An automated material transport vehicle positioning device and method

Abstract

The application discloses an automatic material conveying vehicle positioning device and a positioning method thereof, which comprises a conveying track, a material receiving station, a material conveying vehicle, a positioning mechanism and a control module; the material receiving station comprises a plurality of material receiving barrels arranged below the conveying track; the material conveying vehicle is slidably arranged on the conveying track to feed the material receiving barrels; the control module comprises a controller arranged on the material conveying vehicle and a plurality of detection switches arranged vertically; the positioning mechanism comprises a plurality of trigger members arranged on the bottom of the conveying track, and the lengths of the plurality of trigger members are different; when the material conveying vehicle slides on the conveying track, the detection switches are triggered by the trigger members with different lengths to emit different pulse signals to the controller; the controller controls the material conveying vehicle to perform acceleration, high-speed walking, deceleration and parking actions to feed the material receiving barrels, and the present feeding is accurately positioned, the received signal is strong, the structure is simple and the cost is low.

Description

Technical Field

[0001] This invention belongs to the field of logistics and distribution technology, and specifically relates to an automated material transport vehicle positioning device and its positioning method. Background Technology

[0002] With the rapid development of the internet, logistics and transportation have become an indispensable tool in modern society, meeting the product transportation needs of many individuals and production lines through convenient and efficient transport. Due to the large quantity of products transported, handling equipment is often used to replace manual labor, improving work efficiency. During the handling process, the signal transmission of the controller typically utilizes a pull-cord sensor. However, pull-cord sensors have certain drawbacks: First, as the number of workstations increases, pull-cord sensors require longer output cables, increasing costs and potentially affecting the received electrical signal, leading to significant errors. Second, the probability of pull-cord sensor malfunctions increases when dealing with long-distance logistics production lines. The pull-cord sensor cable may wear down during stretching and retraction, requiring regular replacement or repair, resulting in high maintenance costs. Furthermore, the long-distance wiring of the pull-cord sensor circuit is difficult to arrange. Summary of the Invention

[0003] The purpose of this invention is to provide an automated material transport vehicle positioning device and its positioning method. The device uses triggering components of different lengths to trigger detection switch signals to locate the position of the material transport vehicle, thereby achieving accurate positioning of the material delivery. It features strong signal reception, simple structure, and low cost.

[0004] To achieve the above objectives, the solution of the present invention is: an automated material handling vehicle positioning device, comprising a conveying track, a receiving station, a material handling vehicle, a positioning mechanism, and a control module;

[0005] The receiving station includes multiple receiving bins arranged below the conveying track, and the material transport vehicle is slidably arranged on the conveying track to feed materials to the receiving bins;

[0006] The control module includes a controller installed on the material transport vehicle and multiple vertically arranged detection switches; the positioning mechanism includes multiple triggering components arranged and installed at the bottom of the conveying track, the multiple triggering components having different lengths;

[0007] When the material transport vehicle slides on the conveyor track, the detection switch triggers different pulse signals through triggering components of different lengths, which are then transmitted to the controller. The controller controls the material transport vehicle to perform acceleration to high speed, deceleration, and stopping actions to feed the receiving bucket.

[0008] Furthermore, the material transport vehicle includes guide wheels, a discharge hopper, a motor, and a mounting bracket. The mounting bracket is located below the conveying track. The guide wheels, discharge hopper, motor, controller, and detection switch are all mounted on the mounting bracket. The guide wheels are fixed to the top of the mounting bracket and roll along the conveying track. The discharge hopper is located at the bottom of the mounting bracket. The motor is connected to the guide wheels via a transmission connection and is also connected to the controller via a signal connection. The controller controls the movement state of the guide wheels by controlling the motor.

[0009] Furthermore, it also includes a batching station, which includes a batching funnel and a batching platform located at one end of the conveying track. The batching funnel is located on top of the batching platform, and one end of the conveying track is located below the batching funnel. The batching funnel is used to replenish materials for the material transport vehicle.

[0010] The present invention also provides a positioning method for an automated material transport vehicle positioning device, wherein the detection switches include a deceleration position detection switch, a parking position detection switch, and a zero position detection switch arranged from top to bottom, and the triggering components include a deceleration position triggering component, a parking position triggering component, and a zero position triggering component with lengths from shortest to longest. The deceleration position triggering component triggers the deceleration position detection switch, the parking position triggering component triggers both the deceleration position detection switch and the parking position detection switch, and the zero position triggering component triggers all detection switches.

