Cleaning methods for positioning points in automated warehouses and automated warehouses

Abstract

This invention relates to the field of automated storage and retrieval systems (AS / RS), and particularly to a method for cleaning positioning points in an AS / RS, comprising the following steps: When a four-way vehicle stops near a positioning marker but fails to acquire position information, it determines whether it is due to overshoot or a lost positioning marker. If the positioning marker is lost, it enters a preprocessing stage; the four-way vehicle sends a signal to the warehouse control system requesting a positioning loss fault and disabling the system; the warehouse control system acquires the previous position information of the four-way vehicle and disables the relevant area; the four-way vehicle travels to the nearest positioning marker, sets the encoder value to zero, and uses the encoder to trace back the distance of one storage compartment to determine the location of the lost positioning marker; the four-way vehicle then cleans the area using its own cleaning module; after cleaning, the four-way vehicle determines whether it can acquire a complete image of the positioning marker. If so, it acquires the position information of the positioning marker and sends a cleaning success signal, and the warehouse control system deactivates the system. This invention also provides an AS / RS using the above-described method for cleaning positioning points.

Description

Technical Field

[0001] This invention relates to the field of automated storage and retrieval systems (AS / RS), and more particularly to a method for cleaning positioning points in an AS / RS and an AS / RS itself. Background Technology

[0002] The automated warehouse uses multiple four-way vehicles to move goods. These vehicles obtain storage location information by identifying positioning markers, such as reflective stickers, RFID tags, or QR codes. Accurately obtaining storage location information is crucial for the four-way vehicles to accurately store and retrieve goods. However, in different application environments, there is a risk of the positioning markers becoming contaminated. For example, when storing or retrieving a pallet of beer, if the beer bottle breaks, the beer liquid may adhere to the positioning marker, causing contamination. This prevents the four-way vehicle from correctly identifying the storage location information and from promptly locking the relevant passageway within a small area, thus affecting the overall efficiency of the automated warehouse.

[0003] Therefore, there is an urgent need for a method for cleaning positioning points in automated storage and retrieval systems (AS / RS) and for an AS / RS itself to solve the above problems. Summary of the Invention

[0004] One objective of this invention is to provide a method for cleaning positioning points in an automated warehouse, which can quickly identify and address problems when the four-way vehicle cannot recognize the positioning markers, thereby reducing the impact on the operational efficiency of the automated warehouse.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A method for cleaning positioning points in an automated warehouse is provided, comprising the following steps:

[0007] Identification stage: When the four-way vehicle stops near the positioning marker, it fails to obtain location information. It is determined whether the overshoot is due to overshoot or the positioning marker is lost. If the positioning marker is lost, it enters the preprocessing stage.

[0008] Pre-processing stage: The four-way vehicle sends a signal to the warehouse control system to indicate a location loss fault and request to disable it. The warehouse control system obtains the previous location information of the path where the four-way vehicle is located, disables the relevant area, and then enters the cleaning stage.

[0009] Cleaning phase: When the four-way vehicle travels to the nearest positioning marker, the four-way vehicle sets the encoder value to zero and uses the encoder to return the distance of one cargo compartment to determine the location of the lost positioning marker. The four-way vehicle then begins cleaning using its own cleaning module.

[0010] Re-inspection phase: After cleaning is completed, the four-way vehicle determines whether it can obtain a complete image of the positioning mark. If it can, the four-way vehicle obtains the location information of the positioning mark and sends a cleaning success signal to the warehouse control system. The warehouse control system then removes the restriction on the relevant area.

[0011] As a preferred embodiment of the cleaning method for positioning points in automated warehouses, when the four-way vehicle passes by the positioning marker without obtaining the location information during the storage or retrieval of goods or positioning reversal, it enters the identification stage.

[0012] When the four-way vehicle does not need to store or retrieve goods and does not need to change direction, if it passes near the location marker but does not obtain the location information, it will not enter the identification stage, and the four-way vehicle will continue to drive to find the next location marker.

