Method for regulating speed of high-speed stocker by adopting wireless indoor positioning technique

Abstract

The invention relates to a positioning and speed regulation method of a high-speed stocker applied to a full-automatic three-dimensional warehousing system, in particular to a method for carrying out three-stage positioning on a stacker by adopting a wireless indoor positioning technique, an address encoding positioning technique and an address slice photoelectric positioning technique and carrying out three-section optimized speed regulation on the stacker by selecting a high-speed / low-speed movement mode according to a moving distance. The method has the advantages of low cost, high throughput, low power consumption, high reliability and flexible application and can be widely applied to the fields of material-flow warehousing centers, modern distribution centers and the like, thereby having wide application prospect in the market.

Description

technical field [0001] The present invention relates to a high-speed stacker positioning and speed regulation method applied to a fully automatic three-dimensional storage system, in particular to a three-stage stacking machine using wireless indoor positioning technology, address code positioning technology, and address chip photoelectric positioning technology. The invention relates to a method for positioning, selecting a high-speed / low-speed motion mode according to the length of the moving distance, and performing three-stage optimal speed regulation on the stacker. The method can be widely used in logistics storage centers, modern distribution centers, etc., and belongs to the technical field of storage and transportation devices. Background technique [0002] The fully automatic three-dimensional storage system is a storage system that automatically stores and retrieves materials on shelves in the form of units (such as pallets) without direct manual processing. A com...

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Problems solved by technology

[0014] At present, the principle of wireless ranging is mainly realized by Received Signal Strength Indication (RSSI). Since the signal strength between two wireless communication nodes decreases with the increase of distance, RSSI can be used to Determine the distance between the two, but the transmission of wireless signals in space is affected by space media, obstacles and other conditions and presents different properties. Therefore, in actual ranging applications, the accuracy is often low, and the advantage is For wireless positioning applications, some chips with wireless radio frequency RF functions, such as the ZigBee chip CC2430 of Texas Instruments TI, have integrated modules for measuring RSSI and positioning, which are easy to use and low power consumption, with a transmission power of only 1 milliwatt , fast response, channel access delay is only 15 milliseconds

[0015] From the perspective of the actual application of the stacker, the stacker does not always work at high speed. The stacker needs to go through the process of acceleration, high speed and deceleration when moving from one cargo location to another. The additional braking mechanism may It can prolong the high-speed operation time of the stacker, thereby improving the efficiency, but at the same time, it also increases the energy consumption of the stacker. Therefore, under normal circumstances, the stacker is driven by a variable frequency motor, and the motor speed is adjusted in real time according to the speed optimization curve.

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