Infrared guiding type self-positioning method and system for logistics storage vehicle and vehicle pushing device

Abstract

The invention discloses an infrared guide type self-positioning method and system for a logistics storage vehicle and a vehicle pushing device, and relates to the technical field of intelligent storage vehicles. The infrared guide type self-positioning method comprises the following steps: constructing a high-altitude infrared guide and vehicle body lag self-adaptive monitoring return system; establishing a rectangular coordinate system and planning an advancing path for the logistics storage area; the truck body structure is controlled to move along a planned advancing path based on a high-altitude infrared guide and truck body lag self-adaptive monitoring return system, and pressure monitoring is carried out in real time corresponding to the advancing direction, so that the relative position change, corresponding to the advancing direction, between the truck body structure and the alignment infrared receiving structure is compared and judged; and the truck body structure is controlled to carry out compensation position adjustment according to the relative position difference value between the two. The technical problem that in the prior art, when a logistics storage carrying vehicle body advances based on high-altitude infrared guiding, the carrying vehicle body is prone to being delayed relatively, and the overall alignment precision is affected is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent warehouse transport vehicles, and in particular to an infrared-guided self-positioning method, system and cart device for logistics warehousing vehicles. Background Art

[0002] In the current logistics and warehousing industry, logistics and warehousing sites still generally rely on manual guidance to transport vehicles. This method is not only inefficient, but also prone to human errors, such as inaccurate positioning, unreasonable path selection, etc. At the same time, manual guidance requires a lot of labor, which increases operating costs.

[0003] With the continuous advancement of science and technology, some logistics and warehousing sites are also moving towards automation and intelligence. Automatic positioning and navigation technology can improve the autonomy and intelligence level of transport vehicles and reduce the dependence of warehousing and handling on manual intervention. Efficient and accurate automatic positioning and navigation can better plan the driving path of the vehicle based on the warehouse layout, which is one of the most critical factors in improving the efficiency of warehouse automation operations.

[0004] In the prior art, the automatic positioning and navigation technology based on the logistics warehousing system usually adopts existing landmark positioning or high-altitude infrared guidance positioning. Among them, the core function of the high-altitude infrared guidance positioning technology is to establish an infrared receiving and sending association correspondence between the transport vehicle and the high-altitude guidance mechanism, so that the transport vehicle can effectively drive to the predetermined coordinate point along a specific planned path with the help of the infrared correspondence principle. Although this can achieve automated transportation to a certain extent and improve the efficiency of warehousing operations, it is limited by factors such as the heavy load of the transport vehicle and the attenuation of the performance of the infrared element, which causes the transport vehicle to be delayed relative to the high-altitude guidance mechanism due to gravity or signal reception errors, which makes it difficult for the transport vehicle to accurately reach the predetermined coordinate point, seriously affecting the functional accuracy and stability of the automatic positioning and navigation warehousing operation. Summary of the invention

[0005] To this end, the present invention provides an infrared-guided self-positioning method, system and cart device for logistics warehousing vehicles to solve the technical problem in the prior art that the logistics warehousing transport vehicle is prone to relative delay and lag when moving based on high-altitude infrared guidance, thereby affecting the overall positioning accuracy.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: An infrared guided self-positioning method for a logistics warehousing vehicle comprises the following steps: Construct a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; Establish a rectangular coordinate system and plan the travel path for the logistics storage area; Based on high-altitude infrared guidance and vehicle body lag adaptive monitoring return system, the load-carrying vehicle body structure is controlled to shift along the planned travel path, and real-time pressure monitoring is performed corresponding to the travel direction to compare and judge the relative position change between the load-carrying vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and then the load-carrying vehicle body structure is controlled to perform compensation adjustment according to the relative position difference between the two.