[0013] As a preferred embodiment of the cleaning method for positioning points in automated warehouses, the step of determining whether the four-way vehicle overshoots or the positioning marker is lost in the identification stage includes:

[0014] Determine whether all images of the positioning identifier have been acquired; otherwise, determine that the positioning identifier is lost. If yes, further determine whether the speed of the four-way vehicle is higher than the maximum parking speed when the positioning identifier is acquired; if yes, determine that the four-way vehicle has overshot.

[0015] As a preferred embodiment of the cleaning method for positioning points in an automated warehouse, in the identification phase, after determining that the four-way vehicle has overshot, the overshot callback phase is initiated, which includes the following steps:

[0016] The low-speed callback is less than the length of one cargo compartment, so that the speed is lower than the maximum parking speed when the location identifier is retrieved again.

[0017] As a preferred solution for cleaning positioning points in an automated warehouse, when determining whether all images of the positioning marker have been acquired, if the positioning marker is a reflective sticker, the duration of signal acquisition is determined, and the length of the reflective sticker is calculated based on the moving speed of the four-way vehicle. Alternatively, when the signal of the reflective sticker is acquired, the encoder is set to zero, and the length of the reflective sticker is obtained by combining the encoder data during the signal period. This allows it to be determined whether the length is normal; if so, all images of the positioning marker have been acquired.

[0018] As a preferred embodiment of the method for cleaning positioning points in an automated warehouse, when determining whether all images of the positioning identifier have been acquired, if the positioning identifier is a QR code, then it is determined whether all images of the QR code have been captured; if so, then all images of the positioning identifier have been acquired.

[0019] As a preferred embodiment of the cleaning method for positioning points in an automated warehouse, during the cleaning phase, when the four-way vehicle travels to the nearest positioning marker, it can either travel forward to the next nearest positioning marker and then reverse back, or travel in the reverse direction to the previous nearest positioning marker and then travel forward back.

[0020] As a preferred method for cleaning positioning points in automated warehouses, during the cleaning phase, the four-way vehicle cleans a preset length L in both directions, with the parking point as the center point, to ensure the cleaning effect.

[0021] As a preferred embodiment of the cleaning method for positioning points in automated warehouses, during the re-inspection stage, if the four-way vehicle fails to acquire the complete image of the positioning marker, it is determined that the cleaning is substandard, and the four-way vehicle sends a signal for secondary cleaning to the warehouse control system.

[0022] Another objective of this invention is to provide an automated storage and retrieval system (AS / RS) that can quickly identify and address problems when a four-way vehicle cannot recognize a positioning marker, thereby reducing the impact on the AS / RS's operational efficiency.

[0023] To achieve this objective, the present invention adopts the following technical solution:

[0024] An automated storage and retrieval system (AS / RS) is provided, which applies the aforementioned AS / RS positioning point cleaning method. The AS / RS is equipped with multiple positioning markers to allow four-way vehicles to determine their position information.

[0025] The beneficial effects of this invention are:

[0026] This invention provides a method for cleaning positioning points in an automated warehouse, comprising the following steps: Identification Stage: When a four-way vehicle stops near a positioning marker but fails to acquire location information, it determines whether the failure is due to overshoot or a lost positioning marker. If the positioning marker is lost, it enters a preprocessing stage. Preprocessing Stage: The four-way vehicle sends a signal to the warehouse control system requesting a location loss fault and disabling the relevant area. The warehouse control system acquires the previous location information along the four-way vehicle's path and disables the relevant area. After completion, it enters the cleaning stage. Cleaning Stage: The four-way vehicle travels to the nearest positioning marker, sets its encoder value to zero, and uses the encoder to trace back the distance of one storage compartment to determine the location of the lost positioning marker. The four-way vehicle then begins cleaning using its own cleaning module. Re-inspection Stage: After cleaning, the four-way vehicle determines whether it can acquire a complete image of the positioning marker. If successful, the four-way vehicle acquires the positioning marker's location information and sends a cleaning success signal to the warehouse control system. The warehouse control system then removes the disabling of the relevant area. Through this method, the four-way vehicle can quickly identify and determine the reason for the failure to acquire location information and take corresponding actions, eliminating the need for manual problem identification and handling. This not only improves problem-solving efficiency but also helps ensure personnel safety.

