Three-point positioning control system of four-way shuttle vehicle

Abstract

The invention discloses a three-point positioning control system for a four-way shuttle vehicle, and the system comprises first positioning modules which are disposed on two opposite sides of the four-way shuttle vehicle; the second positioning modules are arranged on the other two sides of the four-way shuttle vehicle; the control module is arranged on the four-way shuttle vehicle, the control module is in signal connection with the first positioning module and the second positioning module, and the control module controls the four-way shuttle vehicle to walk; the first positioning module, the second positioning module and the control module jointly position and control the four-way shuttle vehicle. Barcodes and trepanning at goods shelf positions are not needed, so that the cost and the time are reduced; three-point positioning is adopted, positioning is accurate and rapid, and use is convenient; point light is used, a reflecting plate is not needed, and control is easy and convenient.

Description

Technical Field

[0001] The invention relates to the technical field of warehousing logistics equipment, and in particular to a three-point positioning control system for a four-way shuttle vehicle. Background Art

[0002] In the prior art, the positioning methods used by the four-way shuttle are mainly the QR code positioning method and the shelf side hole counting positioning method; the QR code positioning method requires a lot of time to paste the QR code near each positioning point on the shelf. The larger the three-dimensional warehouse, the more time it takes and the more labor costs are generated; the shelf side hole counting positioning method requires drilling holes on the side of the shelf, and performing positioning calculations through the on-off signals of the sensors on the side of the four-way shuttle. The position of the four-way shuttle in the shelf is calculated by counting the number of holes. This method requires the number of holes in the shelf to be accurate and the position to be precise, which increases the workload of the shelf manufacturer and invisibly increases the project cost. Summary of the invention

[0003] According to an embodiment of the present invention, a three-point positioning control system for a four-way shuttle is provided, comprising: A first positioning module, the first positioning module is arranged on two opposite sides of the four-way shuttle; A second positioning module, the second positioning module is arranged on the remaining two sides of the four-way shuttle; A control module, which is arranged on the four-way shuttle vehicle, is connected to the first positioning module and the second positioning module by signal, and controls the four-way shuttle vehicle to move; The first positioning module, the second positioning module and the control module jointly position and control the four-way shuttle.

[0004] Furthermore, the first positioning module and the second positioning module have the same structure.

[0005] Furthermore, it also includes: a shelf, on which a plurality of first lane tracks and a plurality of second lane tracks are horizontally spaced, the first lane tracks and the second lane tracks are perpendicular to each other, and a four-way shuttle vehicle runs on the first lane tracks and the second lane tracks.

[0006] Further, the first positioning module includes: a first positioning photoelectric, a second positioning photoelectric and a third positioning photoelectric; The first positioning photoelectric, the second positioning photoelectric and the third positioning photoelectric are respectively arranged on two opposite sides of the four-way shuttle, and the second positioning photoelectric and the third positioning photoelectric are arranged on the same side; The emission ends of the first positioning photoelectric, the second positioning photoelectric and the third positioning photoelectric are opposite to the first lane track.

[0007] Furthermore, the center of the light spot emitted by the second positioning photoelectric is located in the same straight line as the inner edge of the running wheel of the four-way shuttle on the same side, and the distance between the first positioning photoelectric and the second positioning photoelectric along the direction of the second lane track is greater than the distance between the inner sides of the two adjacent first lane tracks.

[0008] Further, the distance between the second positioning photoelectric device and the third positioning photoelectric device along the direction of the second lane track is smaller than the width of the first lane track.

[0009] Further, the control module includes: a controller and a motor driver; The controller and the motor driver are arranged on the four-way shuttle, the controller is connected to the first positioning module and the second positioning module by signal, and is also connected to the motor driver by signal; The motor driver is connected to the travel motor signal inside the four-way shuttle; The travel motor is connected to the travel wheels of the four-way shuttle vehicle to control the travel of the travel wheels.

[0010] The three-point positioning control system of the four-way shuttle according to the embodiment of the present invention does not require barcodes or holes in the shelves, thus reducing costs and time. It adopts three-point positioning, which is accurate and fast and easy to use. It uses point photoelectric technology and does not require a reflector, so the control is simple and convenient.

