Shuttle vehicle rescue method

Abstract

The application discloses a kind of shuttle vehicle rescue methods, it belongs to shuttle vehicle technical field, and shuttle vehicle rescue method includes the following steps: real-time detection is being operated whether the power failure fault of shuttle vehicle occurs, when detecting that the power failure fault of shuttle vehicle occurs, then determine that shuttle vehicle is fault vehicle;Control rescue vehicle towards the movement of fault vehicle, until the connector of rescue vehicle is inserted into the connector of fault vehicle, so that rescue vehicle can be powered separately to the lifting drive system of fault vehicle;Control rescue vehicle is powered separately to the lifting drive system of fault vehicle control, so that the lifting drive system of fault vehicle can be controlled separately, and the load tray of the fault vehicle can be unloaded;Control rescue vehicle pushes fault vehicle to the maintenance position of main track, and grid is laid on the main track.Net The application can realize the rescue of the shuttle vehicle that the power failure fault occurs, and it is convenient for rescue personnel to maintain the shuttle vehicle that the power failure fault occurs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shuttle vehicles, in particular to a shuttle vehicle rescue method. BACKGROUND

[0002] In a four-way shuttle vertical warehouse, a shuttle vehicle is generally used to load and unload goods. The height of the four-way shuttle vertical warehouse can reach 10-30 meters according to the stacking condition; the load of the shuttle vehicle when fully loaded is 1.5 tons, and the goods carried by the shuttle vehicle are generally whole loads after packaging.

[0003] When a shuttle vehicle with a load is running normally, if the shuttle vehicle is in a low-power alarm state due to insufficient power, the power consumption of the shuttle vehicle will increase sharply, and the shuttle vehicle will perform a low-power alarm. If the operator does not perform an alarm operation on the shuttle vehicle in an alarm state in time, i.e., the shuttle vehicle with a load is in a low-power alarm state for a long time, the power of the shuttle vehicle will eventually be consumed, resulting in a power failure. At this time, professional personnel need to be on site for manual rescue.

[0004] The shuttle vehicle with a load generally stops on the rack track, and the location of the faulty vehicle may be high, while the general forklift can only be raised by about 6 meters, and the forklift cannot be used to rescue the faulty vehicle. Therefore, in this case, professional personnel need to perform high-altitude rescue by climbing.

[0005] High-altitude rescue of a faulty vehicle with a load stopped on a high-level rack track is a difficult rescue situation. After the maintenance personnel climb, due to the maximum load of the faulty vehicle being 15 tons, the load cannot be unloaded by manpower, so the rescue personnel cannot quickly remove the load on the faulty vehicle after climbing, which brings difficulties to the rescue.

[0006] That is, high-level rescue of a load-bearing shuttle vehicle is a technical difficulty and industry pain point in the field.

[0007] Therefore, there is an urgent need for a shuttle vehicle rescue method to solve the above problems. SUMMARY

[0008] The purpose of the present application is to provide a shuttle vehicle rescue method to solve the technical problem of high-altitude rescue of a faulty vehicle stopped on a rack track with great safety hazards in the prior art.

[0009] As conceived above, the technical solution adopted by the present application is:

[0010] The shuttle vehicle rescue method comprises the following steps:

[0011] S1, detecting whether the shuttle vehicle under operation has a power failure in real time, and determining that the shuttle vehicle is a failure vehicle when it is detected that the shuttle vehicle has a power failure;

[0012] S2, the rescue vehicle is provided with a connector, the failure vehicle is provided with a connector socket matched with the connector, the rescue vehicle is controlled to move towards the failure vehicle until the connector of the rescue vehicle is inserted into the connector socket of the failure vehicle, so that the rescue vehicle can independently power the lifting drive system of the failure vehicle;

[0013] S3, the rescue vehicle is controlled to independently power the lifting drive system of the failure vehicle, so that the lifting drive system of the failure vehicle can be controlled independently, and the load tray of the failure vehicle can be unloaded;

[0014] S4, the rescue vehicle is controlled to push the failure vehicle to a maintenance position of a main track, and a grid net is laid on the main track.

[0015] Optionally, the failure vehicle is provided with a failure vehicle shock absorbing block towards the surface of the rescue vehicle.

[0016] Optionally, the rescue vehicle is provided with a rescue vehicle shock absorbing block towards the surface of the failure vehicle.

[0017] Optionally, in the step S3, the load weight on the failure vehicle is detected, and whether the power of the rescue vehicle is sufficient is determined according to the load weight.

[0018] Optionally, other operation shuttle vehicles within a set range from the failure vehicle are detected, and one of the other operation shuttle vehicles with the most power is selected as the rescue vehicle.

