WO2024055987A1 - 基于编码器自校正的穿梭车行走定位控制方法 - Google Patents

基于编码器自校正的穿梭车行走定位控制方法 Download PDF

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WO2024055987A1
WO2024055987A1 PCT/CN2023/118526 CN2023118526W WO2024055987A1 WO 2024055987 A1 WO2024055987 A1 WO 2024055987A1 CN 2023118526 W CN2023118526 W CN 2023118526W WO 2024055987 A1 WO2024055987 A1 WO 2024055987A1
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positioning
pos
value
encoder
shuttle
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PCT/CN2023/118526
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English (en)
French (fr)
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孙袁
姜甲浩
李广勇
王春
焦茂金
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科捷智能科技股份有限公司
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Publication of WO2024055987A1 publication Critical patent/WO2024055987A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Definitions

  • the invention relates to a new control method for shuttle vehicle walking and positioning, and belongs to the field of logistics and warehousing.
  • the multi-layer shuttle vehicle moves cargo between relative layers through a walking platform composed of tracks installed on the rack columns.
  • the walking motor drives the running wheels to generate power, and the relative friction between the running wheels and the track generates forward or backward power, thereby achieving the purpose of moving the shuttle back and forth along the track.
  • friction with the track generates walking power
  • this phenomenon can be roughly defined as a slipping phenomenon.
  • the positioning mark counting method uses the positioning mark counting method to calculate the actual distance traveled by the shuttle and its location and other parameters.
  • This method can solve the problem of long-distance walking positioning to a certain extent when the walking speed is not high and the shelves are well installed. However, it has higher requirements for load, shelf installation quality, speed and acceleration and other parameters. It is not possible to effectively deal with positioning mark counting errors caused by vehicles running under high load and aging of shelves. For example, if the patent was previously published, the application number is CN201910921041.7, and the application name is shuttle vehicle travel control method, device, computer equipment and storage medium. 3.
  • the shuttle vehicle walking positioning control method based on encoder self-correction aims to solve the problems existing in the above-mentioned prior art and propose a self-correction solution based on track positioning markers and external encoders.
  • Information feedback and the servo target position are updated in real time at each mark, in order to eliminate the cumulative error caused by slipping at any time.
  • the shuttle vehicle realizes a fully closed-loop control process of walking and positioning under the guidance of position information that is corrected at any time.
  • the shuttle vehicle walking positioning control method based on encoder self-correction described in this application includes the following implementation stages:
  • At least one positioning sensor is provided on the shuttle, and several positioning marks for detecting positioning are continuously arranged at intervals on the track;
  • the track origin and the position of the track starting positioning mark are determined, the encoder data is initialized, and the servo driver is set to initialize the position data;
  • the shuttle runs at low load and low speed, traverses each positioning mark of each shelf, records the encoder value generated corresponding to each positioning mark, and establishes an array Storage[i] to save the corresponding generated data group;
  • the controller sends the target position POS_PRI to the servo driver.
  • the servo driver plans the walking curve and controls the running wheel operating parameters through the motor output corresponding pulses;
  • the positioning sensor When the positioning sensor detects a positioning identification signal, it uploads the positioning information to the controller.
  • the controller records the current encoder value POS_ENC and compares it with the initial setting value in the self-learning array Storage[i] one by one to determine the following The unique positioning identification address information specified by i;
  • the controller will send the updated target position POS_NEW to the servo driver, and the servo driver controls the walking wheel to execute the walking command according to the current updated target position POS_NEW;
  • the final position of the servo drive is updated to the value in the self-learning array Storage[i] corresponding to the current positioning mark.
  • the servo drive controls the walking wheel to perform a single walk according to the target position instruction POS_TAR to ultimately eliminate errors caused by slipping.
  • the process of comparing the current encoder value POS_ENC with the initial setting value in the self-learning array Storage[i] includes the following steps:
  • H_Min is the minimum value of the address information corresponding to the positioning identifier
  • H_Max is the maximum value of the address information corresponding to the positioning identifier
  • Step (1) Set the initial value of array subscript i to H_Min
  • Step (3) If the calculation result POS_DIF is within the allowed error range, that is, POS_DIF ⁇ POS_TOR, and POS_TOR is the position error allowed by two adjacent positioning marks, then POS_DIF is updated to the current value of the encoder, and the above comparison cycle ends at the same time;
  • Step (4) Determine whether the value of array subscript i is out of bounds.
