CN114604548A - Tray counting method based on storage shuttle - Google Patents
Tray counting method based on storage shuttle Download PDFInfo
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- CN114604548A CN114604548A CN202210309962.XA CN202210309962A CN114604548A CN 114604548 A CN114604548 A CN 114604548A CN 202210309962 A CN202210309962 A CN 202210309962A CN 114604548 A CN114604548 A CN 114604548A
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- tray
- photoelectric
- shuttle
- signal
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001914 filtration Methods 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 14
- 230000001960 triggered effect Effects 0.000 claims description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
-
- 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
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
Abstract
The invention provides a tray counting method based on a storage shuttle vehicle, which comprises the following steps: starting the shuttle vehicle to enter a uniform motion state; photoelectric sensors are arranged on the front side and the rear side of the bearing surface of the shuttle car, and the controller processes photoelectric signal feedback of the front photoelectric sensor and the rear photoelectric sensor to obtain the number of the trays. The invention has the beneficial effects that: the goods are accurately and quickly checked, the problem of checking the goods of the intensive storage shelf is effectively solved, and the checking efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of storage checking, and particularly relates to a tray checking method based on a storage shuttle vehicle.
Background
Along with the popularization and use of intensive storage in three-dimensional storage, the application of a shuttle vehicle is more and more common, the shuttle vehicle is important logistics equipment in an intensive storage solution, linear walking and lifting goods taking and placing actions are realized under the control of a processor through a photoelectric device, a driver and a motor, and the tasks of accurate positioning, goods taking and warehousing, goods carrying and delivery, free-time goods sorting and inventory checking can be completed. However, since the intensive storage is that a plurality of goods are stored in one lane at the same time, there are often a plurality of lanes which are combined horizontally and vertically to form a stereoscopic warehouse, which causes difficulty in the number of goods pallets in the lane for the accurate manual placement.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a tray counting method based on a storage shuttle vehicle.
The purpose of the invention is realized by the following technical scheme:
the tray counting method based on the storage shuttle car comprises the following steps:
starting the shuttle vehicle to enter a uniform motion state; photoelectric sensors are arranged on the front side and the rear side of the bearing surface of the shuttle car, and the controller processes photoelectric signal feedback of the front photoelectric sensor and the rear photoelectric sensor to obtain the number of the trays.
Preferably, the method specifically comprises the following steps:
s1, when the shuttle car moves forward, the photoelectric signal of the rear photoelectric sensor is used as a detection reference; when the front side photoelectric sensor moves backwards, the photoelectric signal of the front side photoelectric sensor is used as a detection reference; when the corresponding photoelectric sensor is photoelectrically triggered, the tray is detected;
s2, performing primary checking when the shuttle vehicle moves forward, and performing secondary checking when the shuttle vehicle moves backward;
s3, comparing the number of the trays counted twice;
and S4, if the number of the inventories is the same, outputting the number of the inventories, if the number of the inventories is different, re-inventories are carried out, if the number of the inventories is still different after at least two times, outputting an error of the inventories, and if the number of the inventories is the same, outputting the number of the trays of the inventories.
Preferably, the writing in S2 includes the following steps:
s21, setting a tray interval L and a counting speed V;
s22, filtering the fed back photoelectric signal;
and S23, forming detection waveforms through the front side and the rear side of the tray, and analyzing tray signals reflected by the detection waveforms and tray gap signals to obtain the number of the trays.
Preferably, the step of delaying the filtering is further included in S22, and the filtering delay is often t = L/V.
Preferably, the filtering process includes the steps of:
when the photoelectric signal is logically or-processed at the time t0, determining that the tray is detected; wherein, the result of triggering and outputting the digital signal by the photoelectric signal is TRUE, and the reset of the photoelectric signal is FALSE;
if the shuttle car passes through the hollow hole after t0, the temporary photoelectric trigger signal is reset to FALSE, if the time for resetting the signal to FALSE is less than the filtering delay time t when the shuttle car moves forwards or backwards, the signal is immediately re-triggered to TRUE, the temporary FALSE state in the waveform is ignored, and the tray is determined to be detected all the time; if the shuttle car is reset to FALSE after t0 due to the fact that the photoelectric trigger signal passes through the tray gap, and the time for resetting the signal to FALSE is longer than the filtering delay time t when the shuttle car moves forwards or backwards, the shuttle car is considered to be incapable of detecting the tray after t0, the tray gap occurs, and therefore the interference of the hollow holes of the tray in the checking process is removed, and the filtering processing is completed. The filtering delay time t is the filtering delay time of the primary inventory or the secondary inventory.