[0019] Optionally, after the connector of the rescue vehicle is inserted into the connector socket of the failure vehicle, the rescue vehicle communicates with the failure vehicle to determine whether the currently selected rescue vehicle can complete the rescue.

[0020] Optionally, the determination of whether the currently selected rescue vehicle can complete the rescue includes:

[0021] The rescue vehicle obtains the load information of the failure vehicle, determines a first power required for putting the goods on the failure vehicle back to the goods shelf and a second power required for pushing the failure vehicle to the maintenance position of the main track, and determines that the rescue vehicle can complete the rescue if the remaining power of the rescue vehicle is greater than the sum of the first power and the second power; otherwise, a new rescue vehicle is selected.

[0022] Optionally, in step S3, before controlling the rescue vehicle to independently power the lifting drive system of the faulty vehicle, it is determined whether the rescue vehicle has been connected to the control system of the faulty vehicle; if yes, then the rescue vehicle is controlled to independently power the lifting drive system of the faulty vehicle; if no, then the rescue vehicle issues a first alarm.

[0023] Optionally, controlling the lifting drive system of the rescue vehicle to supply power independently to the disabled vehicle includes the following steps:

[0024] S01. The rescue vehicle sends a control signal to the lifting drive system of the malfunctioning vehicle to determine whether the control loop is complete. If it is, the lifting drive system of the malfunctioning vehicle sends a feedback signal to the rescue vehicle. After receiving the feedback signal from the malfunctioning vehicle, the rescue vehicle controls the lifting drive system of the malfunctioning vehicle to perform an unloading action. After the unloading action is completed, the malfunctioning vehicle sends a signal indicating that the unloading is complete. If not, the rescue vehicle issues a second alarm.

[0025] S02. Determine whether the rescue vehicle has received a signal indicating that unloading is complete. If yes, proceed to step S4; otherwise, return to step S01.

[0026] Optionally, one of the rescue vehicle and the disabled vehicle is provided with a plug-in post, and the other is provided with a plug-in slot that mates with the plug-in post.

[0027] The beneficial effects of this invention are:

[0028] The shuttle rescue method proposed in this invention uses a rescue vehicle to rescue a vehicle that has experienced a power outage. During rescue, the rescue vehicle is controlled to move towards the disabled vehicle, allowing its connectors to be inserted into the disabled vehicle's connectors. Since the disabled vehicle has a load, the rescue vehicle provides separate power supply and control for the disabled vehicle's lifting drive system, enabling independent control of this system and allowing the load tray on the disabled vehicle to be unloaded. Once the disabled vehicle is free of load, the rescue vehicle pushes it to a maintenance position on the main track. Because the main track is covered with a mesh screen, allowing rescue personnel to walk on it, the rescue and maintenance operations can be carried out on the main track, increasing the safety and feasibility of the rescue operation. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating the shuttle rescue method provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram illustrating a situation where there is a certain distance between the rescue vehicle and the disabled vehicle, as provided in an embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the connector of the rescue vehicle and the connector of the disabled vehicle being connected according to an embodiment of the present invention;

[0033] Figure 4 yes Figure 3 Top view;

[0034] Figure 5 This is a schematic diagram of the status of the rescue vehicle when rescuing a disabled vehicle, as provided in an embodiment of the present invention. Figure 1 ;

[0035] Figure 6 yes Figure 5 Top view;

[0036] Figure 7 This is a schematic diagram of the status of the rescue vehicle when rescuing a disabled vehicle, as provided in an embodiment of the present invention. Figure 2 ;

[0037] Figure 8 yes Figure 7 Top view;

[0038] Figure 9 This is a schematic diagram of the status of the rescue vehicle when rescuing a disabled vehicle, as provided in an embodiment of the present invention. Figure 3 ;

[0039] Figure 10 yes Figure 9 Top view;

[0040] Figure 11 This is a schematic diagram of the rescue vehicle successfully rescuing a disabled vehicle, provided in an embodiment of the invention.

[0041] Figure 12 yes Figure 11 Top view.

[0042] In the picture:

[0043] 1. Faulty vehicle; 11. Faulty vehicle shock absorber; 12. Connector;

[0044] 2. Rescue vehicle; 21. Rescue vehicle shock absorbers; 22. Connectors;

[0045] 3. Main track; 4. Grating mesh. Detailed Implementation

[0046] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0047] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0049] In a four-way shuttle vertical storage facility, a grid mesh 4, also known as a fence, is generally installed only on the main track 3 to facilitate the work of staff.

