CN116216159B - Four-way shuttle positioning method for intelligent logistics storage - Google Patents
Four-way shuttle positioning method for intelligent logistics storage Download PDFInfo
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- CN116216159B CN116216159B CN202310506956.8A CN202310506956A CN116216159B CN 116216159 B CN116216159 B CN 116216159B CN 202310506956 A CN202310506956 A CN 202310506956A CN 116216159 B CN116216159 B CN 116216159B
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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
The invention discloses a four-way shuttle positioning method for intelligent logistics storage, which relates to the technical field of four-way shuttle positioning, and is used for establishing a stereoscopic warehouse coordinate system and acquiring a running path of a four-way shuttle; acquiring a pre-judging path according to the running path of the four-way shuttle; according to the cargo quality and the running speed of the four-way shuttle, acquiring the optimal parking buffer distance and the optimal parking buffer point of the four-way shuttle; acquiring the shortest running distance, and starting to slow down when the four-way shuttle reaches a speed-down point if the shortest running distance is within the running distance of the pre-judging path; if the shortest running distance exceeds the range of the pre-judging path, the upper limit of the object carrying running speed of the four-way shuttle is reduced; according to the method, the optimal berthing buffer distance of the four-way shuttle is obtained, so that the positioning accuracy of the entering goods space of the four-way shuttle is improved, and the storage efficiency of the stereoscopic warehouse is improved.
Description
Technical Field
The invention relates to the technical field of four-way shuttle positioning, in particular to a four-way shuttle positioning method for intelligent logistics storage.
Background
The four-way shuttle has the main purpose of providing rapid access service for' goods to (robot) picking, and has attracted wide attention of industry although the application history is not long, and is considered to be an important component of a future intelligent logistics system;
in the prior art, the traditional shuttle inventory positioning method adopting a sensor to detect the front cargo pallet and decelerating and stopping has certain limitation, and the sensor can cause overlarge pallet spacing when in misoperation, so that the pallet occupies other cargo space, the storage efficiency is reduced, hidden hazards are brought to storage management, and therefore, the four-way shuttle positioning method for intelligent logistics storage is provided.
Disclosure of Invention
The invention aims to provide a four-way shuttle positioning method for intelligent logistics storage.
The aim of the invention can be achieved by the following technical scheme: a four-way shuttle positioning method for intelligent logistics storage comprises the following steps:
step S1: establishing a stereoscopic warehouse coordinate system, and acquiring a running path of the four-way shuttle;
step S2: acquiring a prejudgment path of a four-way shuttle;
step S3: according to the cargo quality and the running speed of the four-way shuttle, acquiring the optimal parking buffer distance and the optimal parking buffer point of the four-way shuttle;
step S4: acquiring the shortest running distance, and starting to slow down when the four-way shuttle reaches a speed-down point if the shortest running distance is within the running distance of the pre-judging path; and if the shortest running distance exceeds the range of the pre-judging path, reducing the upper limit of the carrier running speed of the four-way shuttle.
Further, the stereoscopic warehouse coordinate system is composed of a hierarchical warehouse coordinate system.
Further, the construction process of the hierarchical warehouse coordinate system is as follows;
the hierarchical warehouse coordinate system comprises an origin, an x axis and a y axis;
setting a track inlet as an origin, determining an x-axis along the horizontal direction of the outer edge of the warehouse by the origin, and determining a y-axis along the horizontal direction of the x-axis perpendicular to the origin;
marking a rail main road intersection in a coordinate system and generating an intersection set P, dividing an inventory area X according to the rail main road intersection, marking the rail branch road and the rail main road intersection, generating an intersection set Q according to the inventory area, marking a cargo space, and generating a cargo space set E according to the rail branch road.
Further, the process of obtaining the four-way shuttle travel path includes:
when a control system of the four-way shuttle receives a carrying signal for carrying goods to a goods space E, wherein E is a subelement of a goods space collection E;
the control system determines the goods position according to the goods position e in the carrying signal, obtains the track branch information of the goods position through the goods position e, obtains the stock area information of the track branch according to the track branch information, and obtains the track main road intersections of four corners of the stock area according to the stock area information
、
、
And
；
the control system respectively obtains the origin to the point
、
、
And
is the shortest travel path of (a)
、
、
And
；
the control systems respectively acquire
、
、
And
shortest path to cargo space e
、
、
And
；
will be
、
、
And
comparing to obtain the shortest travel path S from the origin to the goods location e;
the shortest running path S is the running path of the four-way shuttle;
the control system enables the four-way shuttle to carry goods to the cargo space by controlling the drive system and the cargo pallet.