  • H_Min ⁇ i ⁇ H_Max repeat step (2) until the specific value of array subscript i is determined to determine the location identification address information uniquely specified by subscript i;
  • the controller determines that the encoder value error is too large and cannot be corrected, and ends the cycle.
  • the positioning mark is any one or more combinations of positioning holes, positioning protrusions, positioning pieces, two-dimensional codes or labels.
  • the shuttle vehicle walking positioning control method based on encoder self-correction in this application has the following advantages:
  • This application proposes a self-correction control scheme that combines an external encoder + positioning mark to address the slipping phenomenon that easily occurs when the existing shuttle vehicle is traveling at high speeds with a large load.
  • the encoder is set on one side of the vehicle body and is detected through sensing.
  • the markings on each track can instantly correct the shuttle's walking position, thereby eliminating the accumulated travel error caused by walking slippage at any time, realizing full closed-loop control of the shuttle's walking and positioning, and significantly improving the success rate of one-time positioning.
  • the corrected encoder value during walking is fed back to the controller, which can update the servo target position at any time.
  • the controller issues servo drive position commands through bus transmission. Therefore, the performance requirements for the controller are not high and the equipment can be implemented on a wide scale. Configuration, lower cost, higher positioning accuracy and safety.
  • This application can both improve positioning control accuracy and reduce control difficulty.
  • the encoder value and speed planning curve can be updated in real time, reducing the shuttle vehicle positioning stability affected by factors such as walking speed, load, running distance, and shelf installation. The adverse effects of quality and other parameters will be adversely affected, and the positioning stability will be improved accordingly.
  • the running speed of the shuttle and the erection length of the shelf tunnel can be correspondingly increased, the success rate of one-time positioning can be significantly improved, and the higher requirements for the quality of shelf installation can be reduced.
  • Figure 1 is a flow chart of the shuttle vehicle walking positioning control method based on encoder self-correction described in this application;
  • FIG. 2 is a schematic diagram of the control system module
  • Embodiment 1 proposes a shuttle vehicle walking positioning control method based on encoder self-correction applied to a three-dimensional logistics warehousing system.
  • the method includes the following implementation stages:
  • the application scenario is a multi-layer shelf, which includes a compound conveyor track and several shuttles running on the track;
  • At least one positioning sensor is provided on the shuttle, and the positioning sensor can be disposed on the vehicle body;
  • the positioning marks can be any one of positioning holes, positioning protrusions, positioning pieces, QR codes or labels. one or more combinations.
  • the positioning sensor When walking to the positioning mark, the positioning sensor detects the positioning information and uploads it to the controller to generate an encoder value corresponding to the positioning information.
  • the positioning information is uniquely determined by the positioning mark set on the side of the track and belongs to the preset address parameters. Several positioning marks form a set of predetermined parameter groups. When the positioning sensor uploads a certain positioning information to the controller, it means that the shuttle reaches the workstation uniquely designated by the positioning mark.
  • the shuttle control system includes command initiation, communication transmission, logic processing, and execution mechanisms.
  • Command initiation is divided into two parts: the host computer automatically issues the command and the operator receives the initiation through the PC or HMI.
  • the controller After the controller receives the control command issued by the host computer, it sends it to the servo driver that controls the running wheel operation of the shuttle vehicle in the form of bus transmission through logic processing.
  • a comparison between the position where the positioning mark is located and the feedback position of the servo drive can be formed based on the real-time updated encoder value.
  • the comparison result is the deviation data in terms of position.
  • the form of compensation is added to the original target position of the servo drive, which forms the final target position update.
  • the updated target position is sent to the servo drive, and the servo drive controls the walking wheel to execute according to the new travel distance target, thus achieving a one-time Walk in place.
  • the track origin and the position of the track starting positioning mark are determined, the encoder data is initialized, and the servo driver is set to initialize the position data.
  • the shuttle runs at low load and low speed, traverses each positioning mark of each shelf, records the encoder value generated corresponding to each positioning mark, and establishes an array Storage[i] to save the corresponding generated data group.
  • the recorded data set is the basis for the shuttle's walking positioning.
  • the initial position data determined from the origin of the track and the positioning marks arranged along the walking stroke is established.
  • Each position address determined by the positioning mark is unique.