[0007] On the basis of the above technical solution, the present invention is further described as follows: As a further embodiment of the present invention, The construction of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system specifically includes: A high-altitude shifting component structure is set up based on the logistics storage area, and an infrared guide transmitting end is set up corresponding to the X-direction and Y-direction driving end transmission of the high-altitude shifting component structure; Continuing to configure the electric control box structure and the alignment drive component structure, the alignment infrared receiving structure, the first pressure monitoring structure and the second pressure monitoring structure respectively arranged on the electric control box structure based on the load-carrying vehicle body structure; the electric control box structure includes an electric control box body, and the alignment drive component structure is arranged as an electric drive type lead screw component architecture based on the output of linear kinetic energy by the electric control box body; The alignment infrared receiving structure comprises an infrared alignment base and an infrared guiding receiving terminal; The infrared alignment base is connected to the linear kinetic energy output end of the alignment drive assembly structure by transmission and fixed connection, so that the infrared alignment base can be synchronously and adaptively displaced based on the linear kinetic energy; The infrared guide receiving end is fixedly arranged on the infrared alignment base, and the infrared guide receiving end and the infrared guide transmitting end always keep the infrared receiving and transmitting correspondence, and use this as a standard to adjust the output parameters of the alignment driving component structure, so that the infrared alignment base maintains adaptive displacement; The first pressure monitoring structure includes a first pressure sensor and a first spring telescopic rod, and the second pressure monitoring structure includes a second pressure sensor and a second spring telescopic rod; The first pressure sensor and the second pressure sensor are both located in the displacement path of the infrared alignment base, and the first pressure sensor and the second pressure sensor are respectively located at two sides of the infrared alignment base in a one-to-one correspondence; A first spring telescopic rod is provided between one side of the infrared alignment base along the displacement path and the monitoring end of the first pressure sensor, and a second spring telescopic rod is provided between the other side of the infrared alignment base along the displacement path and the monitoring end of the second pressure sensor; The base of the first pressure sensor and the base of the second pressure sensor are respectively fixed to the main body of the electric control box. When the infrared alignment base is adaptively shifted, the elastic pressure received is monitored in real time by the first pressure sensor and the second pressure sensor respectively, and then the difference in values ​​of the two sets of elastic pressures is used to determine whether the load-carrying vehicle structure has reached the preset positioning.

[0008] As a further embodiment of the present invention, The establishment of a rectangular coordinate system and planning of a travel path for the logistics storage area specifically includes: Select a fixed point in the logistics storage area as the starting origin, and determine the direction of the coordinate axis based on the starting origin and the shape of the area. At the same time, further determine the coordinate unit distance according to the positioning accuracy requirements. The coordinate unit distances corresponding to different coordinate axis directions in the coordinate system remain consistent. Determine the positions of obstacles and markers in different coordinate axis directions in the logistics storage area, and plan the travel path of the load-carrying vehicle structure corresponding to the current target point based on the shortest path and / or optimal efficiency principle.

[0009] As a further embodiment of the present invention, The high-altitude displacement component structure drives the infrared guidance transmitting end to shift along the planned travel path and synchronously outputs the infrared guidance signal, and at the same time controls the start of the load-carrying vehicle structure and its alignment infrared receiving structure, so that the infrared guidance receiving end in the alignment infrared receiving structure receives the infrared guidance signal from the infrared guidance transmitting end in real time, and keeps the infrared guidance receiving end and the infrared guidance transmitting end aligned within a preset positioning accuracy threshold range based on the infrared guidance signal, specifically including: The elastic pressure is respectively monitored in real time by a first pressure sensor in the first pressure monitoring structure and a second pressure sensor in the second pressure monitoring structure; When the elastic pressure from the first spring telescopic rod monitored by the first pressure sensor and the elastic pressure from the second spring telescopic rod monitored by the second pressure sensor remain equal within a specific threshold range, the load-carrying vehicle body structure is at a standard positioning position relative to the infrared guidance receiving end; When the elastic pressure monitored by the first pressure sensor is less than the elastic pressure monitored by the second pressure sensor, it proves that in order to maintain the alignment between the infrared guidance receiving end and the infrared guidance transmitting end, the linear kinetic energy output by the alignment driving component structure drives the alignment infrared receiving structure as a whole to shift toward the second pressure monitoring structure, thereby making the rebound pressure formed by the compression of the second spring telescopic rod greater than the rebound pressure formed by the tension of the first spring telescopic rod. At this time, it can be determined that the load-carrying vehicle body structure is in an over-advance state relative to the infrared guidance receiving end. The kinetic energy output power of the load-carrying vehicle body structure is gradually adjusted to reduce until the pressure value monitored by the first pressure sensor and the pressure value monitored by the second pressure sensor return to be equal within a specific threshold range, so that the load-carrying vehicle body structure returns to the standard positioning position relative to the infrared guidance receiving end; When the elastic pressure monitored by the first pressure sensor is greater than the elastic pressure monitored by the second pressure sensor, it proves that in order to maintain the alignment between the infrared guidance receiving end and the infrared guidance transmitting end, the linear kinetic energy output by the alignment driving component structure drives the alignment infrared receiving structure as a whole to shift toward the first pressure monitoring structure, so that the rebound pressure formed by the compression of the first spring telescopic rod is greater than the rebound pressure formed by the tension of the second spring telescopic rod. At this time, it can be determined that the load-carrying vehicle body structure is in a lagging state relative to the infrared guidance receiving end. Since increasing the output power of the kinetic energy of the load-carrying vehicle body structure will further aggravate the vibration of the vehicle body and reduce the positioning accuracy, the load-carrying vehicle body structure is controlled to maintain the lagging state and continue to move until it reaches the target point and the infrared guidance receiving end and the infrared guidance transmitting end are stationary aligned. At this time, the load-carrying vehicle body structure is controlled to compensate for the movement. When the pressure value monitored by the first pressure sensor and the pressure value monitored by the second pressure sensor return to being equal within a specific threshold range, the current load-carrying vehicle body structure is in the standard positioning position corresponding to the target point.