Preferably, the number of times of re-inventorying in S4 is equal to or less than 3.
The invention has the beneficial effects that: through turning into photoelectric signal filtering signal to handling the interference of filtering, realized the accurate quick inventory of goods, effectually solved the goods inventory problem to intensive storage goods shelves, improved inventory efficiency greatly.
Drawings
FIG. 1: the invention relates to a schematic structural diagram of a shuttle vehicle.
FIG. 2: the invention discloses a flow chart of an inventory method.
FIG. 3: the invention discloses a schematic diagram of a first waveform structure of a photoelectric signal during retreating.
FIG. 4: fig. 2 is a waveform diagram after the first processing.
FIG. 5: fig. 3 is a waveform diagram after filtering.
Detailed Description
The invention discloses a tray counting method based on a storage shuttle vehicle, which comprises the following steps:
starting the shuttle vehicle to enter a uniform motion state; photoelectric sensors are arranged on the front side and the rear side of the bearing surface of the shuttle car, and the controller processes photoelectric signal feedback of the front photoelectric sensor and the rear photoelectric sensor to obtain the number of the trays. In this embodiment, the photoelectric sensors are respectively provided with a group of two front and back sides, and the front and back sides are mutually symmetrical.
To better illustrate the position of the photoelectric sensor, as shown in fig. 1, the shuttle car includes a bottom plate 1, and side plates are all surrounded around the bottom plate 1. In this embodiment, there are four side plates, which are a front side plate, a rear side plate, a left side plate, and a right side plate. Generally, the front side plate and the rear side plate are identical in structure, and the left side plate and the right side plate are identical in structure. And the left side plate and the right side plate of the shuttle vehicle are respectively provided with an operation roller, and the rollers comprise front and rear rollers 8. The running rollers are arranged according to a running track where the shuttle vehicle is located.
A set of hoisting mechanisms 2 are symmetrically arranged at the left end and the right end of the bottom plate 1, and hoisting plates 3 are connected above the hoisting mechanisms 2 through connecting plates 21. The hoisting mechanism 2 is driven by a driving mechanism arranged on the inner side of the hoisting mechanism 2 to drive the hoisting mechanism 2 to reciprocate up and down, and the connection between the hoisting mechanism 2 and the driving mechanism and the respective structures are the prior art, so the details are not repeated herein. During transportation, the product is placed on the lifting plate 3, is transported by the shuttle vehicle, and is subjected to height position adjustment in the vertical direction by the vertical movement of the lifting plate 3.
In order to better detect whether a product is placed on the shuttle car, photoelectric sensors 32 are arranged on the front side plate and the rear side plate of the bottom plate 1, and the sensing ends of the photoelectric sensors 32 are vertically upward.
The upper ends of the front side plate 31 and the rear side plate are provided with a horizontal baffle plate, the horizontal baffle plate is provided with a transparent window 33, and the induction end of the photoelectric sensor 32 is arranged under the transparent window 33. The transparent window 33 can protect the first photosensor 32 from being damaged by the falling of the article without affecting the detection thereof.
In order to ensure the accuracy of the detection induction, four photoelectric sensors 32 are arranged, and are respectively arranged on the front side plate 31 and the rear side plate in pairwise symmetry. Because the sensing end of the photoelectric sensor 32 is vertically and horizontally arranged, the sensing angle can be free of shielding within the maximum range, and products can be better detected.
In order to detect whether products exceeding positions exist on shuttle vehicles adjacent to each other in front and back or whether the products are blocked at the positions in real time in the transportation process, a second photoelectric sensor 5 is arranged at one end of the bottom of each lifting plate 2 through a positioning plate 4, and the second photoelectric sensors 5 are respectively arranged at the end positions of the bottoms of the two lifting plates along the diagonal line. The sensing ends of the second photoelectric sensor 5 are respectively arranged along the forward and backward directions of the shuttle vehicle, so that the second photoelectric sensor is used for detecting obstacles at the front and back positions of the shuttle vehicle. The lifting plate 3 is a plate without front and back shelters. And a left side plate 35 and a right side plate of the bottom plate 1 are respectively provided with a third photoelectric sensor 51, and the third photoelectric sensor and the second photoelectric sensor 5 are both arranged at the same end part of the shuttle car. The direction of the sensing end of the third photoelectric sensor is consistent with the direction of the second photoelectric sensor 5, and sensing windows 34 used for sensing the third photoelectric sensor are arranged on the front side plate and the rear side plate. And the third photoelectric sensor is a distance sensor and is used for detecting the distance between the shuttle car and the adjacent shuttle cars in real time.