[0011] One end of the conveying track is the starting position. The material transport vehicle moves from the starting position to the other end of the conveying track as a forward motion. The zero-position triggering component is only located at the starting position. Starting from the starting position, multiple deceleration triggering components are arranged along the forward direction, and a vehicle position triggering component is set every n deceleration triggering components. The vehicle position triggering component is located directly above the receiving hopper.

[0012] The controller is equipped with a deceleration position counter and a parking space counter. The deceleration position counter records the number of bits of the triggering component when the deceleration position detection switch is triggered, which is the deceleration position bit number I. 减速位 The parking space counter records the number of bits in the parking space triggering component when the parking space detection switch is triggered by the parking space triggering component; this number represents the number of parking spaces, I. 车位 ;

[0013] When the material transport vehicle is in the starting position, all detection switches are triggered by the zero-position triggering component, all counters are reset to zero, and the deceleration position counter records the current deceleration position digit I. 减速位 =0, the parking space counter records the current number of parking spaces I. 车位 =0;

[0014] As the material transport vehicle moves forward, the deceleration position counter records the current deceleration position number I for each trigger component it advances. 减速位+1; The trigger mechanism is activated each time the vehicle moves forward one parking space. The parking space counter records the current number of parking spaces I. 车位 +1;

[0015] When the material transport vehicle reverses, the deceleration position counter records the current deceleration position number I for each trigger component that moves backward. 减速位 -1; The component is triggered every time the vehicle moves back one parking space. The parking space counter records the current number of parking spaces I. 车位 -1;

[0016] The material transport vehicle positioning method includes the following steps:

[0017] When it needs to move forward to feed material to the receiving bucket below the trigger component of the Xth parking position, the material transport vehicle first accelerates to high speed, and when the deceleration counter records I... 减速位 When =(n+1)X-1, the controller controls the material transport vehicle to begin decelerating until the parking space counter records I. 车位 When X is reached and the parking space detection switch is triggered, the controller controls the material transport vehicle to stop feeding material into the receiving bucket below at parking space X.

[0018] When it is necessary to reverse to feed material to the receiving bucket under the trigger component of the Xth parking position, the material transport vehicle first accelerates to high speed for reverse, and when the deceleration counter records I... 减速位 When =(n+1)X+1, the controller controls the material transport vehicle to begin decelerating until the parking space counter records I. 车位 When X is reached and the parking space detection switch is triggered, the controller controls the material transport vehicle to stop at parking space X to feed the receiving bucket below.

[0019] Furthermore, the detection switch also includes a verification position detection switch, which is arranged from top to bottom as a deceleration position detection switch, a parking space detection switch, a verification position detection switch, and a zero position detection switch. The triggering component also includes a verification position triggering component, which is arranged from shortest to longest as a deceleration position triggering component, a parking space triggering component, a verification position triggering component, and a zero position triggering component. The verification position triggering component triggers the deceleration position detection switch, the parking space detection switch, and the verification position detection switch. Starting from the initial position, a verification position triggering component is set every m parking space triggering components. The controller also has a verification position counter, which records the number of bits of the verification position triggering component when the verification position detection switch is triggered by the verification position triggering component as the verification position bit number I. 校验位 ;

[0020] When the material transport vehicle is in the starting position, the check bit counter records the current check bit number I. 校验位 =0;

[0021] As the material transport vehicle moves forward, the parking space counter records the current parking space digit I for each parking space it advances to trigger a trigger or check trigger. 车位 +1; Each time the check bit advances, the trigger component is activated, and the check bit counter records the current number of check bits I. 校验位 +1;

[0022] When the material transport vehicle reverses, the parking space counter records the current parking space digit I for each parking space triggered or checked. 车位 -1; Each time the check bit is moved back one bit, the trigger component is activated. The check bit counter records the current number of check bits I. 校验位 -1

[0023] When the check bit detection switch is triggered by the check bit triggering component and a signal is detected, if I 车位 ≠(m+1)I 校验位 Or I 减速位 ≠(n+1)*(m+1)I 校验位 If the alarm is triggered, it will indicate a malfunction in the corresponding parking space detection switch or deceleration position detection switch.