Further, the control system controls the cargo pallet to:
when goods are required to be stored, the control system controls the driving system to enable the four-way shuttle to travel to the warehouse entry port, and the cargo pallet is lifted through the jacking mechanism to lift the goods for transportation;
when the four-way shuttle reaches the cargo space, the control system descends the cargo pallet through the jacking mechanism to place the cargo on the goods shelf.
Further, the process of controlling the driving system by the control system includes:
the four-way shuttle is provided with an x-axis wheel and a y-axis wheel;
when the four-way shuttle needs to walk k unit lengths in the x-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the y-axis wheel and drives the x-axis wheel to walk k unit lengths;
when the four-way shuttle needs to walk k unit lengths in the y-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the x-axis wheel and drives the y-axis wheel to walk k unit lengths;
when the four-way shuttle needs to stop walking, the control system sends a stop signal to the driving system, and the driving system stops the currently walking axle wheel.
Further, the acquiring process of the pre-judging path includes:
after the control system calculates the running path of the four-way shuttle, the running path is simulated in the control system, and a signal set sent by the control system to the driving system is obtained;
the last walking signal content in the signal set is a pre-judging path, the last walking signal content is set to be "k unit lengths in the direction of the positive x-axis half axis", the pre-judging path is "k unit lengths in the direction of the positive x-axis half axis", and the driving path of the pre-judging path is k unit lengths.
Further, the process of obtaining the optimal parking buffer distance and the deceleration point includes:
installing a pressure sensor on a cargo carrying plate of the four-way shuttle, and acquiring the cargo mass M through the pressure sensor;
when the control system controls the driving system to drive the four-way shuttle car, the driving system can provide constant force for the four-way shuttle car
Acceleration is carried out, time passes
Accelerating to the upper limit V of the traveling speed of the carrying object, wherein the traveling distance of the four-way shuttle is
；
When the control system controls the driving system to stop the four-way shuttle, the driving system provides constant force for the four-way shuttle
To perform deceleration stop and elapsed time
Positioning the four-way shuttle to park the goods, and obtaining the optimal buffer distance required by parking the four-way shuttle to be
；
According to the obtained optimal buffer distance
And marking a corresponding deceleration point on the pre-judging path.
Further, the travel distance of the four-way shuttle from the start of travel to the berthing cargo space is r=
+V（
）+
；
For the travel time of the four-way shuttle which is not decelerated,
；
when (when)
In this case, the shortest travel distance required for the four-way shuttle from the start to the end of travel
；
If the shortest travel distance is
When the four-direction shuttle vehicle reaches a deceleration point within k unit lengths of the travel path of the pre-judging path, starting deceleration; if the shortest travel distance is
If the travel distance exceeds k unit length ranges of the travel path of the pre-judging path, the travel speed of the four-way shuttle is reduced to be equal to
。
Compared with the prior art, the invention has the beneficial effects that: according to the method, the quality of goods is measured through a pressure sensor on a cargo carrying plate, the optimal parking buffer distance of the four-way shuttle is obtained according to the quality of the goods and the constant force given by a driving system, the shortest running distance is obtained according to the optimal parking buffer distance, if the shortest running distance is within the running path of a pre-judging path of the four-way shuttle, a speed reducing point is judged by the optimal parking buffer distance, and when the four-way shuttle runs to the speed reducing point, the driving system is controlled by a control system to carry out speed reduction parking, so that the four-way shuttle can be accurately parked on a goods position; if the shortest running distance exceeds the running range of the pre-judging path of the four-way shuttle, the object carrying running speed upper limit of the four-way shuttle is reduced, so that the purpose that the four-way shuttle can stably and accurately park the goods is achieved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
As shown in fig. 1, a four-way shuttle positioning method for intelligent logistics storage comprises the following steps:
step S1: establishing a stereoscopic warehouse coordinate system, and acquiring a running path of the four-way shuttle;
step S2: acquiring a prejudgment path of a four-way shuttle;
step S3: according to the cargo quality and the running speed of the four-way shuttle, acquiring the optimal parking buffer distance and the optimal parking buffer point of the four-way shuttle;
