the platform at the target position;
(2) the candidate trolley receives the goods taking instruction and advances to the target position platform;
(3) in the process of candidate trolley advancing, the loading state of other loading shuttle vehicles can be changed, and the situation that the distance from the platform of the target position after unloading is closer to the current candidate trolley can occur, so that the background end of the industrial personal computer system needs to judge whether other suitable empty vehicles exist in real time in the process of candidate trolley advancing;
(4) if the more suitable empty vehicle exists, the background end of the industrial personal computer system needs to redistribute the vehicle for the task, the original candidate vehicle releases the task and is replaced by a new candidate vehicle, otherwise, the original candidate vehicle continues to move to the target position;
(5) after the candidate trolley reaches the appointed goods taking platform, the background end of the industrial personal computer system sends an instruction to the transporter of the target goods taking platform, and executes and finishes a goods delivery and docking instruction to the trolley; delivery docking includes: and the transporter delivers goods to the trolley, and whether the trolley is idle is judged according to whether the current vehicle is assigned with a task.
(6) The trolley is fully loaded and delivered to a platform at a specified target position;
(7) after the delivery vehicle reaches a key area, whether the conveyor of the target position platform is occupied by other trolleys needs to be detected in real time, if the conveyor is occupied, the target position platform for delivering the goods needs to be changed, a neighboring platform can be selected, otherwise, the vehicle is sent to the conveyor of the original target position platform; the key area is a preset safe distance between the delivery vehicle and the target position platform.
(8) The industrial personal computer sends a goods taking instruction to the conveyer at the target position platform, the conveyer finishes unloading from the trolley, the trolley finishes a goods delivering and docking instruction, and therefore goods are delivered to the target platform;
(9) the overall carrying task of the shuttle vehicle is completed;
3. realizing a shuttle vehicle avoidance algorithm;
and (2) vehicle avoidance, namely, in the process of the travelling of the trolley, if the loading and unloading platform of the adjacent RGV-n-1 trolley is judged to be occupied (or abnormal), the loading and unloading of the platform of the trolley are abnormal, at the moment, if the rear RGV-n task trolley approaches to the RGV-n-1 trolley, the time for occupying or abnormal the platform is required to be judged, and an avoidance instruction is issued timely and accurately to avoid vehicle collision. The vehicle can be kept away by using the idle turnout, and collision is avoided. When the RGV trolley is controlled by a dispatching instruction at a background end of an industrial personal computer system and needs to enter a turnout, a safety distance at the front section of the turnout needs to be set, and after the RGV trolley is judged to enter the distance, the turnout is set to be occupied by the trolley, and other vehicles can not be used again.
4. System real-time refresh
The shuttle car runs on the circular track, the track position can change in real time, and the conveyors distributed around the loop line can generate carrying tasks at any time, so that the real-time refreshing of the coordinates of the trolley must be timely and accurate, and a more reliable basis is provided for the circular-through scheduling system to more reasonably distribute the optimal trolley to the tasks;
the front-end main interface of the system is shown in fig. 4, and the main interface sequentially comprises the following functional areas from top to bottom: the system comprises a system menu area, a stop button area, an annular shuttle vehicle monitoring area and a task data display area. The system menu area presents main function options including task management, data query, parameter setting, system setting and the like; the stop button area is used for controlling the running state of the shuttle vehicles on the track, and can stop the idle vehicles to save the energy consumption of the system or emergently suspend all the vehicles to process emergency events; the vehicle monitoring area displays the current running state of the vehicle in real time, wherein the running state comprises cargo carrying condition, running condition, fault information and the like, and the marks in different colors represent different equipment states; the task data display area presents task list information which is currently executed or waiting to be executed and equipment instruction information split by the task, and can quickly search the task information, system prompt information and abnormal information which are currently executed by the vehicle according to the equipment index.
And the front end interface of the industrial personal computer is used for displaying the carrying state of each trolley on the track to a user, setting each manual task through the interface or automatically executing the task issued by the upper computer, and performing parameter setting, data query and fault query.