[0010] As a further solution of the present invention, the following steps are also included: The coordinate system established through the alignment of the infrared receiving structure can self-judge the degree of attenuation of its component performance to maintain its high-altitude infrared guidance alignment accuracy and its positioning accuracy on the load-bearing vehicle structure.

[0011] As a further embodiment of the present invention, The construction of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system specifically includes: The alignment infrared receiving structure also includes a central coordinate sensor and a peripheral coordinate sensor; A central coordinate sensor is fixedly arranged between the infrared guidance receiving end and the top surface of the infrared alignment base, and three groups of peripheral coordinate sensors are distributed on a circumscribed circular track with the point where the central coordinate sensor is located as the center of the circle, and the lines between the three groups of peripheral coordinate sensors form an equilateral triangle connection track, and the component performance of the infrared guidance receiving end is verified by matching and comparing the central coordinate sensor with the three groups of peripheral coordinate sensors; The central coordinate sensor and the three groups of peripheral coordinate sensors are all configured as high-precision distance measuring sensors, and markers are set in the logistics storage area. The distance information measured between the high-precision distance measuring sensor and the marker is used to obtain the corresponding coordinate position in the logistics storage area.

[0012] As a further embodiment of the present invention, The coordinate system established by cooperating with the aligned infrared receiving structure self-judges the degree of attenuation of its component performance, specifically including: obtaining the coordinate position of the current object in the coordinate system of the logistics storage area in real time by the central coordinate sensor in the aligned infrared receiving structure corresponding to the marker, and synchronizing it with the real-time coordinate position of the infrared guidance receiving end; obtaining the current coordinate position of the infrared guidance transmitting end in real time, and further comparing and verifying the infrared alignment between the current coordinate position of the infrared guidance transmitting end and the real-time coordinate position of the infrared guidance receiving end, and then judging the degree of attenuation of the component performance of the infrared guidance receiving end according to the infrared alignment difference.

[0013] As a further embodiment of the present invention, The coordinate system established by the alignment infrared receiving structure can self-determine the degree of attenuation of its component performance, and specifically includes: obtaining the current coordinate position of the marker in real time by three sets of peripheral coordinate sensors located in the triangular connection track, respectively corresponding to the marker, and fitting to form a circumscribed circular track according to the current coordinate position of the three sets of peripheral coordinate sensors, and calculating the coordinate position of the center of the circumscribed circular track through the system electronic control module; When the coordinate position of the center of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guidance transmitting end and the current coordinate position of the central coordinate sensor in a specific threshold range, it is determined that the central coordinate sensor and the three sets of peripheral coordinate sensors meet the component performance requirements; When the coordinate position of the center of the circumscribed circular trajectory does not coincide with the current coordinate position of the infrared guidance transmitting end, it is determined that there is at least one set of peripheral coordinate sensors that do not meet the component performance requirements; When the center coordinate position of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guidance transmitting end within a specific threshold range, but the center coordinate position of the circumscribed circular trajectory does not coincide with the current coordinate position of the central coordinate sensor, it is determined that the central coordinate sensor does not meet the component performance requirements.