[0024] Furthermore, when the zero-position detection switch is triggered by the triggering component, it is determined whether the deceleration position detection switch, parking space detection switch, and verification position detection switch have all been triggered. If so, the data of each counter is cleared to zero. 减速位 =0, I 车位 =0, I 校验位 =0; if none, an alarm will sound, indicating a fault in the corresponding detection switch.

[0025] After adopting the above solution, the beneficial effects of the present invention are as follows:

[0026] This invention controls a material transport vehicle to move laterally along a conveyor track using a controller. A receiving bin is located below the conveyor track, and several sets of triggering components of different lengths are installed on the track to precisely position and deliver materials to different unloading stations. Initially, the material transport vehicle moves from one end of the conveyor track to the other. During its movement, the controller can trigger different pulse signals from detection switches via triggering components at different heights to adjust the vehicle's movement. For example, a specific triggering component can trigger a deceleration detection switch to slow the vehicle down, or a specific triggering component can trigger a parking position detection switch to stop the vehicle directly above the receiving bin. This allows the material transport vehicle to precisely position itself at different receiving bin locations and automatically unload materials at the corresponding bin positions. Thus, during material handling, the speed of the material transport vehicle can be automatically adjusted according to the triggering of different triggering components, achieving precise material delivery. Compared to existing technologies, this feeding process receives electrical signals much faster, is more efficient, and has less error. It is also more convenient than pull-rope displacement sensors in terms of cable length and wiring layout, indirectly reducing production costs. Furthermore, the triggering components can be added indefinitely with the material receiving bins, and the reception of electrical signals is error-free. In addition, the triggering components can be made of metal sheets, which is low-cost, and their position is easy to adjust, making the arrangement convenient and adjustable according to the position of the material receiving bins. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0028] Figure 2 This is a front view of the present invention;

[0029] Figure 3 This is a schematic diagram of the material transport vehicle of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0031] Figure 5 This is a statistical diagram showing the distribution of the triggering components of this invention.

[0032] Label Explanation:

[0033] 1. Conveying track; 2. Material transport vehicle; 21. Guide wheel; 22. Discharge hopper; 23. Motor; 24. Mounting bracket; 3. Triggering component; 31. Deceleration triggering component; 32. Vehicle position triggering component; 33. Verification triggering component; 34. Zero position triggering component; 4. Control module; 41. Controller; 42. Detection switch; 421. Deceleration detection switch; 422. Vehicle position detection switch; 423. Inspection detection switch; 424. Zero position detection switch; 5. Receiving bucket; 6. Batching hopper; 61. Feeding channel; 7. Batching platform; 8. Electric valve. Detailed Implementation

[0034] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1-5 As shown, the present invention provides an automated material handling vehicle positioning device, including a conveying track 1, a receiving station, a material handling vehicle 2, a positioning mechanism, and a control module 4; the receiving station includes multiple receiving bins 5 arranged below the conveying track 1, the conveying track 1 is a horizontal linear guide rail, the material handling vehicle 2 is arranged on the conveying track 1 and can slide laterally on the conveying track 1, thereby transporting materials to a specific receiving bin 5 for automatic unloading, realizing the feeding of the unloading bin.

[0036] The control module 4 includes a controller 41 mounted on the material transport vehicle 2 and multiple vertically arranged detection switches 42; the positioning mechanism includes multiple triggering components 3 arranged and installed at the bottom of the conveying track 1, the triggering components 3 being vertically downward and of different lengths; when the material transport vehicle 2 slides on the conveying track 1, the detection switches 42 are triggered by the triggering components 3 of different lengths to emit different pulse signals to the controller 41, and the controller 41 controls the material transport vehicle 2 to perform actions such as acceleration, deceleration, and stopping according to the different pulse signals to feed material to the receiving bucket 5, for example, in the material transport vehicle 2. When the material transport vehicle 2 approaches the target receiving hopper 5 requiring material, the triggering component 3 at that position triggers the detection switch 42 to emit a deceleration signal. The controller 41 then controls the material transport vehicle 2 to begin decelerating until it reaches above the target receiving hopper 5. At this point, the triggering component 3 triggers the detection switch 42, and the controller 41 controls the material transport vehicle 2 to stop automatically discharging the material into the target receiving hopper 5, completing the material delivery. Thus, during the material handling process, the speed of the material transport vehicle 2 can be automatically adjusted according to the triggering component 3 at different positions, achieving precise positioning for material delivery. Therefore, the method of controlling the speed and stopping of the material transport vehicle 2 by triggering the detection switch 42 with the triggering component 3 of this invention provides faster and more efficient signal reception. Compared to a pull-rope displacement sensor, it is more convenient in terms of cable length and wiring arrangement, indirectly reducing production costs. Furthermore, the triggering component 3 can be made of metal sheet, resulting in low cost, and its position can be easily adjusted according to changes in the position of the receiving hopper 5.