step S4: acquiring the shortest running distance, and starting to slow down when the four-way shuttle reaches a speed-down point if the shortest running distance is within the running distance of the pre-judging path; if the shortest running distance exceeds the range of the pre-judging path, the upper limit of the object carrying running speed of the four-way shuttle is reduced;
it should be further noted that, in the implementation process, the construction process of the stereoscopic warehouse coordinate system includes:
because four-way shuttle vehicles exist on each layer of the stereoscopic warehouse, only a layered warehouse coordinate system of the stereoscopic warehouse is needed to be respectively constructed, and a coordinate system set of the stereoscopic warehouse is formed by the layered warehouse coordinate systems;
setting N layers of stereoscopic warehouses, the coordinate system of the stereoscopic warehouses is integrated into a set n= {
，/>
，……，/>
N is the layer number of the stereoscopic warehouse, < }>
Representing an i-th hierarchical warehouse coordinate system;
it should be further noted that, in the implementation process, the construction process of the hierarchical warehouse coordinate system is as follows:
the hierarchical warehouse coordinate system comprises an origin, an x axis and a y axis;
setting a track inlet as an origin, determining an x-axis along the horizontal direction of the outer edge of the warehouse by the origin, and determining a y-axis along the horizontal direction of the x-axis perpendicular to the origin; if build up
The track inlet is the position of the transmission device entering the stereoscopic warehouse; if construct->
The track entrance is the position of the elevator, where i +.>
2；
In a hierarchical warehouse coordinate system, 1 unit length represents 1 meter in the objective world;
the rail is divided into a rail main way and a rail branch way, wherein the rail main way is a rail between stock areas, and the rail branch way is a rail in a goods shelf;
setting an intersection of a main track as a node P, and generating a main track intersection set P= { of the main track intersection set P =
，/>
，……，/>
N is the total number of the main track crossings, { times }, where n is the total number of the main track crossings, }>
Representing an ith track main intersection, wherein the 'ith' only represents marked meanings, and no adjacent meanings exist on a space level;
dividing stock areas according to rail main road intersections
Wherein a represents an upper left rail main road intersection of the inventory area, b represents an upper right rail main road intersection of the inventory area, c represents a lower left rail main road intersection of the inventory area, d represents a lower right rail main road intersection of the inventory area;
i.e. inventory area
Is +.>
The upper right corner node is +.>
The lower left corner node is +.>
The lower right corner node is +.>
；
N shelves exist in the storage area, namely n track branches exist;
setting an intersection of a track branch and a track main road as a node Q, and generating an intersection combination set Q= { of the track branch and the track main road according to the inventory area
，/>
，……，/>
(wherein X represents an inventory area>
N represents the number of rail branches and rail main road interfaces of the stock area, +.>
Representing inventory area->
The i-th track branch is intersected with the track main branch, and the i-th track branch only represents marked meaning and does not have adjacent meaning on a space level;
setting a cargo space as a node E, and generating a cargo space aggregate E= { according to the track branch circuit
，/>
，……，
}, wherein->
And->
Indicating the interface of the track branch where the cargo space is located and the track main, i.e. node +.>
And node->
N represents the number of cargo spaces of the track branch, < >>
Representing an ith cargo space on the track leg, the "ith" representing only a labeling meaning and not having adjacent meanings at a spatial level;
it should be further described that, in the specific implementation process, the process of carrying goods by the four-way shuttle is as follows:
when the control system of the four-way shuttle receives the goods to be carried to the goods position
After carrying the signals, the control system calculates the driving path of the four-way shuttle vehicle, and the driving system and the cargo pallet are controlled to lead the four-way shuttle vehicle to moveThe vehicle carries the goods to the goods space;
it should be further described that, in the specific implementation process, the process of obtaining the travel path of the four-way shuttle is as follows:
according to "in the carrying signal"
"determining cargo space, planning shortest travel path of track entry to cargo space, i.e. origin to +.>
Is the shortest travel path of (a);
by passing through
Obtaining the interface between the track branch and the track main where the goods space is located>
And->
；
By passing through
Or->
Obtain the inventory area where the interface is located +.>
；
Through inventory area
Acquiring the upper left corner node of the inventory area