Referring to fig. 2, the method for checking the tray specifically includes the following steps:
s1, when the shuttle car moves forward, the photoelectric signal of the rear photoelectric sensor is used as a detection reference; when the front side photoelectric sensor moves backwards, the photoelectric signal of the front side photoelectric sensor is used as a detection reference; when the corresponding photoelectric sensor is triggered photoelectrically, the tray is detected, the result of triggering and outputting a digital signal by a photoelectric signal is TRUE, and the result of resetting the photoelectric signal is FALSE;
s2, performing primary checking when the shuttle vehicle moves forward, and performing secondary checking when the shuttle vehicle moves backward;
s21, setting the tray spacing and the inventory speed;
s22, filtering the fed back photoelectric signal;
and S23, forming detection waveforms through the front side and the rear side of the tray, and analyzing tray signals reflected by the detection waveforms and tray gap signals to obtain the number of the trays.
S3, comparing the number of the trays counted twice;
and S4, if the number of the inventories is the same, outputting the number of the inventories, if the number of the inventories is different, re-inventories are carried out, if the number of the inventories is still different after at least two times, outputting an error of the inventories, and if the number of the inventories is the same, outputting the number of the trays of the inventories. In general, the number of times of re-inventorying n in S4 is equal to or less than 3.
The processing at the time of forward and backward in the present invention is the same.
In this embodiment, the steps are explained by taking the photoelectric sensor inventory at the front side as an example when the tray moves backward in conjunction with the drawings, the tray pitch L2 is set, and the inventory speed is V2; filtering the feedback photoelectric signal; because the tray itself has many hollowed-out holes, the photoelectric blind area appears easily for the filtering of obtaining becomes disordered, thereby causes the false retrieval, as shown in fig. 3. To improve this dead zone, a pair of photoelectric signals on the same side is logically or-processed, and the logical or processing is understood to be that, when the shuttle car is advancing for one counting, and one of the photoelectric sensors on the two counting on the rear side is triggered at time t0, if one of the photoelectric sensors is triggered, then the logical signal is determined to be detected as the tray, so as to compensate the two photoelectric dead zones, and the waveform shown in fig. 4 is obtained after the processing. For further optimization, the waveform is filtered again to remove other interference. The filtering process is a step of delaying the waveform, and the delay time is t2= L2/V2 at times. Specifically, the processing performed during filtering is as follows: if the photoelectric signal is processed by the or at the time t0, the tray is judged to be detected, after the time t0, the shuttle car is reset to FALSE due to the fact that the temporary photoelectric trigger signal appears in the hollowed-out hollow hole, and if the signal is reset to FALSE for a time less than t2 and is triggered to TRUE again, the temporary FALSE state in the waveform is ignored, and the tray is judged to be detected all the time. If the shuttle car resets to FALSE due to the fact that the photoelectric trigger signal passes through the tray gap after the time t0, and the time for resetting the signal to FALSE is longer than the time t2, the shuttle car is considered to be incapable of detecting the tray after the time t0, the tray gap occurs, and therefore the interference of the hollowed-out holes of the tray in the checking process is eliminated. The waveform shown in fig. 5 is finally formed after the filtering processing, and the inventory m2 of the number of trays is performed from the waveform, and the number of trays shown in the figure is 2.
Correspondingly, when the device advances, a tray spacing L1 is set, and the inventory speed is V1; after the delay filtering processing, at this time, the filtering delay time is t1, and after the processing is performed in the same filtering processing mode as that in the backward processing, the number of the inventory of the tray in the forward processing is m 1.
When m1 and m2 are compared and the same result is obtained, the number of trays is directly output. If the difference is not the same, the checking step is activated again for checking, and comparison is carried out; after the counting is carried out for three times, if m1 is still different from m2, an error signal is output, and the counting is finished.