[0037] Key references Figure 3 The material transport vehicle 2 includes guide wheels 21, a discharge funnel 22, a motor 23, and a mounting bracket 24. The mounting bracket 24 is located below the conveying track 1. The guide wheels 21, discharge funnel 22, motor 23, controller 41, and detection switch 42 are all mounted on the mounting bracket 24. The guide wheels 21 are fixed to the top of the mounting bracket 24 and roll along the conveying track 1. The discharge funnel 22 is located at the bottom of the mounting bracket 24. The motor 23 is connected to the guide wheels 21 and is signal-connected to the controller 41. The detection switch 42 is located on the side of the mounting bracket 24. When the motor drives the guide wheels 21 to slide on the conveying track 1, the detection switch 42 is triggered by the triggering component 3 and sends a pulse signal to the controller 41. The controller 41 controls the motor 23 according to the received pulse signal, thereby controlling the movement state of the guide wheels 21, thus achieving the deceleration and stopping of the material transport vehicle 2.

[0038] Key references Figure 1 , Figure 2 and Figure 4The invention also includes a batching station, which comprises a batching funnel 6 and a batching platform 7 located at one end of the conveying track 1. The batching funnel 6 is located on top of the batching platform 7, and one end of the conveying track 1 is located below the batching funnel 6. The batching platform 7 is equipped with a ladder. Before the material transport vehicle 2 delivers materials, the workers can climb the ladder to the batching platform 7 to batch the materials and put the batched materials into the batching funnel 6. The material transport vehicle 2 moves to the bottom of the batching funnel 6, and the batching funnel 6 drops the materials into the discharge funnel 22 of the material transport vehicle 2 to replenish the material transport vehicle 2. Both the batching funnel 6 and the discharge funnel 22 are equipped with electric valves 8 and the discharge is controlled by the electric valves 8. The discharge is controlled by a control program set in the controller 41 to achieve automatic discharge.

[0039] Key references Figure 3 To facilitate material replenishment, a downward-extending feeding channel 61 can be provided below the feeding funnel 6. The feeding channel 61 extends above the material discharge funnel 22 of the material transport vehicle 2. During material replenishment, the material can slide down along the discharge channel into the discharge funnel 22.

[0040] like Figure 1-5 As shown, the present invention also provides a positioning method for an automated material transport vehicle 2 positioning device. The detection switches 42 include a deceleration position detection switch 421, a parking position detection switch 422, and a zero position detection switch 424 arranged from top to bottom. The triggering components 3 include a deceleration position triggering component 31, a parking position triggering component 32, and a zero position triggering component 34, with lengths increasing from shortest to longest. The deceleration position triggering component 31 is the shortest and can only trigger the deceleration position detection switch 421. The parking position triggering component 32 can trigger both the deceleration position detection switch 421 and the parking position detection switch 422. The zero position triggering component 34 is the longest and can trigger all the detection switches 42.

[0041] One end of the conveying track 1 is the starting position. The material transport vehicle 2 moves from the starting position to the other end of the conveying track 1 as a forward movement, and the opposite is a backward movement. The zero position triggering component 34 is only located at the starting position. Starting from the starting position, multiple deceleration triggering components 31 are arranged along the forward direction, and a vehicle position triggering component 32 is set every n (n≠0) deceleration triggering components 31. The vehicle position triggering component 32 is located directly above the receiving bucket 5.

[0042] Key references Figure 5 The controller 41 is equipped with a deceleration position counter and a parking space counter. The deceleration position counter records the number of bits of the triggering component 3 when it triggers the deceleration position detection switch 421, which is the deceleration position number I. 减速位The deceleration position number specifically refers to the number of positions of the triggering components 3 when the deceleration position detection switch 421 is triggered by the triggering component 3. When the material transport vehicle 2 moves onto it and the deceleration position detection switch 421 is triggered by the f-th triggering component 3, I 减速位 =f; The parking space counter records the number of bits in the parking space triggering component 32 when the parking space detection switch 422 is triggered by the parking space triggering component 32, which is the number of parking spaces I. 车位 The number of parking spaces specifically refers to the number of parking space triggering components 32 arranged when the parking space detection switch 422 is triggered by the parking space triggering component 32. When the material transport vehicle 2 moves onto the parking space detection switch 422, and the switch moves to the f-th parking space triggering component 32, I 车位 =f.

