Derailment pre-breaking method for rail four-way shuttle trolley in dense warehouse

Abstract

The invention provides a derailment pre-breaking method for a rail four-item shuttle trolley in a dense warehouse. The derailment pre-breaking method comprises the following steps: S1, starting: starting the shuttle trolley to be electrified and run; s2, reading the inclination angle data: acquiring the inclination angle data from an inclination angle sensor mounted on the shuttle trolley; s3, judging an intersection: judging whether the shuttle car is located at the intersection or not according to the position of the shuttle car, and if so, returning to the step S2; s4, reversing judgment: judging whether a reversing instruction is executed or not according to the shuttle trolley task instruction, and if so, returning to the step S2; and S5, comparing and alarming. The invention also provides a terminal / electronic equipment / server. The device can effectively detect the horizontal inclination angle, timely sends out alarm information, maintains normal operation under the condition that the horizontal inclination angle exists originally, does not affect the normal operation of the shuttle trolley, and effectively avoids the derailment fault of the shuttle trolley in advance.

Description

Technical Field

[0001] The invention relates to a derailment pre-derailment method for a tracked four-way shuttle vehicle in a densely packed warehouse, and belongs to the technical field of control methods. Background Art

[0002] In the actual use of shuttle carts in densely packed warehouses, mechanical failures or track deformation can prevent the wheels from fully seating on the track when switching between wheel trains. This can cause the cart to derail after starting. Analysis revealed that when the wheels fail to properly seat, the cart experiences a slight horizontal tilt, which can cause the shuttle cart to derail or overturn cargo during continued travel, with the wheel retaining rings scraping against the shelves. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a method for pre-derailment of a four-way rail shuttle car in a dense warehouse. The method for pre-derailment of a four-way rail shuttle car in a dense warehouse can effectively detect the horizontal inclination angle, thereby effectively avoiding the derailment failure of the shuttle car in advance.

[0004] The present invention is achieved through the following technical solutions.

[0005] The present invention provides a method for predicting derailment of a four-way shuttle car in a densely populated warehouse, comprising the following steps:

[0006] S1, Start: Start and run with the shuttle car;

[0007] S2. Reading inclination data: Obtaining inclination data from the inclination sensor installed on the shuttle car;

[0008] S3, judging the intersection: judging whether the shuttle car is at an intersection according to its position, and if so, returning to step S2;

[0009] S4, reversing judgment: judging whether the reversing instruction is being executed according to the shuttle task instruction, and if so, returning to step S2;

[0010] S5. Comparison and alarm: Compare the inclination angle data with the preset threshold data. If the inclination angle data exceeds the threshold data, the vehicle will stop and issue an alarm. Otherwise, return to step S2.

[0011] The inclination sensor is QG40N-010-AV.

[0012] The tilt angle data includes the tilt angle in the x direction and the tilt angle in the y direction.

[0013] The preset threshold data is 3°.

[0014] When comparing the inclination data with the preset threshold data, if the inclination in any direction is greater than the threshold data, it means that the inclination data exceeds the threshold data.

[0015] In step S5, the alarm content includes a reminder to check the position of the trolley's running wheels.

[0016] The shuttle car travels on a track.

[0017] The intersection is an intersection on the user's shelf map.

[0018] The present invention also provides a terminal / electronic device / server, comprising:

[0019] at least one processor; and,

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the dense warehouse rail four-item shuttle car derailment prediction method as described above.

[0022] The beneficial effects of the present invention are that it can effectively detect the horizontal inclination, issue an alarm message in time, and maintain normal operation when the horizontal inclination should exist, without affecting the normal operation of the shuttle car, and effectively avoid the shuttle car derailment failure in advance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic flow diagram of at least one embodiment of the present invention;

[0024] Figure 2 This is a structural diagram of the installation and deployment of the shuttle car;

[0025] Figure 3 yes Figure 2 Side view of the shuttle car;

[0026] Figure 4 yes Figure 3 Schematic diagram of the tilt principle.

[0027] In the figure: 1-Y-axis track, 2-shuttle car, 3-shelf, 4-X-axis track, 5-authentication plate, 6-tilt sensor, 7-power switch, 8-charging port, 9-Y-axis travel wheel, 10-X-axis travel wheel, 11-travel wheel retaining ring, 12-intersection. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0029] The first embodiment of the present invention relates to Figure 1The method for predicting derailment of a four-way shuttle car in a densely populated warehouse includes the following steps:

[0030] S1, Start: Start and run with the shuttle car;

[0031] S2. Reading inclination data: Obtaining inclination data from the inclination sensor installed on the shuttle car;

[0032] S3, judging the intersection: judging whether the shuttle car is at an intersection according to its position, and if so, returning to step S2;

[0033] S4, reversing judgment: judging whether the reversing instruction is being executed according to the shuttle task instruction, and if so, returning to step S2;

[0034] S5. Comparison and alarm: Compare the inclination angle data with the preset threshold data. If the inclination angle data exceeds the threshold data, the vehicle will stop and issue an alarm. Otherwise, return to step S2.

[0035] The second embodiment of the present invention is substantially the same as the first embodiment, except that the inclination sensor is QG40N-010-AV.