  • the controller sends the target position POS_PRI to the servo driver.
  • the servo driver plans the walking curve and controls the running wheel operating parameters through the motor output corresponding pulses;
  • the positioning sensor When the positioning sensor detects a positioning identification signal, it uploads the positioning information to the controller.
  • the controller records the current encoder value POS_ENC and compares it with the initial setting value in the self-learning array Storage[i] one by one to determine the following Mark i uniquely specifies the positioning mark address information, that is, it is clear which positioning mark the shuttle car travels to;
  • the process of comparing the current encoder value POS_ENC with the initial setting value in the self-learning array Storage[i] includes the following steps:
  • H_Min is the minimum value of the address information corresponding to the positioning identifier
  • H_Max is the maximum value of the address information corresponding to the positioning identifier
  • Step (1) Set the initial value of array subscript i to H_Min
  • Step (3) If the calculation result POS_DIF is within the allowed error range, that is, POS_DIF ⁇ POS_TOR, and POS_TOR is the position error allowed by two adjacent positioning marks, then POS_DIF is updated to the current value of the encoder, and the above comparison cycle ends at the same time;
  • Step (4) Determine whether the value of array subscript i is out of bounds.
  • H_Min ⁇ i ⁇ H_Max repeat step (2) until the specific value of array subscript i is determined to determine the location identification address information uniquely specified by subscript i;
  • the controller determines that the encoder value error is too large and cannot be corrected, and ends the cycle;
  • the controller sends the updated target position POS_NEW to the servo driver, and the servo driver controls the walking wheel to execute the walking command according to the current updated target position POS_NEW;
