Shuttle vehicle tray identification system
By installing the weight sensor and pressure sensor on the shuttle, the weight and location of the tray are detected, and the difficulty of the hollow pallet recognition is solved, and the operating efficiency and safety of the shuttle are improved.
Patent Information
- Application Number
- CN202411848302.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-01-21
AI Technical Summary
In the automated three-dimensional library, it is difficult to identify hollow pallets by shuttle equipment, resulting in failed pallet recognition and false alarm errors, thereby reducing operational efficiency.
The weight sensor is used to detect the weight of the tray for re -distribution, and it is corrected by confirming the position bias of the tray through the pressure sensor to adjust the speed and position of the shuttle.
By monitoring the load and location, the operating efficiency of the shuttle is improved, the overall safety and performance are improved, and the risk of collision of the tray partial load operation is reduced.
Smart Images
Figure CN119329957A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of material equipment control, and in particular to a shuttle vehicle pallet identification system. Background Art
[0002] In automated warehouses, shuttle devices often need to identify the pallets loaded on them and identify uneven loads.
[0003] Common pallet identification technologies on vehicles include red dot photoelectric sensors. However, such sensors do not perform well in applications involving hollow pallets. The photoelectric sensors often penetrate the pallet, causing pallet identification failure and thus causing false alarms in the shuttle device.
[0004] Ultrasonic sensors are occasionally used in this type of function. Although they avoid the problem of false identification caused by hollow pallets, related extended functions are still not possible. For example, when the vehicle is loaded with empty pallets or lighter goods, it is still generally operated using full-load operating parameters.
[0005] Under full-load operation conditions, the speed and related parameters are about 30-40% lower than those under no-load operation due to safety and stable operation considerations. When a fully operational automated warehouse has a large number of empty pallet return requirements, the overall project efficiency is greatly reduced. Summary of the invention
[0006] The purpose of the present invention is to solve the above problems and provide a shuttle pallet identification system, which detects the weight of the pallet through a weight sensor to redistribute the power, and confirms the position offset of the pallet through a pressure-sensitive sensor to make corrections, so that the shuttle can work in the best state.
[0007] The technical solution adopted by the present invention is: A shuttle car pallet identification system, characterized in that long strip support plates are provided on the left and right sides of the shuttle car, and a weight sensor assembly and a pressure-sensitive sensor are arranged in the middle position of at least one support plate, the weight sensor assembly includes a weight sensor and a weight sensor bracket, a circular hole is opened in the middle position of the support plate, the weight sensor bracket is installed on the back side of the support plate, the weight sensor is installed on the weight sensor bracket, the weight sensor extends out of the circular hole and is higher than the support plate; there are multiple pressure-sensitive sensors, which are arranged on the side of the circular hole, and the wiring harness of the pressure-sensitive sensor passes through the circular hole and the wiring harness of the weight sensor assembly are connected to the control unit inside the shuttle car, and the pressure-sensitive sensor is used to receive pressure from the pallet pier foot; the control unit judges whether there is a pallet on the shuttle car and the weight of the pallet load according to the measurement value of the weight sensor, and judges the position of the pallet on the shuttle car according to the change in resistance of the pressure-sensitive sensor.
[0008] Further, at least two of the pressure - sensitive sensors on each support plate are arranged in the length direction of the support plate. The pressure - sensitive sensors are symmetrically arranged before and after on both sides of the round hole and are defined as positive - position sensors. The tray is a channel - shaped tray. When the tray is placed on the support plate, the middle pier of the tray is located on the two positive - position sensors.
[0009] Further, on both sides of the two positive - position sensors, two more pressure - sensitive sensors are arranged and defined as limit sensors. The distance between the two limit sensors and the two positive - position sensors is equal, and the distance between the two limit sensors is greater than the size of the middle pier of the tray.
[0010] Further, on both sides of the two limit sensors, two pressure - sensitive sensors are arranged and defined as extreme - deviation sensors. The distance between the two extreme - deviation sensors and the two limit sensors is equal.
[0011] Further, the control unit adjusts the running speed of the shuttle car according to the load weight obtained by the weight sensor through the following formula: V = V0×(1 - M J / M0) Where, V0: The maximum running speed of the shuttle car; M J : The load weight identified by the weight sensor; M0: The maximum load weight within the safe range of the shuttle car.
[0012] Further, when both positive - position sensors detect the pressure exerted by the tray, the control unit determines that the tray position is normal; when one limit sensor detects the pressure exerted by the tray, the control unit determines that the tray position is offset; when one extreme - deviation sensor detects the pressure exerted by the tray, the control unit determines that the tray position is incorrect.
[0013] Further, when the tray position is offset, the control unit controls the shuttle car to travel to the tray calibration storage location for the tray calibration process; when the tray position is incorrect, the control unit controls the vehicle to immediately give an alarm for processing.