[0027] This invention also provides an automated storage and retrieval system (AS / RS) that utilizes the aforementioned AS / RS positioning point cleaning method. This AS / RS is equipped with multiple positioning markers to allow four-way vehicles to determine their location information. Using this method, the AS / RS can quickly identify and address problems when the four-way vehicles cannot recognize the positioning markers, minimizing the impact on the AS / RS's operational efficiency. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the method for cleaning positioning points in an automated warehouse provided in an embodiment of the present invention;

[0029] Figure 2 This is a top view of the 3D library provided in an embodiment of the present invention.

[0030] In the picture:

[0031] 1. Cargo compartment; 2. Four-way vehicle. Detailed Implementation

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings, not all of them.

[0033] 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.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] like Figure 1 As shown, the cleaning method for the positioning points of the automated warehouse in this embodiment includes the following steps:

[0036] Identification stage: When the four-way vehicle 2 stops near the positioning mark, it does not obtain location information. At this time, it is determined whether it is an overshoot or the positioning mark is lost. If the positioning mark is lost, it enters the preprocessing stage.

[0037] To avoid wasting time on unimportant location markers and delaying task progress during the four-way vehicle 2's task, preferably, when the four-way vehicle 2 passes by a location marker without obtaining location information while storing or retrieving goods or changing direction, it enters the identification phase. That is, it only performs further identification and judgment on the location markers at the target storage compartment 1 for storing or retrieving goods, and the location markers at the changing direction, if its location information cannot be successfully obtained. When the four-way vehicle 2 does not need to store or retrieve goods or change direction, it does not enter the identification phase when passing by a location marker without obtaining location information; the four-way vehicle 2 continues to travel to find the next location marker, only needing to perform task operations to ensure task progress. Of course, in other embodiments, a dedicated cleaning four-way vehicle 2 can be used. When the path where the location marker is located is relatively unobstructed, the path can be blocked to quickly determine whether cleaning is needed, and the location marker can be cleaned quickly when necessary.

[0038] Preferably, in the identification stage, the step of determining whether the four-way vehicle 2 has overshooted or lost its positioning marker includes:

[0039] The system determines whether a complete image of the positioning marker has been acquired; otherwise, the positioning marker is considered lost. Specifically, if the four-way vehicle 2 only acquires a partial image of the positioning marker or acquires no image at all, it is considered that the positioning marker is lost. If a complete image of the positioning marker has been acquired, but the image was not acquired when the vehicle was parked, it is necessary to further determine whether the speed of the four-way vehicle 2 when acquiring the positioning marker exceeded the maximum parking speed. If so, it is considered that the four-way vehicle 2 overshooted. That is, because the speed of the four-way vehicle 2 was too high, it failed to align with the image of the positioning marker when parking, and the location information reading failed.

[0040] Preferably, when determining whether all images of the positioning marker have been acquired, if the positioning marker is a reflective sticker, the duration of signal acquisition is determined; the presence of a reflective sticker indicates a signal. The length of the reflective sticker can then be calculated by multiplying the moving speed of the four-way vehicle 2 by the duration of the signal. Since the four-way vehicle 2 does not decelerate uniformly, an encoder can also be used. Specifically, the encoder is set to zero when a signal from the reflective sticker is acquired, and the length of the reflective sticker is obtained by combining the encoder data during the signal period. Then, it is determined whether the length of the reflective sticker is within the normal range. If it is, it is determined that all images of the positioning marker have been acquired; otherwise, only a partial image has been acquired.