[0011] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic top view of a four-way shuttle vehicle according to a three-point positioning control system of the four-way shuttle vehicle according to an embodiment of the present invention; Figure 2 A bottom view schematic diagram of a four-way shuttle vehicle according to a three-point positioning control system of a four-way shuttle vehicle according to an embodiment of the present invention; Figure 3 Schematic diagram of the light spot of the positioning photoelectric system of the three-point positioning control system of the four-way shuttle according to an embodiment of the present invention; Figure 4 Schematic diagram of a shelf of a three-point positioning control system of a four-way shuttle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0013] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0014] First, combine Figures 1 to 4 A three-point positioning control system for a four-way shuttle according to an embodiment of the present invention is described, which is used to control the four-way shuttle to move accurately to the positioning point, and has a wide range of application scenarios.

[0015] like Figures 1 to 4 As shown, the three-point positioning control system of the four-way shuttle vehicle according to the embodiment of the present invention includes: a first positioning module, a second positioning module and a control module.

[0016] Specifically, Figures 1 to 4 As shown, in this embodiment, the first positioning module is arranged on two opposite sides of the four-way shuttle 1; the second positioning module is arranged on the remaining two sides of the four-way shuttle 1; the control module is arranged on the four-way shuttle 1, the control module is connected with the first positioning module and the second positioning module by signal, and the control module controls the movement of the four-way shuttle 1; the first positioning module, the second positioning module and the control module jointly position and control the four-way shuttle 1. The first positioning module and the second positioning module have the same structure. The first positioning module and the second positioning module respectively position the four-way shuttle 1 along the X-axis and the Y-axis directions, and through the coordinated action with the control module, ensure that the four-way shuttle 1 moves accurately to the positioning point.

[0017] Further, if Figures 1 to 4 As shown, in this embodiment, it also includes: a shelf, on which a plurality of first lane tracks 2 and a plurality of second lane tracks 3 are horizontally spaced, the first lane tracks 2 and the second lane tracks 3 are perpendicular to each other, the four-way shuttle 1 travels on the first lane tracks 2 and the second lane tracks 3, the first positioning module corresponds to the first lane track 2, and the second positioning module corresponds to the second lane track 3.

[0018] Further, if Figures 1 to 4 As shown, in this embodiment, the first positioning module includes: a first positioning photoelectric 41, a second positioning photoelectric 42 and a third positioning photoelectric 43; the first positioning photoelectric 41, the second positioning photoelectric 42 and the third positioning photoelectric 43 are respectively arranged on the opposite sides of the four-way shuttle 1, wherein the second positioning photoelectric 42 and the third positioning photoelectric 43 are arranged on the same side, and the first positioning photoelectric 41 is arranged on the other side, and the first positioning photoelectric 41, the second positioning photoelectric 42 and the third photoelectric all adopt diffuse reflection type photoelectric switches with distance measurement function; the transmitting ends of the first positioning photoelectric 41, the second positioning photoelectric 42 and the third positioning photoelectric 43 are opposite to the first lane track 2, that is, the first positioning photoelectric 41, the second positioning photoelectric 42 and the third positioning photoelectric 43 all position the four-way shuttle 1 by emitting light beams to the first lane track 2, and realize the precise positioning of the four-way shuttle 1 by three-point positioning.

[0019] Further, if Figures 1 to 4As shown, in this embodiment, the center of the light spot emitted by the second positioning photoelectric 42 is located in the same straight line as the inner edge of the running wheel of the four-way shuttle 1 on the same side, and the distance between the first positioning photoelectric 41 and the second positioning photoelectric 42 along the direction of the second lane track 3 is greater than the distance between the inner sides of the two adjacent first lane tracks 2. The distance between the second positioning photoelectric 42 and the third positioning photoelectric 43 along the direction of the second lane track 3 is less than the width of the first lane track 2. Since the size of the light spot emitted by the positioning photoelectric is 2mm, the spacing between the second positioning photoelectric 42 and the third positioning photoelectric 43 during installation should be maintained at 2mm. In the embodiment of the present invention, the width of the lane track is 50mm, the thickness of the running wheel is 45mm, the spacing between the inner sides of adjacent lane tracks is 1100mm, the installation spacing between the first positioning photoelectric 41 and the third positioning photoelectric 43 is 1118mm, and the installation spacing between the second positioning photoelectric 42 and the third positioning photoelectric 43 is 6mm.