[0014] Further, when the tray position is incorrect, the control unit sends a fault alarm processing message to the upper - level system and performs abnormal processing.
[0015] The beneficial effects of the present invention are: (1) Monitor the load of the shuttle car through the weight sensor, adjust the vehicle motion control parameters, and improve the operation efficiency; (2) Through the arrangement of the pressure - sensitive sensors, monitor the position of the tray at any time and correct it; (3) Without changing the structure and layout of the shuttle car, improve the overall safety and performance of the shuttle car.
[0016] (4) Identify the unbalanced loading of the pallet when the vehicle is picking up the goods, reducing the risk of collision and overturning caused by unbalanced loading of the vehicle and the pallet. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Attached Figure 1 It is a three-dimensional structural schematic diagram of the shuttle vehicle of the present invention; Attached Figure 2 is an expanded view of a weight sensor and a pressure-sensitive sensor mounted on a support plate; Attached Figure 3 It is a structural diagram of the weight sensor bracket installed on the back of the support plate; Attached Figure 4 It is a schematic diagram of the positions of the pallet and the shuttle; Attached Figure 5 This is a schematic diagram of the normal position of the pallet on the shuttle; Attached Figure 6 It is a schematic diagram of the state where the pallet is offset to both sides on the shuttle vehicle; Attached Figure 7 This is a schematic diagram of the tray being positioned incorrectly on both sides of the shuttle.
[0018] The reference numerals in the accompanying drawings are: 1. Shuttle car; 2. Support plate; 3.Tray; 4.Pier foot; 5.Weight sensor assembly; 6.Weight sensor; 7.Weight sensor bracket; 8.Round hole; 9.Position sensor; 10.Limit sensor; 11. Limit deviation sensor. DETAILED DESCRIPTION
[0019] The specific implementation of the shuttle tray identification system of the present invention is described in detail below with reference to the accompanying drawings.
[0020] See attached Figure 1 , 4 The shuttle 1 has long strip support plates 2 on the left and right sides, and the support plates 2 are used to place the pallet 3. The pallet 3 used in this patent is a Sichuan-shaped pallet, which has three rows of piers 4 for supporting the pallet 3, and the space between the piers 4 is used for forklift transportation.
[0021] See attached Figures 1 to 3 A weight sensor assembly 5 is arranged in the middle position of the two support plates 2. The weight sensor assembly 5 includes a weight sensor 6 and a weight sensor bracket 7. A circular hole 8 is opened in the middle position of the support plate 2. The weight sensor bracket 7 is installed on the back of the support plate 2. The weight sensor 6 is installed on the weight sensor bracket 7. The weight sensor 6 extends out from the circular hole 8 and is slightly higher than the support plate 2.
[0022] When the pallet 3 is placed on the support plate 2, the middle pier 4 of the pallet 3 falls on the two support plates 2, exerting pressure on the weight sensor 6, and the weight sensor 6 completes weighing the pallet 3 and the goods thereon.
[0023] A plurality of pressure-sensitive sensors are also arranged in the middle position of the two support plates 2, and are arranged on both sides of the circular hole 8. The wiring harness of the pressure-sensitive sensor passes through the circular hole 8 and the wiring harness of the weight sensor assembly 5 are connected to the control unit inside the shuttle 1. The pressure-sensitive sensor is used to receive the pressure of the pier foot 4 of the pallet 3.
[0024] The control unit receives the weighing result of the weight sensor 6 and the resistance feedback of the pressure-sensitive sensor. The resistance value of the pressure-sensitive sensor can be used to sense whether the tray 3 is on the shuttle 1, replacing the infrared sensor or ultrasonic detection.
[0025] The control unit adjusts the running speed of the shuttle 1 according to the load weight obtained by the weight sensor 6 by the following formula: V = V0 × (1-M J / M0) in, V0: Maximum operating speed of the shuttle; M J : Load weight recognized by the weight sensor; M0: Maximum load weight within the shuttle's safety range.
[0026] Through the above-mentioned motion control ladder algorithm, the motion control parameters of the shuttle vehicle 1 can be adjusted according to the load conditions, thereby avoiding the problem of low load but low operating efficiency, and further achieving the improvement of vehicle operating efficiency.
[0027] See attached Figure 2 At least two pressure-sensitive sensors are arranged on each support plate 2 in the length direction of the support plate 2. The pressure-sensitive sensors are symmetrically arranged front and back on both sides of the circular hole 8, which are defined as positive position sensors 9. When the pallet 3 is placed on the support plate 2, the middle pier 4 of the pallet 3 is located on the two positive position sensors 9.
[0028] Two pressure-sensitive sensors, defined as limit sensors 10, are arranged on both sides of the two positive position sensors 9. The distance between the two limit sensors 10 and the two positive position sensors 9 is equal, and the distance between the two limit sensors 10 is larger than the size of the middle pier foot 4 of the pallet 3.