[0036] Furthermore, the inclination data includes the inclination in the x-direction and the inclination in the y-direction.

[0037] Furthermore, the preset threshold data is 3°.

[0038] Furthermore, when comparing the inclination data with the preset threshold data, if the inclination in any direction is greater than the threshold data, it is considered that the inclination data exceeds the threshold data.

[0039] Furthermore, in step S5, the alarm content includes a reminder to check the position of the trolley's running wheels.

[0040] Furthermore, the shuttle car travels on the track.

[0041] Furthermore, the intersection is an intersection on the user's shelf map.

[0042] Thus, a typical example is Figures 2 to 4 As shown, a Y-track 1 and an X-track 4 are installed on the shelf 3. The shuttle trolley 2 travels on the shelf 3 through the Y-track 1 and the X-track 4. A tilt sensor QG40N-010-AV series is installed in the middle of the shuttle trolley 2. The controller of the shuttle trolley 2 reads the tilt data of the shuttle trolley when it is stationary. By comparing whether the shuttle trolley 2 is at the intersection 12 (according to the user's shelf map definition, such as the Y-direction address is 3, 11, 32, etc.), whether the shuttle trolley 2 needs to change direction (judgment of whether there is a reversing instruction), when the shuttle trolley start instruction is issued, the tilt angle comparison is performed, and when the set value is exceeded, a stop alarm is issued.

[0043] After the shuttle trolley 2 is fully charged through the charging port 8, the power switch 7 is turned on. Each time before it changes from stop to start operation, the value of the inclination sensor 6 is first read to determine the current horizontal state of the shuttle trolley as a whole. If the horizontal angle is less than 3 degrees, the shuttle trolley is in normal working condition. If the horizontal angle is greater than 3°, the shuttle trolley is in an abnormal state. When judging the horizontal inclination angle, we divide it into the X-coordinate direction and the Y-coordinate direction. As long as the inclination angle in one direction is greater than 3°, the overall inclination angle is taken as the exceeded angle. When the control program determines that there is data greater than 3°, it terminates the shuttle trolley startup program and issues an alarm to remind manual inspection of the shuttle trolley's running wheel position.

[0044] When the shuttle is in normal state, the angle data of the inclination sensor 6 in the X direction (the angle between the bottom of the shuttle and the horizontal track surface) is 0°, and the system considers that the shuttle is in normal position. Figure 4 As shown, the position deviation of the shuttle trolley 2 causes the running wheels to be unable to enter the track normally, the running wheel retaining ring rides on the track, and the shuttle trolley 2 tilts. At this time, the inclination sensor 6 detects an X-direction angle of 3°. At this time, the Y-direction running wheels 9 of the shuttle trolley 2 may not be able to fall into place normally. Similarly, when the shuttle trolley 2 is tilted in the Y direction, the inclination sensor 6 can also detect an Y-direction angle of 3°. At this time, the X-direction running wheels 10 of the shuttle trolley 2 may not be able to fall into place normally. The system determines that the shuttle trolley 2 is in a tilted state and automatically issues an alarm. To prevent the shuttle trolley from continuing to move when it is tilted, thereby causing the shuttle trolley to derail or the cargo to overturn, the running wheel retaining ring 11 scrapes against the shelf 3, improving the stability of the shuttle trolley in the dense warehouse.

[0045] A fourth embodiment of the present invention relates to a terminal / electronic device / server, comprising:

[0046] at least one processor; and,

[0047] a memory communicatively connected to the at least one processor; wherein,

[0048] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to execute the first embodiment and / or the second embodiment described above.

[0049] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0050] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

Claims

1. A method for predicting derailment of a four-way shuttle car in a densely populated warehouse, characterized in that: The following steps are involved: S1, Start: Start and power on the shuttle car; S2, read the inclination data: obtain the inclination data from the inclination sensor installed on the shuttle car; S3, judging the intersection: judging whether the shuttle car is at an intersection according to its position, and if so, returning to step S2; S4, reversing judgment: judging whether the reversing command is being executed according to the shuttle task command, if so, returning to step S2; S5. Comparison alarm: Compare the inclination data with the preset threshold data. If the inclination data exceeds the threshold data, stop the vehicle and give an alarm. Otherwise, return to step S2.

2. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 1, characterized in that: The inclination sensor is QG40N-010-AV.

3. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 1, characterized in that: The inclination data includes an inclination in the x direction and an inclination in the y direction.

4. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 1, characterized in that: The preset threshold data is 3°.

5. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 1, characterized in that: When comparing the inclination data with the preset threshold data, if the inclination in any direction is greater than the threshold data, the inclination data exceeds the threshold data.

6. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 2, characterized in that: In step S5, the alarm content includes a reminder to check the position of the running wheels of the trolley.

7. The method for predicting derailment of a rail-bound four-way shuttle vehicle in a densely packed warehouse as claimed in claim 3, characterized in that: The shuttle car travels on the track.

8. The method for pre-derailing a four-way shuttle car in a densely packed warehouse as claimed in claim 1, characterized in that: The intersection is an intersection on the user's shelf map.

9. A terminal / electronic device / server, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the derailment pre-determination method of the four-item shuttle car in the dense storage as described in any one of claims 1 to 8.

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