  • the allowable range of the positioning mark is ⁇ T.
  • the value range of T depends on the size of the positioning mark;
  • the final position of the servo drive is updated to the value in the self-learning array Storage[i] corresponding to the current positioning mark.
  • the servo drive controls the walking wheel to perform a single walk according to the target position instruction POS_TAR to ultimately eliminate errors caused by slipping.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明所述基于编码器自校正的穿梭车行走定位控制方法，提出一种基于轨道定位标识与外置编码器的自校正解决方案，在穿梭车行走经过每一标识处即时地进行信息反馈与更新伺服目标位置，以期随时消除因打滑现象造成的累计误差，穿梭车在随时校正的位置信息引导下实现行走与定位的全闭环控制流程。基于编码器自校正的穿梭车行走定位控制方法包括以下实施阶段：1）定制与初始化；2）自学习；3）自校正；4）、更新目标位置；5）、位置偏移处置。

Description

基于编码器自校正的穿梭车行走定位控制方法 技术领域
本发明涉及一种穿梭车行走定位的新型控制方法，属于物流仓储领域。
 背景技术
目前在物流仓储领域，自动化与智能化控制技术得以快速发展，伴随工业和商业用地、人工成本的不断上升，密集型中转库因其能够充分利用空间效能、相应地减少人员劳动力需求而具备较高的作业效率，多层穿梭车因其具有灵活高效的搬运能力而成为常规使用的料箱存储设备。
做为一种效率较高的轨道引导搬运类设备的多层穿梭车，通过安装在货架立柱上的轨道构成的行走平台完成相对层间的载货移动。在行走过程中，行走电机驱动行走轮产生动力，通过行走轮与轨道的相对摩擦产生向前或者向后的动力，从而达到穿梭车沿轨道前后移动的目的。通常，与轨道摩擦产生行走动力时，由于行走轮表面材质、电机输出扭矩、导轨表面不平整带来的行走轮跳动等诸多因素的影响，导致行走电机输出的脉冲数与行走轮实际行程之间存在较大的差距，可将这种现象粗略定义为打滑现象。特别是在穿梭车载重较大、行走速度较高的情况下，上述类型的打滑现象更为明显，使得穿梭车最终无法准确地行走、定位至指定的存取货工位，形成货物输送上的位置偏差、制约到整体物流运输效率的提高与仓储工位的高效管理上。
如上所述，现有技术导致行走轮打滑的影响因素较多，较为突出的可概括有以下几种：1、在从动轮上安装编码器，以从动轮较小的打滑量替代主动轮进行行走距离的校验与纠偏，虽可解决近距离行走定位不准的问题，但对于巷道较长、穿梭车负载较大的工况就难以实现远距离校验性能，仍然明显地存在计量不准、需反正校正的技术难题。如在先公开专利，申请号为CN202110462768.0，申请名称为钢铁冶金轨道布料小车定位及自动布料控制系统。2、采用定位标识计数方式，穿梭车在行走过程中，通过计算穿梭车行走路线上检测到的定位标识的数量，以计算穿梭车实际走过的距离和所处的位置等参数。这种方式对于行走速度不高且货架安装良好的情况，在一定程度上可解决远距离行走定位问题，但对于负载、货架安装质量、以及速度与加速度等参数的要求较高，对于因长时间高负载运行的车辆及货架老化带来的车体行走跳动现象引起的定位标识计数错误情况，尚无法有效应对。如在先公开专利，申请号为CN201910921041.7，申请名称为穿梭车行走控制方法、装置、计算机设备及存储介质。3、通过上位系统的控制器规划精确的运行曲线和电机速度参数输出，通过编码器反馈实时位置来计算剩余的运行距离，虽然通过构建完整全闭环控制模式，但此方式需要为每辆穿梭车配置性能较高的控制器，同时因控制器算例有限而无法同时处理较多控制器的算法结果输出，导致系统设备成本较高、难以大范围推广普及。
有鉴于此，特提出本专利申请。
 发明内容
本发明所述的基于编码器自校正的穿梭车行走定位控制方法，在于解决上述现有技术存在的问题而提出一种基于轨道定位标识与外置编码器的自校正解决方案，在穿梭车行走经过每一标识处即时地进行信息反馈与更新伺服目标位置，以期随时消除因打滑现象造成的累计误差，穿梭车在随时校正的位置信息引导下实现行走与定位的全闭环控制流程。
为实现上述设计目的，本申请所述的基于编码器自校正的穿梭车行走定位控制方法包括以下实施阶段：
1）定制与初始化