[0029] Two pressure-sensitive sensors are arranged on both sides of the two limit sensors 10 , which are defined as limit deviation sensors 11 . The distances between the two limit deviation sensors 11 and the two limit sensors 10 are equal.
[0030] Here, the position of the tray 3 is determined by checking whether the pressure-sensitive sensor is pressed by the tray 3. The two support frames can be tested simultaneously to obtain a more accurate test result.
[0031] See attached Figure 5 When the positive position sensors 9 all detect pressure, the control unit determines that the position of the tray 3 is normal.
[0032] See attached Figure 6 When a limit sensor 10 detects pressure, the control unit determines that the position of the pallet 3 is offset. When the position of the pallet 3 is offset, the control unit controls the shuttle 1 to move to the calibration position of the pallet 3 to perform the calibration process of the pallet 3.
[0033] See attached Figure 7 When a limit deviation sensor 11 detects pressure, the control unit determines that the position of the tray 3 is wrong. When the position of the tray 3 is wrong, the control unit controls the vehicle to immediately alarm. While the control unit alarms, it sends fault alarm processing information to the upper system and performs abnormal processing.
[0034] The normal position, offset position and wrong position of tray 3 are just a kind of expression status. In the specific implementation, it is based on the size and position of the equipment. For example, if the deviation of tray 3 is within 5%, it is considered normal, 5%-10% is considered offset, and more than 10% is considered wrong position. In addition to the pressure-sensitive sensors arranged in the three different positions above, more pressure-sensitive sensors can be added in the application to feedback the deviation position of the tray more accurately.
[0035] The above are only preferred embodiments of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A shuttle pallet identification system, characterized in that: The shuttle car is provided with strip-shaped support plates on the left and right sides. At the middle position of at least one support plate, a weight sensor assembly and a pressure-sensitive sensor are arranged. The weight sensor assembly includes a weight sensor and a weight sensor bracket. A round hole is opened at the middle position of the support plate. The weight sensor bracket is installed on the back of the support plate, and the weight sensor is installed on the weight sensor bracket. The weight sensor extends out from the round hole and is higher than the support plate; There are multiple pressure-sensitive sensors, which are arranged on the side of the round hole. The wire harnesses of the pressure-sensitive sensors pass through the round hole and are all connected to the control unit inside the shuttle car. The pressure-sensitive sensors are used to receive the pressure exerted by the pallet feet; The control unit judges whether there is a pallet on the shuttle car and the weight of the pallet load according to the measured value of the weight sensor, and judges the position of the pallet on the shuttle car according to the resistance change of the pressure-sensitive sensor.
2. The shuttle tray identification system according to claim 1, characterized in that: For the pressure-sensitive sensors on each support plate, at least two are arranged in the length direction of the support plate. The pressure-sensitive sensors are symmetrically arranged before and after on both sides of the round hole and are defined as normal position sensors. The pallet is a channel pallet. When the pallet is placed on the support plate, the middle feet of the pallet are located on the two normal position sensors.
3. The shuttle tray identification system according to claim 2, characterized in that: On both sides of the two normal position sensors, two more pressure-sensitive sensors are arranged and defined as limit sensors. The distance between the two limit sensors and the two normal position sensors is equal, and the distance between the two limit sensors is greater than the size of the middle feet of the pallet.
4. The shuttle tray identification system according to claim 3 is characterized in that: On both sides of the two limit sensors, two pressure-sensitive sensors are arranged and defined as extreme deviation sensors. The distance between the two extreme deviation sensors and the two limit sensors is equal.
5. The shuttle tray identification system according to any one of claims 1 to 4, characterized in that: The control unit adjusts the running speed of the shuttle car according to the load weight obtained by the weight sensor through the following formula: V=V0×(1-M J / M0) Wherein, V0: The maximum running speed of the shuttle car; M J : Load weight recognized by the weight sensor; M0: The maximum load weight within the safe range of the shuttle car.
6. The shuttle tray identification system according to claim 5, characterized in that: When both normal position sensors detect the pressure exerted by the pallet, the control unit judges that the pallet position is normal; When one limit sensor detects the pressure exerted by the pallet, the control unit judges that the pallet position is offset; When one extreme deviation sensor detects the pressure exerted by the pallet, the control unit judges that the pallet position is incorrect.
7. The shuttle tray identification system according to claim 6, characterized in that: When the pallet position is offset, the control unit controls the shuttle car to travel to the pallet calibration storage location for the pallet calibration process; when the pallet position is incorrect, the control unit controls the vehicle to alarm immediately.
8. The shuttle tray identification system according to claim 7, characterized in that: When the pallet position is incorrect, the control unit sends a fault alarm processing information to the upper system and performs abnormal processing.