Combined barcode recognition and laser ranging shuttle vehicle positioning fault diagnosis system and method

Abstract

The invention discloses a system and a method for diagnosing shuttle positioning faults by means of combining barcode recognition with laser distance measurement. The method includes tracking a shuttle in real time and acquiring current position information of the shuttle in real time by the aid of a laser distance measurement module; transmitting the acquired position information to a control module; enabling the control module to carry out positioning control and speed control on the shuttle according to the current position information and position information of a target station; enabling the control module to acquire barcode tag information of a current station via a barcode positioning and verifying module by means of scanning after positioning operation on the shuttle is stopped; verifying laser distance measurement positioning; diagnosing to determine whether shuttle positioning is accurate and reliable or not; classifying a diagnosis structure. The shuttle is stopped at the current station recently. According to the technical scheme, the system and the method have the advantages that the reliability of a positioning system can be improved while high shuttle positioning precision is guaranteed, and the shuttle can be diagnosed and predicted in the aspect of the positioning faults.

Description

technical field [0001] The invention relates to the technical field of logistics automation, in particular to a combined barcode identification and laser ranging shuttle vehicle positioning fault diagnosis system and method. Background technique [0002] As a kind of intelligent rail-guided handling equipment in the automated logistics system, the shuttle car has the function of dynamic transfer along a fixed path, which can realize the transfer of materials between different stations, making the equipment layout of the automated delivery system more compact and simple , Improve the efficiency of material transportation, and are increasingly widely used in automated logistics systems. [0003] When the shuttle car runs back and forth on the track at high speed to pick up the goods at the designated station, precise positioning is required. Once the positioning is inaccurate, wrong or other faults, it will easily lead to accidents such as abnormal material entry and exit, mat...

AI Technical Summary

Problems solved by technology

The first method is widely used in the early stage of logistics automation technology development. The address recognition chip is set along the traveling direction of the shuttle car. The controller judges the location of the shuttle car and the station by detecting the address recognition chip. The positioning method is simple, but the disadvantages are : The construction volume is large, the positioning accuracy is poor, and the reliability is poor. Omissions and false detections are often caused by interference, which is basically not used at present; the second method is to introduce an encoder based on the location of the address recognition chip Calibration, positioning accuracy and reliability have been greatly improved, but the disadvantages are: the installation is relatively complicated, the maintainability is poor, and it is rarely used at present; the third method uses a laser rangefinder for positioning, which is simple to install and maintain, and the positioning Accurate, more and more widely used in warehousing and logistics systems, but the disadvantages are: poor anti-interference ability, greatly affected by light intensity, dust, water mist, in the case of long roadways or serious track wear, the guide rails will not It may be absolutely flat, and the shuttle car vibrates violently when it is running, which can easily increase the ranging error or even cause the laser to miss the target, resulting in inaccurate or impossible positioning. In addition, the cost of laser positioning is relatively high; the fourth method is used at the bottom of the shuttle car Install a barcode reader. There is a barcode belt directly in front of the barcode reader. The barcode belt is installed on one side of the ground rail. The location information is obtained by scanning the barcode belt during the operation of the shuttle car, with precise positioning and strong anti-interference ability. The installation is simple and easy, and it has unique advantages for the positioning of the circular track, but the disadvantages are: high cost, high performance requirements for the scanner, and generally require a special barcode tape. Once the barcode is stained, it must be completely reinstalled. Replace the barcode tape

[0004] Except for the second method, the above-mentioned several shuttle car positioning methods only use one technical means for address identification and positioning, especially the laser positioning and barcode positioning that are commonly used now. Although the positioning accuracy is very high, they are still There are deficiencies, and due to the single technology, the early detection and diagnosis capabilities of the positioning system of the shuttle car are lacking. Once the positioning device fails and there is a large error, the maintenance personnel will not be able to detect it in time, resulting in inaccurate positioning and unable to load and unload goods normally. , emergency stop of the shuttle car or even cargo drop and other accidents

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