1. When the state is (1), the trolley on the looping-through system interface is green, which indicates that a transportation task can be allocated to the trolley, when the states are (2) - (5), the trolley on the looping-through system interface is yellow, which indicates that a goods taking task is being executed, when the states are (6) - (8), the trolley on the looping-through system interface is pink, which indicates that a goods delivery task is being executed, and the system can completely judge the site general situation through color and position.
2. System base data query
The data query module comprises functions of electrical and scheduling interaction query, historical task query, equipment alarm record query, equipment fault solution query and the like. The technical bottom layer adopts a Lucene search engine mechanism to support condition query, multi-field joint query, fuzzy query and the like, so that operators can more clearly master various information of the loop-through trolley;
3. fault handling
The loop-through system gives a corresponding solution by recording the faults of the hardware equipment to guide an operator to timely and accurately process the faults, so that the high reliability and easy maintenance of the operation of the whole system can be greatly improved;
the intelligent vehicle selection method is mainly characterized by comprising an intelligent vehicle selection flow algorithm and an intelligent vehicle selection flow algorithm, wherein the intelligent vehicle selection flow algorithm is arranged at the back stage end and the interface front end of an industrial personal computer system. The hardware machinery and electrical structure of the transporter and the shuttle car adopt the existing equipment, and belong to the prior art. The foregoing is directed to the primary features of the present invention and it is believed that those skilled in the art will recognize that many changes and modifications may be made thereto without departing from the principles of the invention as set forth in the following claims.
Claims (8)
1. A system for realizing intelligent vehicle selection of an annular shuttle vehicle is characterized in that the system outputs an instruction to control the shuttle vehicle to travel on an annular track, and the intelligent vehicle selection transportation task flow among stations is optimized, and the system comprises:
the system back platform end is arranged on an industrial personal computer, communicates with a shuttle car walking on the circular track through soft PLC software, is connected with an upper computer through an industrial bus, receives an instruction at the front end of a system interface, communicates with the upper computer to receive an automatic task instruction, resolves the instruction into a specific task signal, issues the specific task signal to the shuttle car and a platform conveyor travelling on the circular track, collects real-time position information of the shuttle car and state information of the platform conveyor, and executes an intelligent vehicle selection and transportation task flow;
the system interface front end is used for realizing parameter setting and inputting a manual task instruction and sending the manual task instruction to the system background end by setting an interface window; and the system is also used for displaying the real-time position state of the shuttle on the circular track to a user in real time according to the information acquired by the background end of the system.
2. The system for realizing intelligent vehicle selection of the ring-shaped shuttle car according to claim 1, wherein a leaky wave cable and a wireless AP are arranged on the shuttle car, the leaky wave cable is a wireless antenna, and the leaky wave cable is connected with the wireless AP and used for wireless communication between the shuttle car and an industrial personal computer system.
3. The system for realizing intelligent vehicle selection of the circular shuttle vehicle as claimed in claim 1, wherein the system interface front end comprises:
the system menu area is used for task management, data query, parameter setting and system setting;
the stop button area is used for controlling the running state of the shuttle on the track, saving the energy consumption of empty vehicles and emergently suspending all vehicles to process emergency events;
the vehicle monitoring area is used for displaying the current running state of the vehicle in real time, wherein the running state comprises cargo carrying condition, running condition and fault information; the different colored identifiers represent different device states;
and the task data display area is used for presenting the task list information which is currently executed or waiting to be executed and the equipment instruction information split by the task, and quickly searching the task information, the system prompt information and the abnormal information which are currently executed by the vehicle according to the equipment index.