[0043] When the material transport vehicle 2 is in the starting position, the zero-position triggering component 34 triggers all detection switches 42, and then all counters are reset to zero. The deceleration position counter records the current deceleration position digit I. 减速位 =0, the parking space counter records the current number of parking spaces I. 车位 =0;

[0044] As the material transport vehicle 2 moves forward, the deceleration position counter records the current deceleration position number I for each trigger component 3 that moves forward. 减速位 +1, for example, when the material transport vehicle 2 moves from the starting position to its deceleration position detection switch 421, which is triggered by the first triggering member 3, the deceleration position detection switch 421 detects the rising edge of the signal, and its current deceleration position number I. 减速位 =0+1=1; Each time the vehicle moves forward one parking space, component 32 is triggered, and the parking space counter records the current number of parking spaces I. 车位 +1. Similarly, when the material transport vehicle 2 moves from the starting position to the parking space detection switch 422 on it, and the first parking space triggering component 32 triggers it, the parking space detection switch 422 detects the rising edge of the signal, and its current parking space number I. 车位 =0+1=1.

[0045] Conversely, when the material transport vehicle 2 reverses, for each trigger component that moves backward, the deceleration position counter records the current deceleration position number I. 减速位 -1, for example, when the material transport vehicle 2 retracts from the position of the second triggering mechanism until the deceleration position detection switch 421 is not triggered, the deceleration position detection switch 421 detects the falling edge of the signal, and its current deceleration position number I 减速位 =2-1=1; Each time the car moves back one parking space, component 32 is triggered, and the parking space counter records the current number of parking spaces I. 车位 -1. Similarly, when the material transport vehicle 2 retracts from the position of the second triggering mechanism 32 until the parking space detection switch 422 is not triggered, the parking space detection switch 422 detects the falling edge of the signal, and its current parking space number I. 减速位=2-1=1.

[0046] The positioning method for the material transport vehicle 2 includes the following steps:

[0047] Taking feeding the Xth receiving bucket 5 as an example, the material transport vehicle 2 needs to move to the corresponding Xth position trigger component 32 to feed the material. The material transport vehicle 2 has a set starting speed. When feeding begins, it first accelerates until it maintains the starting speed to move forward or backward at high speed, so that it can move forward or backward to the position of the Xth position trigger component 32 to feed the Xth receiving bucket 5. For example, starting from the starting position, the zero position trigger component 34 triggers all detection switches 42, and the material transport vehicle 2 starts to accelerate forward until it maintains the starting speed at high speed.

[0048] When it needs to move forward to feed material to the receiving bucket 5 below the trigger component 32 of the Xth parking position, the material transport vehicle 2 first accelerates to high speed, and when the deceleration counter records I... 减速位 = (n+1)X-1, that is, when the subtraction digit detection switch 42 is triggered by the preceding triggering component of the Xth parking space triggering component 32, the controller 41 controls the material transport vehicle 2 to start decelerating until the parking space counter records I. 车位 =X, that is, when the material transport vehicle 2 reaches the Xth parking space triggering component 32 and the parking space detection switch 422 is triggered by the Xth parking space triggering component 32, the controller 41 controls the material transport vehicle 2 to brake and stop, and then the electric valve 8 of the discharge funnel 22 opens to add material to the Xth receiving bucket 5.

[0049] When it is necessary to reverse to feed material to the receiving bucket 5 below the trigger component 32 of the Xth parking position, the material transport vehicle 2 first accelerates to high speed for reversing, and when the deceleration counter records I... 减速位 = (n+1)X+1, that is, when the subtraction digit detection switch 42 is triggered by the next triggering component of the Xth parking space triggering component 32, the controller 41 controls the material transport vehicle 2 to start decelerating until the parking space counter records I. 车位 =X, that is, when the parking space detection switch 422 is triggered by the triggering component 32 of the Xth parking space, the controller 41 controls the material transport vehicle 2 to brake and stop, and then the electric valve 8 of the discharge hopper 22 opens to add material to the Xth receiving bucket 5.