在穿梭车上设置有至少一个定位传感器，在轨道上连续地间隔排列有数个用于检测定位的定位标识；
穿梭车初次上电时，确定轨道原点、与轨道起始定位标识的位置，编码器数据初始化，设置伺服驱动器初始化位置数据；
2）自学习
穿梭车以低负载、低速运行，遍历每一层货架的每一个定位标识处，记录每一个定位标识对应生成的编码器数值，建立数组Storage[i]以保存对应生成的数据组；
3）自校正
穿梭车执行货物订单运输指令后，由控制器下发目标位置POS_PRI至伺服驱动器，伺服驱动器规划行走曲线并通过电机输出相应脉冲控制行走轮运行参数；
当定位传感器检测到一个定位标识信号后，上传定位信息至控制器，控制器记录当前编码器数值POS_ENC，并逐一与自学习数组Storage[i]中的初始设定值进行比较，以确定由下标i唯一指定的定位标识地址信息；
4）更新目标位置
确定穿梭车行走至某一定位标识所处工位后，将外置编码器的数值ENC_CD和伺服编码器反馈的实际位置ENC_SV进行比较，即Delta_Pos=ENC_CD- ENC_SV；
若假如Delta_Pos≠0，由控制器将更新后的目标位置POS_NEW下发给伺服驱动器，伺服驱动器控制行走轮按当前更新后的目标位置POS_NEW执行行走指令；
5）位置偏移处置
当穿梭车行走至目标位置前一个定位标识处时，降低穿梭车行走速度至较低值并匀速行进；通过此处定位标识时，按上述阶段3）校正与阶段4）更新目标位置流程执行；
当穿梭车行走至目标位置处的定位标识、并且收到控制器发送的停车信号时，立即执行行走中断程序；
记录当前外置编码器的数值POS_ENC，此处定位标识的容许范围为±T，根据穿梭车的行进方向（正向则+，负向则减），由控制器向穿梭车下发一个包含位置偏移的目标位置指令POS_TAR，其中POS_TAR=POS_ENC±T；
更新伺服驱动器的最终位置为当前定位标识对应的自学习数组Storage[i]中的数值,伺服驱动器控制行走轮按目标位置指令POS_TAR执行单次行走，以最终消除打滑现象引起的误差。
进一步地，所述的当前编码器数值POS_ENC与自学习数组Storage[i]中的初始设定值进行比较的过程包括以下步骤：
设定自学习数组Storage[i]中i的取值区间为[H_Min,H_Max]，其中，H_Min为定位标识对应地址信息的最小值，H_Max为定位标识对应地址信息的最大值；
步骤⑴设置数组下标i的初值为H_Min；
步骤⑵当定位传感器检测到某一定位标识信号后，将编码器数值POS_ENC与自学习数组Storage[i]中的数值进行比较，即POS_DIF=|POS_ENC-Storage[i]；
步骤⑶若计算结果POS_DIF处于允许的误差范围之内，即POS_DIF≤POS_TOR，POS_TOR为相邻两个定位标识所容许的位置误差，则将POS_DIF更新为编码器当前数值，同时结束上述比较循环；
反之，若计算结果POS_DIF不处于允许的误差范围之内，即POS_DIF＞POS_TOR，则将数组下标i加1；
步骤⑷判断数组下标i的数值是否超界，当H_Min≤i≤H_Max时，重复进行步骤⑵，直至确定数组下标i的具体数值，以确定由下标i唯一指定的定位标识地址信息；
当数组下标i的数值超界时，控制器判断编码器数值误差过大，无法进行校正，结束循环。
进一步地，所述的定位标识是定位孔、定位突起、定位片、二维码或标签中的任意一种或多种组合。
综上内容，本申请基于编码器自校正的穿梭车行走定位控制方法具有以下优点：
本申请针对现有穿梭车大负载、高速行走过程中易出现的打滑现象，提出一种外置编码器+定位标识相结合的自校正控制方案，编码器设置于车体一侧，通过感知检测每一轨道上的标识，即时地对穿梭车行走位置进行校正，从而随时消除行走打滑导致的行程累计误差，实现了穿梭车行走与定位的全闭环控制，显著地提高了一次定位成功率。
行走过程中校正后的编码器数值反馈给控制器，能够随时更新伺服目标位置，由控制器通过总线传输方式下发伺服驱动器位置命令，因此对于控制器性能要求不高，能够大范围地实现设备配置，成本较低、定位准确性与安全性均较高。
本申请能够兼顾提高定位控制精度和降低控制难度，通过编码器自校正算法能够实时地更新编码器数值及速度规划曲线，降低了穿梭车定位稳定性受诸如行走速度、负载、运行距离以及货架安装质量等参数的不利影响，相应地提高定位的稳定性。
应用本申请，能够相应地提高穿梭车运行速度及货架巷道架设长度，显著地提高一次定位成功率，降低了对货架安装质量的较高要求。
 附图说明
现结合以下附图来进一步地说明本发明。
图1是本申请所述基于编码器自校正的穿梭车行走定位控制方法的流程图；
图2是控制系统模块示意图；
 具体实施方式
实施例1，如图1和图2所示，本申请提出一种应用于立体物流仓储系统的基于编码器自校正的穿梭车行走定位控制方法，该方法包括以下实施阶段：