[0014] An infrared guided self-positioning system for logistics warehousing vehicles, comprising: System construction module, used to build high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; Path planning module, used to establish a rectangular coordinate system and plan the travel path for the logistics storage area; The compensation and adjustment module is used to control the displacement of the load-bearing vehicle body structure along the planned travel path based on the high-altitude infrared guidance and the vehicle body lag adaptive monitoring return system, and perform real-time pressure monitoring corresponding to the travel direction to compare and determine the relative position change between the load-bearing vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and control the load-bearing vehicle body structure to perform compensation adjustment according to the relative position difference between the two.

[0015] A cart pushing device capable of executing the infrared guided self-positioning method for logistics warehousing vehicles.

[0016] The present invention has the following beneficial effects: 1. This method can effectively achieve alignment within a preset positioning accuracy threshold range through the cooperation between the infrared guidance transmitting end of the high-altitude displacement component structure and the alignment infrared receiving structure on the load-carrying vehicle body structure, and complete the precise positioning guidance of the load-carrying vehicle body structure. At the same time, the first pressure monitoring structure and the second pressure monitoring structure can be used to monitor the elastic pressure in real time, and compare and judge the relative position change between the load-carrying vehicle body structure and the alignment infrared receiving structure corresponding to the travel direction, thereby controlling the load-carrying vehicle body structure to perform compensatory adjustment according to the relative position difference value, thereby improving the accuracy and stability of the load-carrying vehicle body structure.

[0017] 2. This method can use the central coordinate sensor and three sets of peripheral coordinate sensors to compare and verify the performance of the components of the infrared guidance receiving end. At the same time, it can compare the center coordinate position of the circumscribed circular trajectory formed by the peripheral coordinate sensor with the current coordinate position of the infrared guidance transmitting end and the central coordinate sensor, thereby determining the degree of component performance attenuation of the central coordinate sensor and the peripheral coordinate sensor, and effectively maintaining the high-altitude infrared guidance alignment accuracy and the positioning accuracy of the load-bearing vehicle structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for the implementation mode or the description of the prior art will be briefly introduced below. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0019] Figure 1 A schematic diagram of the overall process of the infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention.

[0020] Figure 2 A schematic diagram of the overall functional architecture of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system in the infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention.

[0021] Figure 3 The infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention corresponds to the structural schematic diagram of the electric control box structure in the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system.

[0022] Figure 4 The infrared guided self-positioning method for logistics warehousing vehicles provided in the embodiment of the present invention corresponds to the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system. Figure 3 A schematic diagram of the enlarged structure at point A in the middle.

[0023] Figure 5 A schematic diagram of the assembly position of the electronic control box structure of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system corresponding to the load-carrying vehicle body structure in the infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention.

[0024] Figure 6 The infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention corresponds to the assembly structure diagram of the alignment drive component structure, the alignment infrared receiving structure, the first pressure monitoring structure and the second pressure monitoring structure in the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system.

[0025] Figure 7 This is one of the schematic diagrams of the relative position structure between the load-carrying vehicle structure and the aligned infrared receiving structure in the infrared-guided self-positioning method for a logistics warehousing vehicle provided in an embodiment of the present invention.

[0026] Figure 8 The second schematic diagram of the relative position structure between the load-carrying vehicle body structure and the aligned infrared receiving structure in the infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention.

[0027] Fig. 9 The third schematic diagram of the relative position structure between the load-carrying vehicle body structure and the aligned infrared receiving structure in the infrared-guided self-positioning method for logistics warehousing vehicles provided in an embodiment of the present invention.

[0028] Fig.10 A schematic diagram of the architectural principle of self-monitoring component performance by aligning an infrared receiving structure in the infrared-guided self-positioning method for a logistics warehousing vehicle provided in an embodiment of the present invention.