[0050] Taking n=1 and X=2, i.e., arranging a parking position triggering component 32 at intervals of one deceleration triggering component 31, and taking the second receiving bucket 5 as an example, when it needs to move forward, the material transport vehicle 2 first accelerates to high speed and moves forward. When the deceleration counter records I... 减速位 = (n+1)X-1 = (1+1)*2-1 = 3, that is, when the subtraction digit detection switch 42 is triggered by the triggering component of the 3rd position, the controller 41 controls the material transport vehicle 2 to start decelerating until the vehicle position counter records I. 车位=2, that is, when the parking space detection switch 422 is triggered by the second parking space triggering component 32, the controller 41 controls the material transport vehicle 2 to brake and stop, and then the electric valve 8 of the material discharge hopper 22 opens to add material to the second receiving bucket 5.

[0051] When the material transport vehicle 2 needs to reverse to the second position, triggering component 32 feeds material to the receiving bucket 5 below. The material transport vehicle 2 first accelerates to high speed and reverses. When the deceleration counter records I... 减速位 = (n+1)X+1 = (1+1)*2+1 = 5, that is, when the subtraction digit detection switch 42 is triggered by the 5th trigger component, the controller 41 controls the material transport vehicle 2 to start decelerating until the vehicle position counter records I. 车位 =2, that is, when the parking space detection switch 422 is triggered by the second parking space triggering component 32, the controller 41 controls the material transport vehicle 2 to brake and stop, and then the electric valve 8 of the discharge hopper 22 opens to add material to the second receiving bucket 5.

[0052] When the material transport vehicle 2 moves forward or backward, it begins to decelerate at the position of the trigger component 3 before or after the position trigger component 32 above the target receiving hopper 5, ensuring accurate positioning of the feeding position while ensuring rapid feeding. The position trigger component 32 is set at the interval between the deceleration trigger component 31 to control the material transport vehicle 2 to decelerate before reaching the position trigger component 32 above the target receiving hopper 5, so that the material transport vehicle 2 has a buffer distance when it stops. Therefore, this purpose can be achieved by setting the position trigger component 32 at the interval between the deceleration trigger component 31 and the deceleration trigger component 31, and the cost is lower.

[0053] Key references Figure 5 Prolonged use of the detection switch 42 may lead to malfunction. To facilitate maintenance, a verification position detection switch 423 can be added to check whether the detection switch 42 is malfunctioning. The four detection switches 42 are arranged from top to bottom in the following order: deceleration position detection switch 421, parking space detection switch 422, verification position detection switch 423, and zero position detection switch 424. The triggering component 3 is correspondingly provided with a verification position triggering component 33. The triggering components 3, from shortest to longest, are deceleration position triggering component 31, parking space triggering component 32, and verification position triggering component 33. The controller 41 includes component 33 and zero-position triggering component 34. The verification triggering component 33 can trigger the deceleration-to-speed detection switch 42, the parking space detection switch 422, and the verification position detection switch 423. Following the same arrangement pattern as the parking space triggering component 32, starting from the initial position, a verification triggering component 33 is set every m parking space triggering components 32. The controller 41 also includes a verification position counter, which records the number of bits in the verification position detection switch 423 when it is triggered by the triggering component 34; this number is the verification position bit I. 校验位The number of verification bits is specifically the number of bits arranged by the verification bit triggering component 33 when the verification bit detection switch 42 is triggered.

[0054] When the material transport vehicle 2 is in the starting position, the check bit counter records the current check bit number I. 校验位 =0;

[0055] When the material transport vehicle 2 moves forward, the verification position detection switch 423 is triggered by the verification position triggering component 33, and the parking space detection switch 422 is also triggered by the verification position triggering component 33. Therefore, for each parking space triggering component 32 or verification position triggering component 33 that moves forward, the parking space counter records the current number of parking space digits I. 车位 +1; and for each advance of the check bit trigger component 33, the check bit counter records the current check bit number I. 校验位 +1;

[0056] When the material transport vehicle 2 reverses, the parking space counter records the current parking space number I for each parking space it reverses by triggering component 32 or verification component 33. 车位 -1; Each time the check bit is moved back one check bit, the trigger component 33 is activated, and the check bit counter records the current number of check bits I. 校验位 -1.