[0041] Preferably, when determining whether all images of the location identifier have been acquired, if the location identifier is a QR code, then determine whether all images of the QR code have been captured; if so, then all images of the location identifier have been acquired.

[0042] Preferably, in the identification stage, after determining that the four-way vehicle 2 has overshot, the overshot callback stage is entered, which includes the following steps:

[0043] The low-speed callback is less than the length of one cargo compartment 1, so that the speed is lower than the maximum parking speed when the location marker is retrieved again, thus ensuring that the location marker's position information is obtained during the callback process. If the failure of the four-way vehicle 2 to obtain position information is not determined as to whether it is due to overshoot, and it is directly processed according to the cleaning mode, it will take too much time, and the path disabling will affect the overall task progress. Therefore, the above method helps to avoid damage to work efficiency.

[0044] Pre-processing stage: The four-way vehicle 2 sends a signal to the warehouse control system requesting a location loss fault and disabling. The warehouse control system obtains the previous location information of the path of the four-way vehicle 2 and disables the relevant area to prepare for the subsequent cleaning work of the four-way vehicle 2, so as to prevent other four-way vehicles 2 from entering the area and causing collisions or affecting the cleaning progress. After the above signal is sent, the cleaning stage can begin.

[0045] Cleaning Phase: The four-way vehicle 2 travels to the nearest positioning marker, sets its encoder value to zero, and uses the encoder to trace back one compartment 1 to determine the location of the lost positioning marker. The four-way vehicle 2 then begins cleaning using its own cleaning module. If the encoder is not set to zero and the traceback is performed directly using the encoder value, the cumulative error between the actual and theoretical values ​​of the encoder may affect whether the traceback point is directly above the lost positioning marker. By setting the encoder to zero and then accurately locating from the next or previous compartment 1 before traversing one compartment 1, the accuracy of stopping directly above the lost positioning marker after the traceback can be improved.

[0046] Preferably, during the cleaning phase, the four-way vehicle 2 travels to the nearest positioning marker, either by traveling forward to the next nearest positioning marker and then returning in the opposite direction, or by traveling in the opposite direction to the previous nearest positioning marker and then returning in the forward direction.

[0047] Preferably, during the cleaning phase, the four-way vehicle 2 cleans a preset length L in both directions, centered on the parking point, to ensure cleaning effectiveness. Optionally, the preset length L is greater than the length of the positioning marker to further ensure the success rate of cleaning.

[0048] Re-inspection phase: After cleaning is completed, the four-way vehicle 2 determines whether a complete image of the positioning marker can be obtained. If the acquisition is successful, the four-way vehicle 2 obtains the location information of the positioning marker and sends a cleaning success signal to the warehouse control system. The warehouse control system then deactivates the relevant area, and the four-way vehicle 2 continues to perform the unfinished tasks.

[0049] Preferably, when the four-way vehicle 2 determines whether it can obtain a complete image of the positioning mark, it specifically includes: the four-way vehicle 2 passing near the positioning mark at low speed from both the forward and reverse directions, and by comparing the distance traveled by the encoder with the size of the reflective sticker, or by judging the completeness of the QR code image, it can be determined whether the four-way vehicle 2 can obtain a complete image of the positioning mark.

[0050] Preferably, during the re-inspection stage, if the four-way vehicle 2 fails to obtain a complete image of the positioning mark, it is determined that the cleaning is substandard, and the four-way vehicle 2 sends a signal for secondary cleaning to the warehouse control system. If the four-way vehicle 2 obtains a complete image of the positioning mark, it is determined that the cleaning is successful.