Right upper corner node
Left lower corner node
And lower right corner node
；
The control system respectively obtains the positions from the origin to the
、
、
And
is the shortest travel path of (a)
、
、
And
；
the control systems respectively acquire
、
、
And
to the point of
Is the shortest travel path of (a)
、
、
And
；
will be
+
、
+
、
+
And
+
comparing to obtain origin to
Is the shortest travel path S of (a);
the control system takes the shortest running path S as the running path of the four-way shuttle;
it should be further noted that, in the implementation process, the control system controls the cargo pallet as follows:
when goods are required to be stored, the control system controls the driving system to enable the four-way shuttle to travel to the warehouse entry port, and the cargo pallet is lifted through the jacking mechanism to lift the goods for transportation;
when the four-way shuttle machine reaches the goods space, the control system enables the goods carrying tray to descend through the jacking mechanism, and the goods are placed on the goods shelf;
it should be further noted that, in the implementation process, the process of controlling the driving system by the control system is:
the four-way shuttle is provided with an x-axis wheel and a y-axis wheel, wherein the x-axis wheel is responsible for walking in the x-axis direction, and the y-axis wheel is responsible for walking in the y-axis direction;
when the four-way shuttle needs to walk k unit lengths in the x-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the y-axis wheel and drives the x-axis wheel to walk k unit lengths;
when the four-way shuttle needs to walk k unit lengths in the y-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the x-axis wheel and drives the y-axis wheel to walk k unit lengths;
when the four-way shuttle needs to stop walking, the control system sends a stop signal to the driving system, and the driving system stops the currently walking axle wheel;
it should be further noted that, in the implementation process, the process of obtaining the pre-judgment path is as follows:
after the control system calculates the running path of the four-way shuttle, the running path is simulated in the control system, and a signal set sent by the control system to the driving system is obtained;
the last walking signal content in the signal set is the pre-judging path; setting the content of the last walking signal as 'k unit lengths driving towards the x-axis positive half axis direction', wherein the pre-judging path is 'k unit lengths driving towards the x-axis positive half axis direction', and the driving path of the pre-judging path is k unit lengths;
it should be further noted that, in the implementation process, the process of obtaining the optimal parking buffer distance and the deceleration point is as follows:
distance measuring sensors are arranged around the shell of the four-way shuttle;
installing a pressure sensor on a cargo carrying plate of the four-way shuttle, and acquiring the cargo mass M through the pressure sensor;
when the control system controls the driving system to drive the four-way shuttle car, the four-way shuttle car willWill be subjected to a constant force provided by the drive system
Constant force
Driving the four-way shuttle to accelerate, and passing the time
Accelerating the traveling speed of the four-way shuttle to the upper limit V of the traveling speed of the object, wherein the traveling distance of the four-way shuttle is
；
In the running process of the four-way shuttle which is not decelerated, the impulse generated by the four-way shuttle
=
Wherein, the method comprises the steps of, wherein,
for the travel time of the four-way shuttle which is not decelerated,
；
when the four-way shuttle needs to stop running, the control system controls the driving system to enable the four-way shuttle to decelerate, and the four-way shuttle is subjected to constant force provided by the driving system
The four-way shuttle takes time
The speed is reduced, so that the four-way shuttle can stably and accurately reach the cargo space; the said
=
The four-way shuttle needs a parking buffer distance of
；
The travel distance of the four-way shuttle from the start to the end is r=
+V（
）+
；
When (when)
In this case, the shortest travel distance required for the four-way shuttle from the start to the end of travel
；
When the shortest distance is
In the range of k unit lengths of the travel path of the predicted path, the optimal parking buffer distance is +.>
According to the optimal buffer distance obtained +.>
Marking a corresponding deceleration point on the pre-judging path;
when the distance measuring sensor detects the distance from the cargo space, the distance is left
When the four-way shuttle vehicle reaches a deceleration point, the control system submits a deceleration signal to the driving system to start deceleration;
when the shortest distance is
When the travel distance k unit length ranges of the pre-judging path are exceeded, the upper limit of the carrier travel speed of the four-way shuttle is reduced to +.>
The four-way shuttle can stably stop in the driving route of the pre-judging route and is accurately positioned on the goods space;