[0057] Key references Figure 5 The verification process of the verification bit detection switch 423 is as follows: when the verification bit detection switch 423 is triggered by the triggering component 3 and detects a signal, if I 车位 ≠(m+1)I 校验位 Or I 减速位 ≠(n+1)*(m+1)I 校验位 If the alarm is triggered, it will indicate a fault in the corresponding parking space detection switch 422 or deceleration position detection switch 421.

[0058] Taking m=1 and n=1, that is, arranging a parking space triggering component 32 at intervals of one deceleration position triggering component 31 and arranging a verification position triggering component 33 at intervals of one parking space triggering component 32, as an example, when the verification position detection switch 42 is triggered by the triggering component 3, I 车位 =(m+1)I 校验位 =2I 校验 Bit or I 减速位 = (n+1)*(m+1)I 校验位 =4I 校验位 If the two equations do not hold true, then the corresponding parking space detection switch 422 or deceleration detection switch 42 malfunctions; specifically, taking the verification position detection switch 423 being triggered by the first verification position triggering component 33 as an example, when I 校验 When I = 1, then I 车位 =2,I 减速位 =4, if I 车位≠2 or I 减速位 If the value is ≠4, then the parking space detection switch 422 or the deceleration position detection switch 421 will malfunction, triggering an alarm to prompt staff to perform maintenance. This invention can either install a check position switch at intervals of only a few parking space trigger components 32, or replace all parking space trigger components 32 with verification position trigger components 33. Therefore, m can be zero. However, considering cost, installing verification position trigger components 33 at intervals of only a few parking space trigger components 32 is sufficient, achieving the same purpose of sensor verification.

[0059] In addition to the verification function of the verification trigger component 33 and the inspection detection switch 42, the zero-position trigger component 34 and the zero-position detection switch 424 also have an inspection function. When the zero-position detection switch 424 is triggered by the zero-position trigger component 34, it will determine whether the deceleration position detection switch 421, the parking space detection switch 422, and the verification position detection switch 423 have all been triggered. If so, the data of each counter is cleared to zero. 减速位 =0, I 车位 =0, I 校验位 =0; if none, the corresponding detection switch 42 has malfunctioned, thus triggering an alarm and requiring personnel to come and repair it.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the design of this case. All equivalent changes made based on the key design features of this case shall fall within the protection scope of this case.

Claims

1. A positioning method for an automated material handling vehicle positioning device, characterized in that: The material transport vehicle positioning device includes a conveying track, a receiving station, a material transport vehicle, a positioning mechanism, and a control module; The receiving station includes multiple receiving bins arranged below the conveying track, and the material transport vehicle is slidably arranged on the conveying track to feed materials to the receiving bins; The control module includes a controller installed on the material transport vehicle and multiple vertically arranged detection switches; the positioning mechanism includes multiple triggering components arranged and installed at the bottom of the conveying track, the multiple triggering components having different lengths; When the material transport vehicle slides on the conveyor track, the detection switch is triggered by triggering components of different lengths to send different pulse signals to the controller. The controller controls the material transport vehicle to perform acceleration, deceleration and stopping actions to feed the receiving bucket. The detection switches include a deceleration position detection switch, a parking space detection switch, and a zero position detection switch arranged from top to bottom. The triggering components include a deceleration position triggering component, a parking space triggering component, and a zero position triggering component with lengths ranging from short to long. The deceleration position triggering component triggers the deceleration position detection switch, the parking space triggering component triggers the deceleration position detection switch and the parking space detection switch, and the zero position detection switch triggers all the detection switches. One end of the conveying track is the starting position. The material transport vehicle moves from the starting position to the other end of the conveying track as a forward motion. The zero-position triggering component is only located at the starting position. Starting from the starting position, multiple deceleration triggering components are arranged along the forward direction, and a vehicle position triggering component is set every n deceleration triggering components. The vehicle position triggering component is located directly above the receiving hopper. The controller is equipped with a deceleration position counter and a parking space counter. The deceleration position counter records the number of bits of the triggering component when the deceleration position detection switch is triggered, which is the deceleration position bit number I. 减速位 The parking space counter records the number of bits in the parking space triggering component when the parking space detection switch is triggered by the parking space triggering component; this number represents the number of parking spaces, I. 车位 ; When the material transport vehicle is in the starting position, all detection switches are triggered by the zero-position triggering component, all counters are reset to zero, and the deceleration position counter records the current deceleration position digit I. 减速位 =0, the parking space counter records the current number of parking spaces I. 车位 =0; As the material transport vehicle moves forward, the deceleration position counter records the current deceleration position number I for each trigger component it advances. 减速位 +1; The trigger mechanism is activated each time the vehicle moves forward one parking space. The parking space counter records the current number of parking spaces I. 车位 +1; When the material transport vehicle reverses, the deceleration position counter records the current deceleration position number I for each trigger component that moves backward. 减速位 -1; The component is triggered every time the vehicle moves back one parking space. The parking space counter records the current number of parking spaces I. 车位 -1; The material transport vehicle positioning method includes the following steps: When it needs to move forward to feed material to the receiving bucket below the trigger component of the Xth parking position, the material transport vehicle first accelerates to high speed, and when the deceleration counter records I... 减速位 When = (n+1)X-1, the controller controls the material transport vehicle to start decelerating until the parking space counter records I. 车位 When the parking space detection switch is triggered and the value is X, the controller controls the material transport vehicle to stop feeding the receiving bucket below at parking space X. When it is necessary to reverse to feed material to the receiving bucket under the trigger component of the Xth parking position, the material transport vehicle first accelerates to high speed for reverse, and when the deceleration counter records I... 减速位 When = (n+1)X+1, the controller controls the material transport vehicle to start decelerating until the parking space counter records I. 车位 When the parking space detection switch is triggered at parking space X, the controller controls the material transport vehicle to stop feeding the receiving bucket below at parking space X.