[0020] Further, if Figures 1 to 4 As shown, in this embodiment, the control module includes: a controller 51 and a motor driver 52. The controller 51 adopts a programmed controller 51. The controller 51 and the motor driver 52 are arranged on the four-way shuttle 1. The controller 51 is signal-connected with the first positioning module and the second positioning module, and is signal-connected with the motor driver 52; the motor driver 52 is connected to the travel motor 53 inside the four-way shuttle 1; the travel motor 53 is connected to the travel wheel of the four-way shuttle 1 to control the travel of the travel wheel. The first positioning module and the second positioning module feedback signals to the controller 51, and the controller 51 controls the travel motor 53 through the feedback signal, thereby controlling the travel of the four-way shuttle 1.

[0021] like Figures 1 to 4 As shown, the four-way shuttle 1 can walk on the first lane track 2 or on the second lane track 3; when walking on the first lane track 2, the first positioning photoelectric 41, the second positioning photoelectric 42 and the third positioning photoelectric 43 participate in the positioning control, and when walking on the second lane track 3, the fourth positioning photoelectric 44, the fifth positioning photoelectric 45 and the sixth positioning photoelectric 46 participate in the positioning control.

[0022] Take the first lane track 2 positioning as an example: by Figure 4To explain, after the four-way shuttle 1 receives the command to move right on the first lane track 2, the four-way shuttle 1 automatically moves to the right. When it is about to reach the positioning point, the speed of the four-way shuttle 1 is already very slow. In the process of moving to the right, the first positioning photoelectric 41 and the third positioning photoelectric 43 are first detected. At this time, the signals of the first positioning photoelectric 41 and the third positioning photoelectric 43 change from 0 to 1. In the process of slowly moving to the right, the moment the light spot of the second positioning photoelectric 42 hits the first lane track 2, the signal of the second positioning photoelectric 42 changes from 0 to 1. At this time, the programming controller 51 receives the moment when the signals of the first positioning photoelectric 41, the second positioning photoelectric 42 and the third positioning photoelectric 43 are all 1, and sends a stop signal to the motor driver 52, and the travel motor 53 stops instantly. At this time, the four-way shuttle 1 accurately stops at the target position, and the travel wheel 31 of the second lane track 3 just stops above the first lane track 2, meeting the positioning requirements.

[0023] After the four-way shuttle 1 receives the command to move left on the first lane track 2, the four-way shuttle 1 automatically moves to the left. When it is about to reach the positioning point, the speed of the four-way shuttle 1 is already very slow. In the process of moving to the left, the first positioning photoelectric 41 and the second positioning photoelectric 42 first detect signals. At this time, the signals of the first positioning photoelectric 41 and the second positioning photoelectric 42 change from 0 to 1. In the process of slowly moving to the left, the signal of the third positioning photoelectric 43 is also detected. At this time, the signal of the third positioning photoelectric 43 changes from 0 to 1. In the process of continuing to move slowly to the left, the light spot of the second positioning photoelectric 42 changes from 1 to 0 at the moment it leaves the first lane track 2. At the moment when the signals of the first positioning photoelectric 41 and the third positioning photoelectric 43 are 1 and the signal of the second positioning photoelectric 42 changes from 1 to 0, the programming controller 51PLC sends a stop command to the travel driver, and the travel motor 53 stops instantly. At this time, the four-way shuttle 1 accurately stops at the target position, and the travel wheel 31 of the second lane track 3 just stops above the first lane track 2, meeting the positioning requirements.

[0024] The fourth positioning photoelectric 44 , the fifth positioning photoelectric 45 and the sixth positioning photoelectric 46 are used for positioning in the second lane track 3 , and the positioning principle of the second lane track 3 is consistent with the positioning principle of the first lane track 2 .

[0025] by Figure 4To explain, after the four-way shuttle 1 receives the command to move backward along the second lane track 3, the four-way shuttle 1 automatically moves to the rear side. When it is about to reach the positioning point, the speed of the four-way shuttle 1 is already very slow. In the process of moving backward, the fourth positioning photoelectric 44 and the sixth positioning photoelectric 46 are first detected. At this time, the signals of the fourth positioning photoelectric 44 and the sixth positioning photoelectric 46 change from 0 to 1. In the process of slowly moving backward, the moment the light spot of the fifth positioning photoelectric 45 hits the second lane track 3, the signal of the fifth positioning photoelectric 45 changes from 0 to 1. At this time, the programming controller 51 receives the moment when the signals of the fourth positioning photoelectric 44, the fifth positioning photoelectric 45 and the sixth positioning photoelectric 46 are all 1, and sends a stop signal to the motor driver 52, and the travel motor 53 stops instantly. At this time, the four-way shuttle 1 stops accurately at the target position, and the travel wheel of the first lane track 2 just stops above the second lane track 3, meeting the positioning requirements.