[0050] When using a shuttle, users may make operational errors or fail to notice that the shuttle is already low on battery, continuing to use it for loading operations. Because the shuttle is already low on battery, its power consumption will increase dramatically after being loaded with a large amount of goods, triggering a low battery alarm. However, if the operator does not respond to the alarm in time, the shuttle will remain in a state of prolonged alarm without being answered, eventually leading to a power outage. The shuttle that loses power is considered a malfunctioning vehicle. At this point, the malfunctioning shuttle, having not completed loading and unloading operations, is stuck on the rack track due to power loss and requires rescue.

[0051] When the shuttle is working on the shelf track, it is usually suspended in the air, which makes it inconvenient for rescuers to directly carry out rescue operations.

[0052] To facilitate rescue operations for shuttle vehicles that have lost power, see [link / reference]. Figures 1-12 This embodiment provides a shuttle vehicle rescue method, including the following steps:

[0053] S1. Real-time detection of whether the shuttle car in operation has a power failure. When a power failure is detected, the shuttle car is identified as faulty car 1.

[0054] Specifically, see Figure 5 and Figure 6 At this time, the shuttle car that was in operation malfunctioned. The shuttle car in question is called the malfunctioning car 1.

[0055] S2. The rescue vehicle 2 is equipped with a connector 22, and the disabled vehicle 1 is equipped with a connector 12 that cooperates with the connector 22. The rescue vehicle 2 is controlled to move toward the disabled vehicle 1 until the connector 22 of the rescue vehicle 2 is inserted into the connector 12 of the disabled vehicle 1, so that the rescue vehicle 2 can supply power to the lifting drive system of the disabled vehicle 1 independently.

[0056] Specifically, see Figures 7-10 The rescue vehicle 2 moves toward the disabled vehicle 1 until the connector 22 of the rescue vehicle 2 is inserted into the connector 12 of the disabled vehicle 1.

[0057] Specifically, in step S1, after determining that the shuttle car is the faulty car 1, the last stopping position of the faulty car 1 is fed back to the controller. The operator operates the controller to control the movement of the rescue car 2.

[0058] S3. Control the rescue vehicle 2 to independently power and control the lifting drive system of the faulty vehicle 1, so that the lifting drive system of the faulty vehicle 1 can be controlled independently and the load pallet of the faulty vehicle 1 can be unloaded.

[0059] S4. Control the rescue vehicle 2 to push the malfunctioning vehicle 1 to the maintenance position on the main track 3, where a grid mesh 4 is laid.

[0060] Specifically, see Figure 11 and Figure 12 The rescue vehicle 2 pushes the malfunctioning vehicle 1 to the maintenance position on the main track 3.

[0061] The shuttle rescue method provided in this embodiment uses a rescue vehicle 2 to rescue a disabled vehicle 1 that has experienced a power outage. During rescue, the rescue vehicle 2 is controlled to move towards the disabled vehicle 1, so that the connector 22 of the rescue vehicle 2 is inserted into the connector 12 of the disabled vehicle 1. Since the disabled vehicle has a load, the rescue vehicle 2 provides separate power supply and control to the lifting drive system of the disabled vehicle 1, allowing the lifting drive system of the disabled vehicle to be controlled independently, and the load tray of the disabled vehicle 1 can be unloaded. Once it is ensured that the disabled vehicle 1 is unloaded, the rescue vehicle 2 pushes the disabled vehicle 1 to the maintenance position on the main track 3. Since the main track 3 is covered with a grid mesh 4, the grid mesh 4 facilitates the movement of rescue personnel, thereby facilitating rescue and maintenance on the main track 3 and increasing the safety and feasibility of the rescue operation.

[0062] Preferably, in this embodiment, before controlling the rescue vehicle 2 to independently power and control the lifting drive system of the faulty vehicle 1 in step S3, it is determined whether the rescue vehicle 2 has been connected to the control system of the faulty vehicle 1.

[0063] If so, control the lifting drive system of the disabled vehicle 1 to be powered separately by the rescue vehicle 2;

[0064] If not, rescue vehicle 2 will issue the first alarm. After hearing the first alarm, the operator will remotely control rescue vehicle 2 to continue driving, so that rescue vehicle 2 can connect to the control system of the disabled vehicle 1.