2. The positioning method of the automated material transport vehicle positioning device as described in claim 1, characterized in that: The detection switches also include a verification position detection switch, which, from top to bottom, are a deceleration position detection switch, a parking space detection switch, a verification position detection switch, and a zero position detection switch. The triggering components also include a verification position triggering component, which, from shortest to longest, are a deceleration position triggering component, a parking space triggering component, a verification position triggering component, and a zero position triggering component. The verification position triggering component triggers the deceleration position detection switch, the parking space detection switch, and the verification position detection switch. Starting from the initial position, a verification position triggering component is set every m parking space triggering components. The controller also includes a verification position counter, which records the number of bits in the verification position triggering component when the verification position detection switch is triggered by the verification position triggering component; this number is the verification position bit depth I. 校验位 ; When the material transport vehicle is in the starting position, the check bit counter records the current check bit number I. 校验位 =0; As the material transport vehicle moves forward, the parking space counter records the current parking space digit I for each parking space it advances to trigger a trigger or check trigger. 车位 +1; Each time the check bit advances, the trigger component is activated; the check bit counter records the current number of check bits I. 校验位 +1; When the material transport vehicle reverses, the parking space counter records the current parking space digit I for each parking space triggered or checked. 车位 -1; Each time the check bit is moved back one bit, the trigger component is activated. The check bit counter records the current number of check bits I. 校验位 -1; When the verification bit detection switch is triggered by the verification bit triggering component, if I 车位 ≠(m+1)I 校验位 or I 减速位 ≠ (n+1) (m+1)I 校验位 If the alarm is triggered, it will indicate a malfunction in the corresponding parking space detection switch or deceleration position detection switch.

3. The positioning method of the automated material transport vehicle positioning device as described in claim 2, characterized in that: When the zero-position detection switch is triggered by the triggering component, it is determined whether the deceleration position detection switch, parking space detection switch, and verification position detection switch have all been triggered. If so, the data of each counter is cleared to zero. 减速位 =0、I 车位 =0、I 校验位 =0; if none, an alarm will sound, indicating a fault in the corresponding detection switch.

4. The positioning method of the automated material transport vehicle positioning device as described in claim 1, characterized in that: The material transport vehicle includes guide wheels, a discharge hopper, a motor, and a mounting bracket. The mounting bracket is located below the conveying track. The guide wheels, discharge hopper, motor, controller, and detection switch are all mounted on the mounting bracket. The guide wheels are fixed to the top of the mounting bracket and roll along the conveying track. The discharge hopper is located at the bottom of the mounting bracket. The motor is connected to the guide wheels via a transmission connection and is also connected to the controller via a signal connection. The controller controls the movement of the guide wheels by controlling the motor.

5. The positioning method of the automated material transport vehicle positioning device as described in claim 1, characterized in that: The material transport vehicle positioning device also includes a batching station, which includes a batching funnel and a batching platform located at one end of the conveying track. The batching funnel is located on top of the batching platform, and one end of the conveying track is located below the batching funnel. The batching funnel is used to replenish materials to the material transport vehicle.

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