the said
。
According to the method, the coordinate system of the stereoscopic warehouse is built, the distribution conditions of the rail main road intersection, the stock area, the rail branch road and rail main road intersection and the cargo space are obtained, meanwhile, 1 unit length of the coordinate system represents 1 meter in the objective world, and the frame structure of the stereoscopic warehouse can be well reflected by building the coordinate system;
acquiring a running path of the four-way shuttle through a control system of the four-way shuttle, and after acquiring the running path, performing simulated running on the running path in the control system to acquire a signal set sent by the control system to a driving system;
the last walking signal content in the signal set is the pre-judging path;
the method comprises the steps that a pressure sensor is arranged on a cargo carrying supporting plate of a four-way shuttle to obtain the quality of cargo;
the driving system is controlled by the control system, so that the driving system provides constant force for the four-way shuttle, and the four-way shuttle is accelerated to the upper limit of the traveling speed of the carrier;
according to the quality of goods and the running speed of the four-way shuttle, obtaining the optimal parking buffer distance of the four-way shuttle, and obtaining a speed reducing point according to the optimal parking buffer distance;
acquiring the shortest running distance of the optimal parking buffer distance of the four-way shuttle, and starting to slow down when the four-way shuttle reaches a speed-down point if the shortest running distance is within the running distance of the pre-judging path; and if the shortest running distance exceeds the range of the pre-judging path, reducing the upper limit of the carrier running speed of the four-way shuttle.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. The four-way shuttle positioning method for intelligent logistics storage is characterized by comprising the following steps of:
step S1: establishing a stereoscopic warehouse coordinate system, and acquiring a running path of the four-way shuttle;
the stereoscopic warehouse coordinate system is composed of a layered warehouse coordinate system;
the construction process of the hierarchical warehouse coordinate system is as follows;
the hierarchical warehouse coordinate system comprises an origin, an x axis and a y axis;
setting a track inlet as an origin, determining an x-axis along the horizontal direction of the outer edge of the warehouse by the origin, and determining a y-axis along the horizontal direction of the x-axis perpendicular to the origin;
marking a rail main road intersection in a coordinate system and generating an intersection set P, dividing an inventory area X according to the rail main road intersection, marking the rail branch road and the rail main road intersection and generating an intersection set Q according to the inventory area, marking a cargo space and generating a cargo space set E according to the rail branch road;
the process for acquiring the four-way shuttle vehicle driving path comprises the following steps:
when a control system of the four-way shuttle receives a carrying signal for carrying goods to a goods space E, wherein E is a subelement of a goods space collection E;
the control system determines the goods position according to the goods position e in the carrying signal, obtains the track branch information of the goods position through the goods position e, obtains the stock area information of the track branch according to the track branch information, and obtains the track main road intersection p of four corners of the stock area according to the stock area information a 、p b 、p c And p d ；
p a 、p b 、p c And p d All are sub-elements of intersection collection P;
the control system respectively obtains the origin to p a 、p b 、p c And p d Is the shortest travel path L of (1) a 、L b 、L c And L d ；
The control system respectively obtains p a 、p b 、p c And p d Shortest path U to cargo space e a 、U b 、U c And U d ；
Will L a +U a 、L b +U b 、L c +U c And L d +U d Comparing to obtain the shortest travel path S from the origin to the goods location e;
the shortest running path S is the running path of the four-way shuttle;
the control system enables the four-way shuttle to carry goods to a goods space by controlling the driving system and the goods carrying tray;
the control system controls the cargo pallet as follows:
when goods are required to be stored, the control system controls the driving system to enable the four-way shuttle to travel to the warehouse entry port, and the cargo pallet is lifted through the jacking mechanism to lift the goods for transportation;
when the four-way shuttle machine reaches the goods space, the control system enables the goods carrying tray to descend through the jacking mechanism, and the goods are placed on the goods shelf;
the process of the control system controlling the drive system includes:
the four-way shuttle is provided with an x-axis wheel and a y-axis wheel;