1）定制与初始化
应用场景为多层货架，货架包括复式输送轨道、以及行走于轨道上的数个穿梭车；
在穿梭车上设置有至少一个定位传感器，该定位传感器可设置于车体上；
在轨道上、间隔一定距离（如1-3米）连续地设置有数个用于检测定位的定位标识，该定位标识可以是定位孔、定位突起、定位片、二维码或标签中的任意一种或多种组合。
当行走至定位标识处时，定位传感器检测到定位信息并上传至控制器，以生成对应该定位信息的编码器数值。
定位信息由设置于轨道一侧的定位标识唯一确定，属于事先设定的地址参数。数个定位标识组成了一组预定确定的参数群组，当定位传感器将某一个定位信息上传至控制器时，意味着穿梭车到达该定位标识唯一指定的所在工位。
如图2所示，穿梭车控制系统包括命令发起、通讯传输、逻辑处理以及执行机构等部分，命令发起分为上位机自动下发以及操作人员通过PC或者HMI收到发起两部分。
如图1所示，控制器收到上位机下发的控制命令后，通过逻辑处理以总线传输形式下发给控制穿梭车行走轮运行的伺服驱动器。
在穿梭车行走定位过程中，通过检测轨道一侧的定位标识，能够根据实时更新的编码器数值，形成定位标识所处工位与伺服驱动器反馈位置之间的比较，比较结果即偏差数据以位置补偿的形式增加到伺服驱动器原设的目标位置，即形成最终的目标位置更新，该更新后的目标位置下发给伺服驱动器，由伺服驱动器控制行走轮按新的行程距离目标执行，从而一次性地行走到位。
穿梭车初次上电时，确定轨道原点、与轨道起始定位标识的位置，编码器数据初始化，设置伺服驱动器初始化位置数据。
2）自学习
穿梭车以低负载、低速运行，遍历每一层货架的每一个定位标识处，记录每一个定位标识对应生成的编码器数值，建立数组Storage[i]以保存对应生成的数据组，该数组中记录的数据组即是穿梭车行走定位的基础。
通过上述自学习与数据存储，建立起自轨道原点、沿行走行程排列的定位标识确定的初始化位置数据，每一个由定位标识对应确定的位置地址是唯一的。
3）自校正
穿梭车执行货物订单运输指令后，由控制器下发目标位置POS_PRI至伺服驱动器，伺服驱动器规划行走曲线并通过电机输出相应脉冲控制行走轮运行参数；
当定位传感器检测到一个定位标识信号后，上传定位信息至控制器，控制器记录当前编码器数值POS_ENC，并逐一与自学习数组Storage[i]中的初始设定值进行比较，以确定由下标i唯一指定的定位标识地址信息，即明确穿梭车行走至哪一个定位标识所处的工位；
所述的当前编码器数值POS_ENC与自学习数组Storage[i]中的初始设定值进行比较的过程包括以下步骤：
设定自学习数组Storage[i]中i的取值区间为[H_Min,H_Max]，其中，H_Min为定位标识对应地址信息的最小值，H_Max为定位标识对应地址信息的最大值;
步骤⑴设置数组下标i的初值为H_Min；
步骤⑵当定位传感器检测到某一定位标识信号后，将编码器数值POS_ENC与自学习数组Storage[i]中的数值进行比较，即POS_DIF=|POS_ENC-Storage[i]；
步骤⑶若计算结果POS_DIF处于允许的误差范围之内，即POS_DIF≤POS_TOR，POS_TOR为相邻两个定位标识所容许的位置误差，则将POS_DIF更新为编码器当前数值，同时结束上述比较循环；
反之，若计算结果POS_DIF不处于允许的误差范围之内，即POS_DIF＞POS_TOR，则将数组下标i加1；
步骤⑷判断数组下标i的数值是否超界，当H_Min≤i≤H_Max时，重复进行步骤⑵，直至确定数组下标i的具体数值，以确定由下标i唯一指定的定位标识地址信息；
当数组下标i的数值超界时，控制器判断编码器数值误差过大，无法进行校正，结束循环；
4）更新目标位置
确定穿梭车行走至某一定位标识所处工位后，将外置编码器的数值ENC_CD和伺服编码器反馈的实际位置ENC_SV进行比较，即Delta_Pos=ENC_CD- ENC_SV；
若假如Delta_Pos≠0，则认为穿梭车在行走过程中行走轮出现了打滑现象，即行走电机输出的脉冲数和行走轮实际行程不一致；此时，为了保证行走电机一次走到正确位置，需要更新伺服电机的目标位置POS_NEW=POS_PRI+Delta_Pos；
由控制器将更新后的目标位置POS_NEW下发给伺服驱动器，伺服驱动器控制行走轮按当前更新后的目标位置POS_NEW执行行走指令；
5）位置偏移处置
当穿梭车行走至目标位置前一个定位标识处时，降低穿梭车行走速度至较低值并匀速行进；通过此处定位标识时，按上述阶段3）校正与阶段4）更新目标位置流程执行；
当穿梭车行走至目标位置处的定位标识、并且收到控制器发送的停车信号时，立即执行行走中断程序；
记录当前外置编码器的数值POS_ENC，此处定位标识的容许范围为±T，T的取值范围取决与定位标识的尺寸大小相关；