4. The system for realizing intelligent vehicle selection of the ring-shaped shuttle vehicle as claimed in claim 1, wherein the system back end comprises the following modules:
the system setting module is used for carrying out online parameter setting on the RGV, allocating the flow of the shuttle car and setting an intelligent car selection algorithm;
the task management module is used for receiving an instruction input by the front end of the system interface or the upper computer, generating a task instruction of the upper computer, a manual task instruction of a user and a management task queue instruction, and sending the task instruction, the manual task instruction of the user and the management task queue instruction to the scheduling control module;
the dispatching control module is used for converting the received command into a bottom control command, generating a manual equipment command, a management equipment queue command and an automatic equipment command, sending the commands to the shuttle cars advancing on the annular track and the conveyors at the platforms, collecting the real-time position information of the shuttle cars and the state information of the conveyors at the platforms, and executing an intelligent vehicle selection and transportation task;
the data query module is used for performing data query service to the database, and comprises: inquiring equipment alarm, inquiring task record and inquiring interactive data between an upper computer and field equipment;
and the data storage module is used for establishing a database to store the collected running information of the shuttle vehicles and the platform conveyors, various instructions and task instructions input by the upper computer and the interface front-end user, and converted control signals.
5. The system for realizing intelligent vehicle selection of the circular shuttle vehicle as claimed in claim 1, wherein the intelligent vehicle selection transportation task flow comprises:
an intelligent vehicle selection step: according to the real-time position coordinates and the idle state of the shuttle vehicles running on the annular track, calculating and scheduling the optimal goods taking and delivering shuttle vehicle in real time to carry out goods taking and delivering tasks;
flow regulation: and adjusting the running flow of the shuttle car in real time according to the real-time position and the freight-carrying running state of the shuttle car running on the annular track, so as to avoid fault congestion.
6. The system for realizing intelligent vehicle selection of the ring-shaped shuttle vehicle as claimed in claim 5, wherein the real-time position coordinates of the shuttle vehicle are obtained by the following method:
and a code scanner is installed on the chassis of the shuttle car downwards, and when the shuttle car moves forwards, the code scanner scans the bar codes posted on the track to obtain the coordinate values of the bar codes and sends the coordinate values to the industrial personal computer in real time.
7. The system for realizing intelligent vehicle selection of the circular shuttle according to any one of claims 1 to 6, wherein the intelligent vehicle selection step comprises the following steps:
a. sending a goods taking instruction to the preliminarily selected candidate shuttle cars to enable the candidate shuttle cars to move to the target platform;
b. before the candidate shuttle vehicle finishes goods taking, the system background acquires empty vehicle information in real time, judges whether other empty vehicles with shorter paths from the target platform appear or not, replaces goods taking vehicles and releases the original candidate vehicles;
c. after the goods taking shuttle vehicle reaches the target goods taking platform, waiting for a conveyor at the platform to convey goods to a shuttle vehicle object stage; the shuttle car is driven to a target delivery position platform in full-load delivery;
d. when a delivery vehicle enters a key area of a target position platform, a system background detects whether a free conveyor at the target delivery position platform sends a signal in real time, if not, delivery is carried out to an adjacent platform, otherwise, the vehicle is delivered to the original target platform position;
and after the delivery shuttle vehicle reaches the target delivery platform, waiting for the conveyor at the platform to take the goods from the shuttle vehicle object stage and discharge the goods to the target platform, and completing the carrying task of the shuttle vehicle.
8. The system for realizing intelligent vehicle selection of the ring-shaped shuttle vehicle as claimed in any one of claims 1 to 6, wherein the real-time adjustment of the running flow of the shuttle vehicle comprises the following steps: and idle turnouts are utilized to control vehicles between the shuttles to avoid collision.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115115302A (en) * | 2022-05-30 | 2022-09-27 | 浙江中力机械股份有限公司 | Enterprise logistics realization method based on warehousing and transportation robot as main body |
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| CN116451981A (en) * | 2023-06-15 | 2023-07-18 | 天津万事达物流装备有限公司 | Logistics shuttle recognition management method based on regional positioning information |
| CN116451981B (en) * | 2023-06-15 | 2023-08-18 | 天津万事达物流装备有限公司 | Logistics shuttle recognition management method based on regional positioning information |
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