[0065] Furthermore, in this embodiment, controlling the lifting drive system of the disabled vehicle 1 independently via the rescue vehicle 2 includes the following steps:

[0066] S01, the rescue vehicle 2 sends a control signal to the lifting drive system of the faulty vehicle 1 to determine whether the control circuit is complete;

[0067] If yes, the lifting drive system of the faulty vehicle 1 sends a signal to the rescue vehicle 2. After receiving the signal from the faulty vehicle 1, the rescue vehicle 2 controls the lifting drive system of the faulty vehicle 1 to perform the unloading action. After the unloading action is completed, the faulty vehicle 1 sends a signal indicating that the unloading is complete. If no, the rescue vehicle 2 issues a second alarm. When the operator hears the second alarm, manual rescue and handling are required.

[0068] S02. Determine whether rescue vehicle 2 has received the unloading completion signal. If yes, proceed to step S4; otherwise, return to step S01.

[0069] Furthermore, in order to ensure that the rescue vehicle 2 can stably push the disabled vehicle 1, in this embodiment, one of the rescue vehicle 2 and the disabled vehicle 1 is provided with a plug-in post, and the other is provided with a plug-in groove that cooperates with the plug-in post.

[0070] It is understandable that when connector 22 is inserted into connector 12 of the faulty vehicle 1, the connector pin is also inserted into the connector slot.

[0071] The end face of the plug is provided with a guide bevel.

[0072] Preferably, in this embodiment, a shock absorber block 11 is provided on the surface of the disabled vehicle 1 facing the rescue vehicle 2.

[0073] The shock absorber 11 for the disabled vehicle can buffer the impact of the rescue vehicle 2 when the disabled vehicle 1 is not accurately positioned relative to the shelf track.

[0074] Preferably, shock absorbers 11 are provided on both sides of the surface of the disabled vehicle 1 facing the rescue vehicle 2. When the rescue vehicle 2 pushes the disabled vehicle 1, the shock absorbers 11 on both sides can bear force, ensuring the balance of the disabled vehicle 1 and preventing the disabled vehicle 1 from veering off course.

[0075] Preferably, in this embodiment, the surface of the rescue vehicle 2 facing the disabled vehicle 1 is provided with a rescue vehicle shock absorber 21.

[0076] Preferably, shock absorbers 21 are provided on both sides of the surface of the rescue vehicle 2 facing the disabled vehicle 1. The shock absorbers 21 of the rescue vehicle are provided in a one-to-one correspondence with the shock absorbers 11 of the disabled vehicle.

[0077] Optionally, in this embodiment, the shock absorber 11 of the disabled vehicle and the shock absorber 21 of the rescue vehicle are both made of rubber or silicone.

[0078] Specifically, in this embodiment, in step S3, the load weight on the faulty vehicle 1 is detected, and the battery power of the rescue vehicle 2 is determined based on the load weight.

[0079] Preferably, in this embodiment, other work shuttles within a set range of the faulty vehicle 1 are detected, and the one with the highest battery level among the other work shuttles is selected as the rescue vehicle 2.

[0080] In this embodiment, the shuttle car is modified into a rescue vehicle 2 (which becomes a disabled vehicle when a power failure occurs). That is, each shuttle car is equipped with a connector 22 at the front and a connector 12 at the rear.

[0081] Specifically, the movement of rescue vehicle 2 can be controlled manually via remote control.

[0082] For example, the range is set to 1 meter. Among all the shuttles operating within a 1-meter radius of the disabled vehicle 1, the one with the highest battery level is selected as the rescue vehicle 2.

[0083] Preferably, in order to ensure that the rescue vehicle 2 can complete the rescue mission, in this embodiment, after the connector 22 of the rescue vehicle 2 is inserted into the connector 12 of the disabled vehicle 1, the rescue vehicle 2 communicates with the disabled vehicle 1 to determine whether the currently selected rescue vehicle 2 can complete the rescue.

[0084] Specifically, in this embodiment, determining whether the currently selected rescue vehicle 2 can complete the rescue includes:

[0085] The rescue vehicle 2 obtains the load information of the goods on the malfunctioning vehicle 1, determines the first power required to put the goods on the malfunctioning vehicle 1 back on the shelf, and the second power required to push the malfunctioning vehicle 1 to the maintenance position on the main track 3. If the remaining power of the rescue vehicle 2 is greater than the sum of the first power and the second power, it is determined that the rescue vehicle 2 can complete the rescue; otherwise, a new rescue vehicle 2 is selected.

[0086] Furthermore, in this embodiment, reselecting a new rescue vehicle 2 includes: expanding the setting range and reselecting a new rescue vehicle 2.

[0087] For example, if the selected rescue vehicle 2 is unable to complete the rescue task among all operating shuttles within one meter of the disabled vehicle 1, then a new rescue vehicle 2 will be selected from all operating shuttles within one meter of the disabled vehicle 1.