根据穿梭车的行进方向（正向则+，负向则减），由控制器向穿梭车下发一个包含位置偏移的目标位置指令POS_TAR，其中POS_TAR=POS_ENC±T。
更新伺服驱动器的最终位置为当前定位标识对应的自学习数组Storage[i]中的数值,伺服驱动器控制行走轮按目标位置指令POS_TAR执行单次行走，以最终消除打滑现象引起的误差。
如上内容，结合附图中给出的实施例仅是实现本发明目的的优选方案。对于所属领域技术人员来说可以据此得到启示，而直接推导出符合本发明设计构思的其他替代结构。由此得到的其他结构特征，也应属于本发明所述的方案范围。

Claims (3)

  1. 一种基于编码器自校正的穿梭车行走定位控制方法，其特征在于：包括以下实施阶段：
    1）定制与初始化
    在穿梭车上设置有至少一个定位传感器，在轨道上连续地间隔排列有数个用于检测定位的定位标识；
    穿梭车初次上电时，确定轨道原点、与轨道起始定位标识的位置，编码器数据初始化，设置伺服驱动器初始化位置数据；
    2）自学习
    穿梭车以低负载、低速运行，遍历每一层货架的每一个定位标识处，记录每一个定位标识对应生成的编码器数值，建立数组Storage[i]以保存对应生成的数据组；
    3）自校正
    穿梭车执行货物订单运输指令后，由控制器下发目标位置POS_PRI至伺服驱动器，伺服驱动器规划行走曲线并通过电机输出相应脉冲控制行走轮运行参数；
    当定位传感器检测到一个定位标识信号后，上传定位信息至控制器，控制器记录当前编码器数值POS_ENC，并逐一与自学习数组Storage[i]中的初始设定值进行比较，以确定由下标i唯一指定的定位标识地址信息；
    4）更新目标位置
    确定穿梭车行走至某一定位标识所处工位后，将外置编码器的数值ENC_CD和伺服编码器反馈的实际位置ENC_SV进行比较，即Delta_Pos=ENC_CD- ENC_SV；
    若假如Delta_Pos≠0，由控制器将更新后的目标位置POS_NEW下发给伺服驱动器，伺服驱动器控制行走轮按当前更新后的目标位置POS_NEW执行行走指令；
    5）位置偏移处置
    当穿梭车行走至目标位置前一个定位标识处时，降低穿梭车行走速度至较低值并匀速行进；通过此处定位标识时，按上述阶段3）校正与阶段4）更新目标位置流程执行；
    当穿梭车行走至目标位置处的定位标识、并且收到控制器发送的停车信号时，立即执行行走中断程序；
    记录当前外置编码器的数值POS_ENC，此处定位标识的容许范围为±T，根据穿梭车的行进方向（正向则+，负向则减），由控制器向穿梭车下发一个包含位置偏移的目标位置指令POS_TAR，其中POS_TAR=POS_ENC±T；
    更新伺服驱动器的最终位置为当前定位标识对应的自学习数组Storage[i]中的数值,伺服驱动器控制行走轮按目标位置指令POS_TAR执行单次行走，以最终消除打滑现象引起的误差。
  2. 根据权利要求1所述的基于编码器自校正的穿梭车行走定位控制方法，其特征在于：所述的当前编码器数值POS_ENC与自学习数组Storage[i]中的初始设定值进行比较的过程包括以下步骤，
    设定自学习数组Storage[i]中i的取值区间为[H_Min,H_Max]，其中，H_Min为定位标识对应地址信息的最小值，H_Max为定位标识对应地址信息的最大值；
    步骤⑴设置数组下标i的初值为H_Min；
    步骤⑵当定位传感器检测到某一定位标识信号后，将编码器数值POS_ENC与自学习数组Storage[i]中的数值进行比较，即POS_DIF=|POS_ENC-Storage[i]；
    步骤⑶若计算结果POS_DIF处于允许的误差范围之内，即POS_DIF≤POS_TOR，POS_TOR为相邻两个定位标识所容许的位置误差，则将POS_DIF更新为编码器当前数值，同时结束上述比较循环；
    反之，若计算结果POS_DIF不处于允许的误差范围之内，即POS_DIF＞POS_TOR，则将数组下标i加1；
    步骤⑷判断数组下标i的数值是否超界，当H_Min≤i≤H_Max时，重复进行步骤⑵，直至确定数组下标i的具体数值，以确定由下标i唯一指定的定位标识地址信息；
    当数组下标i的数值超界时，控制器判断编码器数值误差过大，无法进行校正，结束循环。
  3. 根据权利要求1或2所述的基于编码器自校正的穿梭车行走定位控制方法，其特征在于：所述的定位标识是定位孔、定位突起、定位片、二维码或标签中的任意一种或多种组合。
PCT/CN2023/118526 2022-09-14 2023-09-13 基于编码器自校正的穿梭车行走定位控制方法 WO2024055987A1 (zh)

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