The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The tray counting method based on the storage shuttle car is characterized by comprising the following steps: the method comprises the following steps:
starting the shuttle vehicle to enter a uniform motion state; photoelectric sensors are arranged on the front side and the rear side of the bearing surface of the shuttle car, and the controller processes photoelectric signal feedback of the front photoelectric sensor and the rear photoelectric sensor to obtain the number of the trays.
2. The warehousing shuttle-based pallet counting method as claimed in claim 1, characterized in that: the method specifically comprises the following steps:
s1, when the shuttle car moves forward, the photoelectric signal of the rear photoelectric sensor is used as a detection reference; when the front side photoelectric sensor moves backwards, the photoelectric signal of the front side photoelectric sensor is used as a detection reference; when the corresponding photoelectric sensor is photoelectrically triggered, the tray is detected;
s2, performing primary checking when the shuttle vehicle moves forward, and performing secondary checking when the shuttle vehicle moves backward;
s3, comparing the number of the trays counted twice;
and S4, if the number of the inventories is the same, outputting the number of the inventories, if the number of the inventories is different, re-inventories are carried out, if the number of the inventories is still different after at least two times, outputting an error of the inventories, and if the number of the inventories is the same, outputting the number of the trays of the inventories.
3. The warehousing shuttle-based pallet counting method as claimed in claim 2, characterized in that: the method for writing the disk in the step S2 includes the following steps:
s21, setting a tray interval L and a counting speed V;
s22, filtering the fed back photoelectric signal;
and S23, forming detection waveforms through the front side and the rear side of the tray, and analyzing tray signals reflected by the detection waveforms and tray gap signals to obtain the number of the trays.
4. The warehousing shuttle-based pallet counting method as claimed in claim 3, characterized in that: the step of delaying the filtering is further included in S22, and the filtering delay is often t = L/V.
5. The warehousing shuttle-based pallet counting method as claimed in claim 4, characterized in that: the filtering process includes the steps of:
when the photoelectric signal is logically or-processed at the time t0, determining that the tray is detected; wherein, the result of triggering and outputting the digital signal by the photoelectric signal is TRUE, and the reset of the photoelectric signal is FALSE;
if the shuttle car passes through the hollow hole after t0, the temporary photoelectric trigger signal is reset to FALSE, if the time for resetting the signal to FALSE is less than the filtering delay time t when the shuttle car moves forwards or backwards, the signal is immediately re-triggered to TRUE, the temporary FALSE state in the waveform is ignored, and the tray is determined to be detected all the time; if the shuttle car is reset to FALSE after t0 due to the fact that the photoelectric trigger signal passes through the tray gap, and the time for resetting the signal to FALSE is longer than the filtering delay time t when the shuttle car moves forwards or backwards, the shuttle car is considered to be incapable of detecting the tray after t0, the tray gap occurs, and therefore the interference of the hollow holes of the tray in the checking process is removed, and the filtering processing is completed.
6. The warehousing shuttle-based pallet counting method as claimed in claim 5, characterized in that: the number of times of re-inventorying in S4 is equal to or less than 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309962.XA CN114604548A (en) | 2022-03-28 | 2022-03-28 | Tray counting method based on storage shuttle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210309962.XA CN114604548A (en) | 2022-03-28 | 2022-03-28 | Tray counting method based on storage shuttle |
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| CN202210309962.XA Pending CN114604548A (en) | 2022-03-28 | 2022-03-28 | Tray counting method based on storage shuttle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116957300A (en) * | 2023-09-19 | 2023-10-27 | 天津万事达物流装备有限公司 | Logistics data management method and system based on unmanned warehouse shuttle |
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| CN112580756A (en) * | 2019-09-30 | 2021-03-30 | 上海史必诺物流设备有限公司 | RFID code scanning and counting disc point system applied to shuttle type goods shelf |
| CN214877510U (en) * | 2020-12-02 | 2021-11-26 | 长春融成智能设备制造股份有限公司 | Tray center automatic positioning type shuttle suitable for storage system |
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| CN116957300B (en) * | 2023-09-19 | 2023-12-01 | 天津万事达物流装备有限公司 | Logistics data management method and system based on unmanned warehouse shuttle |
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