[0051] like Figure 2 As shown, this embodiment also provides an automated storage and retrieval system (AS / RS) that utilizes the aforementioned AS / RS positioning point cleaning method. This AS / RS is equipped with multiple positioning markers to allow the four-way vehicle 2 to determine its position information. Using this method, the AS / RS can quickly identify and address problems when the four-way vehicle 2 cannot recognize the positioning markers, thus minimizing the impact on the AS / RS's operational efficiency.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for cleaning positioning points in an automated warehouse, characterized in that, Includes the following steps: Identification stage: When the four-way vehicle (2) stops near the positioning mark, it does not obtain location information. It is determined whether it is an overshoot or the positioning mark is lost. If the positioning mark is lost, it enters the preprocessing stage. Pre-processing stage: The four-way vehicle (2) sends a signal to the warehouse control system to indicate a location loss fault and request to disable it. The warehouse control system obtains the previous location information of the path where the four-way vehicle (2) is located, disables the relevant area, and then enters the cleaning stage. Cleaning phase: The four-way vehicle (2) travels to the nearest positioning mark, the four-way vehicle (2) sets the encoder value to zero, uses the encoder to return the distance of one storage compartment (1) to determine the location of the lost positioning mark, and the four-way vehicle (2) starts cleaning using its own cleaning module; Re-inspection stage: After cleaning is completed, the four-way vehicle (2) determines whether it can obtain a complete image of the positioning mark. After obtaining the image, the four-way vehicle (2) obtains the location information of the positioning mark and sends a signal of successful cleaning to the warehouse control system. The warehouse control system then removes the restriction on the relevant area. In the identification phase, the steps for determining whether the four-way vehicle (2) overshoots or the positioning marker is lost include: Determine whether all images of the positioning identifier have been acquired; otherwise, determine that the positioning identifier is lost. If yes, further determine whether the speed of the four-way vehicle (2) is higher than the maximum parking speed when the positioning identifier is acquired. If yes, determine that the four-way vehicle (2) has overshot. When determining whether all images of the positioning mark have been acquired, if the positioning mark is a reflective sticker, the duration of signal acquisition is determined, and the length of the reflective sticker is calculated based on the moving speed of the four-way vehicle (2). Alternatively, the encoder is set to zero when the signal of the reflective sticker is acquired, and the length of the reflective sticker is obtained by combining the data of the encoder during the signal period. It can then be determined whether the length is normal. If it is, then all images of the positioning mark have been acquired.

2. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, When the four-way vehicle (2) is storing or retrieving goods or changing its position, if it passes near the positioning marker but does not obtain the location information, it enters the identification stage. When the four-way vehicle (2) does not need to store or retrieve goods and does not need to change direction, if it does not obtain the location information when passing near the location marker, it will not enter the identification stage, and the four-way vehicle (2) will continue to drive to find the next location marker.

3. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, In the identification stage, after determining that the four-way vehicle (2) has overshot, the overshot callback stage is entered, which includes the following steps: The low-speed callback is less than the length of one compartment (1) so that the speed is lower than the maximum parking speed when the location identifier is retrieved again.

4. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, When determining whether all images of the location identifier have been acquired, if the location identifier is a QR code, then determine whether all images of the QR code have been captured; if so, then all images of the location identifier have been acquired.

5. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, During the cleaning phase, the four-way vehicle (2) travels to the nearest positioning marker, either traveling forward to the next nearest positioning marker and then returning in the opposite direction, or traveling in the opposite direction to the previous nearest positioning marker and then returning in the forward direction.

6. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, During the cleaning phase, the four-way vehicle (2) cleans a preset length L in both directions, with the parking point as the center point, to ensure the cleaning effect.

7. The method for cleaning positioning points in an automated warehouse according to claim 1, characterized in that, During the re-inspection phase, if the four-way vehicle (2) fails to obtain the complete image of the positioning mark, it is determined that the cleaning is substandard, and the four-way vehicle (2) sends a signal for secondary cleaning to the warehouse control system.

8. An automated warehouse, characterized in that, The automated warehouse positioning point cleaning method described in any one of claims 1-7 is used, wherein the automated warehouse is provided with multiple positioning markers for the four-way vehicle (2) to determine the position information.

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