[0088] Specifically, see Figure 2 and Figure 5 Rescue vehicle 2 is equipped with connector 22, and the disabled vehicle 1 is equipped with connector 12 that mates with connector 22. It is understandable that when a power outage is detected in the operating shuttle vehicle, rescue vehicle 2 may be in a state of... Figure 2 The shelf track shown may also be in a state of... Figure 5 On the right main track 3.

[0089] like Figure 3 and Figure 4 As shown, when the rescue vehicle 2 moves toward the disabled vehicle 1, the connector 22 of the rescue vehicle 2 can be inserted into the connector 12 of the disabled vehicle 1.

[0090] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shuttle vehicle rescue method, characterized in that, Includes the following steps: S1. Real-time detection of whether the shuttle car in operation has a power failure. When the power failure of the shuttle car is detected, the shuttle car is determined to be a faulty car (1). S2. Detect other work shuttles within a set range from the faulty vehicle (1), select the one with the most power among the other work shuttles as the rescue vehicle (2), the rescue vehicle (2) is equipped with a connector (22), the faulty vehicle (1) is equipped with a connector (12) that cooperates with the connector (22), control the rescue vehicle (2) to move toward the faulty vehicle (1) until the connector (22) of the rescue vehicle (2) is inserted into the connector (12) of the faulty vehicle (1), so that the rescue vehicle (2) can supply power to the lifting drive system of the faulty vehicle (1) separately; After the connector (22) of the rescue vehicle (2) is inserted into the connector (12) of the faulty vehicle (1), the rescue vehicle (2) communicates with the faulty vehicle (1) to determine whether the currently selected rescue vehicle (2) can complete the rescue. The determination of whether the currently selected rescue vehicle (2) can complete the rescue includes: The rescue vehicle (2) obtains the cargo load information on the faulty vehicle (1), determines the first power required to put the cargo on the faulty vehicle (1) back on the shelf and the second power required to push the faulty vehicle (1) to the maintenance position of the main track (3). If the remaining power of the rescue vehicle (2) is greater than the sum of the first power and the second power, it is determined that the rescue vehicle (2) can complete the rescue. Otherwise, select a new rescue vehicle (2); S3. Control the rescue vehicle (2) to supply power to the lifting drive system of the faulty vehicle (1) separately, so that the lifting drive system of the faulty vehicle (1) can be controlled separately and the load pallet of the faulty vehicle (1) can be unloaded. S4. Control the rescue vehicle (2) to push the faulty vehicle (1) to the maintenance position of the main track (3), on which a grid mesh (4) is laid.

2. The shuttle rescue method according to claim 1, characterized in that, The surface of the disabled vehicle (1) facing the rescue vehicle (2) is provided with a disabled vehicle shock absorber (11).

3. The shuttle rescue method according to claim 1, characterized in that, The surface of the rescue vehicle (2) facing the disabled vehicle (1) is provided with a rescue vehicle shock absorber (21).

4. The shuttle rescue method according to claim 1, characterized in that, In step S3, the load weight on the faulty vehicle (1) is detected, and the power of the rescue vehicle (2) is determined based on the load weight.

5. The shuttle rescue method according to claim 1, characterized in that, In step S3, before controlling the rescue vehicle (2) to supply power to the lifting drive system of the faulty vehicle (1) separately, it is determined whether the rescue vehicle (2) has been connected to the control system of the faulty vehicle (1); if yes, the rescue vehicle (2) is controlled to supply power to the lifting drive system of the faulty vehicle (1) separately; if no, the rescue vehicle (2) issues a first alarm.

6. The shuttle rescue method according to any one of claims 1-5, characterized in that, The method of controlling the lifting drive system of the rescue vehicle (2) to supply power to the disabled vehicle (1) separately includes the following steps: S01. The rescue vehicle (2) sends a control signal to the lifting drive system of the faulty vehicle (1) to determine whether the control loop is complete. If it is, the lifting drive system of the faulty vehicle (1) sends a feedback signal to the rescue vehicle (2). After receiving the feedback signal from the faulty vehicle (1), the rescue vehicle (2) controls the lifting drive system of the faulty vehicle (1) to perform the unloading action. After the unloading action is completed, the faulty vehicle (1) sends a feedback signal indicating that the unloading is complete. If not, the rescue vehicle (2) issues a second alarm. S02. Determine whether the rescue vehicle (2) has received the unloading completion signal. If yes, execute step S4; if no, return to execute step S01.

7. The shuttle rescue method according to any one of claims 1-5, characterized in that, One of the rescue vehicle (2) and the faulty vehicle (1) is provided with a plug-in post, and the other is provided with a plug-in slot that mates with the plug-in post.

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