[0026] After the four-way shuttle 1 receives the command to move forward on the first lane track 2, the four-way shuttle 1 automatically moves forward. When it is about to reach the positioning point, the speed of the four-way shuttle 1 is already very slow. In the process of moving forward, the fourth positioning photoelectric 44 and the fifth positioning photoelectric 45 first detect signals. At this time, the signals of the fourth positioning photoelectric 44 and the fifth positioning photoelectric 45 change from 0 to 1. In the process of slowly moving forward, the signal of the sixth positioning photoelectric 46 is also detected. At this time, the signal of the sixth positioning photoelectric 46 changes from 0 to 1. In the process of continuing to move slowly forward, the light spot of the fifth positioning photoelectric 45 changes from 1 to 0 at the moment it leaves the second lane track 3. At the moment when the signals of the fourth positioning photoelectric 44 and the sixth positioning photoelectric 46 are 1 and the signal of the fifth positioning photoelectric 45 changes from 1 to 0, the programming controller 51PLC sends a stop command to the travel driver, and the travel motor 53 stops instantly. At this time, the four-way shuttle 1 accurately stops at the target position, and the travel wheels of the first lane track 2 just stop above the second lane track 3, meeting the positioning requirements.

[0027] Above, refer to Figures 1 to 4 The invention describes a three-point positioning control system for a four-way shuttle according to an embodiment of the invention, which does not require barcodes or holes in shelves, thus reducing costs and time. It uses three-point positioning, which is accurate, fast and easy to use. It uses point photoelectric technology and does not require a reflector, so control is simple and convenient.

[0028] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0029] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A three-point positioning control system for a four-way shuttle vehicle, characterized in that: Include: A first positioning module, wherein the first positioning module is disposed on two opposite sides of the four-way shuttle; a second positioning module, the second positioning module being disposed on the remaining two sides of the four-way shuttle; A control module, wherein the control module is disposed on the four-way shuttle vehicle, the control module is signal-connected with the first positioning module and the second positioning module, and the control module controls the movement of the four-way shuttle vehicle; The first positioning module, the second positioning module and the control module jointly position and control the four-way shuttle.

2. The three-point positioning control system of the four-way shuttle as claimed in claim 1, characterized in that: The first positioning module and the second positioning module have the same structure.

3. The three-point positioning control system of the four-way shuttle as claimed in claim 1, characterized in that: It also includes: a shelf, on which a plurality of first lane tracks and a plurality of second lane tracks are horizontally spaced, the first lane tracks and the second lane tracks are perpendicular to each other, and the four-way shuttle vehicle travels on the first lane tracks and the second lane tracks.

4. The three-point positioning control system of the four-way shuttle as claimed in claim 3, characterized in that: The first positioning module includes: a first positioning photoelectric, a second positioning photoelectric and a third positioning photoelectric; The first positioning photoelectric, the second positioning photoelectric and the third positioning photoelectric are respectively arranged on two opposite sides of the four-way shuttle, and the second positioning photoelectric and the third positioning photoelectric are arranged on the same side; The emission ends of the first positioning photoelectric device, the second positioning photoelectric device and the third positioning photoelectric device are opposite to the first lane track.

5. The three-point positioning control system of the four-way shuttle as claimed in claim 4, characterized in that: The center of the light spot emitted by the second positioning photoelectric device is located in the same straight line as the inner edge of the traveling wheel of the four-way shuttle vehicle on the same side, and the distance between the first positioning photoelectric device and the second positioning photoelectric device along the direction of the second lane track is greater than the distance between the inner sides of two adjacent first lane tracks.

6. The three-point positioning control system of the four-way shuttle as claimed in claim 4 or 5, characterized in that: The distance between the second positioning photoelectric device and the third positioning photoelectric device along the direction of the second lane track is smaller than the width of the first lane track.

7. The three-point positioning control system of the four-way shuttle as claimed in claim 1, characterized in that: The control module includes: a controller and a motor driver; The controller and the motor driver are arranged on the four-way shuttle, and the controller is connected to the first positioning module and the second positioning module by signal, and is also connected to the motor driver by signal; The motor driver is connected to the travel motor signal inside the four-way shuttle; The travel motor is connected to the travel wheels of the four-way shuttle vehicle to control the travel of the travel wheels.

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