when the four-way shuttle needs to walk k unit lengths in the x-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the y-axis wheel and drives the x-axis wheel to walk k unit lengths;
when the four-way shuttle needs to walk k unit lengths in the y-axis direction, the control system sends a walking signal to the driving system, and the driving system lifts the x-axis wheel and drives the y-axis wheel to walk k unit lengths;
when the four-way shuttle needs to stop walking, the control system sends a stop signal to the driving system, and the driving system stops the currently walking axle wheel;
step S2: acquiring a prejudgment path of a four-way shuttle;
the acquisition process of the pre-judging path comprises the following steps:
after the control system obtains the running path of the four-way shuttle, the running path is simulated in the control system, and a signal set sent to the driving system by the control system is obtained;
the last walking signal content in the signal set is the pre-judging path;
step S3: according to the cargo quality and the running speed of the four-way shuttle, acquiring the optimal parking buffer distance and the optimal parking buffer point of the four-way shuttle;
step S4: acquiring the shortest running distance, and starting to slow down when the four-way shuttle reaches a speed-down point if the shortest running distance is within the running distance of the pre-judging path; if the shortest running distance exceeds the range of the pre-judging path, the upper limit of the object carrying running speed of the four-way shuttle is reduced;
the process of obtaining the optimal mooring buffer distance and the deceleration point includes:
installing a pressure sensor on a cargo carrying plate of the four-way shuttle, and acquiring the cargo mass M through the pressure sensor;
when the control system controls the driving system to drive the four-way shuttle car, the driving system provides constant force F for the four-way shuttle car 1 Acceleration is carried out, and the time t passes 1 Accelerating to the upper limit V of the traveling speed of the carrying object, wherein the traveling distance of the four-way shuttle is R 1 ；
When the control system controls the driving system to stop the four-way shuttle car, the driving systemProviding constant force F to four-way shuttle 2 To perform deceleration stop and to pass time t 3 Positioning the four-way shuttle to park the goods, wherein the optimal buffering distance required by the four-way shuttle to park is R 2 ；
According to the obtained optimal buffer distance R 2 And marking a corresponding deceleration point on the pre-judging path.
2. The method for positioning a four-way shuttle for intelligent logistics storage as claimed in claim 1, wherein the travel distance of the four-way shuttle from the beginning to the berthing cargo space is r=r 1 +V(t 2 -t 1 )+R 2 ；t 2 Is the running time t of the four-way shuttle which is not decelerated 2 ≥t 1 ；
When t 2 ＝t 1 At this time, the shortest travel distance R required for the four-way shuttle from the start to the end min ；
If the shortest travel distance R min In the driving path of the pre-judging path, when the four-way shuttle vehicle reaches a speed reducing point, starting speed reduction; if the shortest travel distance R min If the travel speed exceeds the range of the pre-judging path, the travel speed of the four-way shuttle is reduced to V 0 。
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| CN110194343A (en) * | 2019-05-17 | 2019-09-03 | 盐城品迅智能科技服务有限公司 | A kind of communication system and cargo method for carrying of more AGV intelligent storage compact shelvings |
| CN112631209A (en) * | 2019-10-08 | 2021-04-09 | 北京京东乾石科技有限公司 | Method and apparatus for controlling an automated guided vehicle |
| CN110609494A (en) * | 2019-10-12 | 2019-12-24 | 浙江工业大学 | ASRV-based anti-congestion simulation control method and system for multiple four-way shuttles on planned path |
| CN112230655B (en) * | 2020-09-30 | 2023-02-14 | 江苏智库智能科技有限公司 | Walking control system and method of four-way shuttle |
| CN113184424B (en) * | 2021-03-21 | 2022-11-25 | 杭州祥龙物流设备科技股份有限公司 | Four-way shuttle positioning system |
| CN114229302A (en) * | 2021-12-28 | 2022-03-25 | 江苏智库智能科技有限公司 | Simulation method for three-dimensional warehouse management system of four-way shuttle |
| CN114418707A (en) * | 2022-03-31 | 2022-04-29 | 山东西曼克技术有限公司 | Four-way shuttle vehicle path navigation method and system |
| CN114754776A (en) * | 2022-04-18 | 2022-07-15 | 北京京东乾石科技有限公司 | Four-way shuttle vehicle path planning method and device |
| CN115140481B (en) * | 2022-09-01 | 2022-12-02 | 青岛盈智科技有限公司 | Dynamic avoidance method and device for four-way shuttle |
| CN115951691B (en) * | 2023-03-13 | 2023-05-30 | 江西丹巴赫机器人股份有限公司 | Shuttle track planning method and system for dense library under 5G communication |
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2023
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Denomination of invention: A Four Way Shuttle Positioning Method for Intelligent Logistics Warehousing Granted publication date: 20230714 Pledgee: Zhongguancun Branch of Bank of Beijing Co.,Ltd. Pledgor: BEIJING BRIO ELECTRONIC TECHNOLOGY Co.,Ltd. Registration number: Y2024980015417 |