[0029] Fig.11 A schematic diagram of the architecture principle of an infrared guided self-positioning system for logistics warehousing vehicles provided in an embodiment of the present invention.

[0030] Fig.12 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows: High altitude displacement component structure 1, infrared guidance transmitting end 11; Load-carrying vehicle body structure 2; Electric control box structure 3: electric control box body 31, adaptive limit channel 32; Alignment drive assembly structure 4: drive motor 41, transmission wire lever 42, shift guide rail seat 43, transmission adjustment seat 44; Alignment infrared receiving structure 5: infrared alignment base 51, infrared guide receiving terminal 52, central coordinate sensor 53, peripheral coordinate sensor 54, positioning outer support frame 55; The first pressure monitoring structure 6: a first pressure sensor 61, a first spring telescopic rod 62; The second pressure monitoring structure 7: a second pressure sensor 71, a second spring telescopic rod 72; Triangle connection trajectory a; circumscribed circular trajectory b; System construction module 10; path planning module 20; compensation adjustment module 30; Electronic device 90 : processor 901 , memory 902 , internal bus 903 . DETAILED DESCRIPTION

[0032] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The terms such as "upper", "lower", "left", "right", and "middle" used in this specification are only for the convenience of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the present invention without substantially changing the technical content.

[0034] like Figures 1 to 10As shown, the embodiment of the present invention provides an infrared guided self-positioning method for a logistics warehousing vehicle and a cart device for executing the above method, wherein the infrared guided self-positioning method can effectively solve the technical problem in the prior art that the transport vehicle body of the logistics warehousing transport vehicle body is prone to relative delay and lag when traveling based on high-altitude infrared guidance, thereby affecting the overall alignment accuracy, thereby maintaining the travel positioning accuracy and functional stability of the load-carrying vehicle body structure 2. Specifically, it includes the following steps: S1: Construct a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; The specific process is: Please refer to Figures 2 to 5 , a high altitude shift component structure 1 is set based on the logistics storage area, and an infrared guide transmitting end 11 is set corresponding to the X-direction and Y-direction driving end transmission of the high altitude shift component structure 1; Continuing to configure the electric control box structure 3 and the alignment drive component structure 4, the alignment infrared receiving structure 5, the first pressure monitoring structure 6 and the second pressure monitoring structure 7 respectively arranged on the electric control box structure 3 based on the load-carrying vehicle body structure 2, wherein the electric control box structure 3 includes an electric control box body 31, and the alignment drive component structure 4 includes a drive motor 41, a transmission wire lever 42, a shift guide rail seat 43 and a transmission adjustment seat 44; the base of the drive motor 41 and the shift guide rail seat 43 are respectively fixedly arranged inside the electric control box body 31, and the rotational kinetic energy output end of the drive motor 41 is transmission-connected with one end of the transmission wire lever 42, the extension direction of the transmission wire lever 42 is kept parallel to the extension direction of the shift guide rail seat 43, the transmission adjustment seat 44 and the transmission wire lever 42 are threadedly assembled and connected, and the transmission adjustment seat 44 and the shift guide rail seat 43 are slidingly assembled and connected, thereby forming an electrically driven screw assembly architecture that outputs linear kinetic energy; The infrared alignment receiving structure 5 includes an infrared alignment base 51, an infrared guide receiving terminal 52, a central coordinate sensor 53, a peripheral coordinate sensor 54 and a positioning outer support frame 55; wherein the infrared alignment base 51 is transmission-fixedly connected to the transmission adjustment seat 44, so that the infrared alignment base 51 can be synchronously adaptively shifted based on the linear kinetic energy output by the transmission adjustment seat 44; the infrared guide receiving terminal 52 is fixedly set on the top surface of the infrared alignment base 51, so as to always maintain the infrared reception and transmission correspondence between the infrared guide receiving terminal 52 and the infrared guide transmitting terminal 11, and use this as a standard to adjust the output parameters of the drive motor 41, so as to keep the infrared alignment base 51 adaptively shifted. Position; a central coordinate sensor 53 is fixedly arranged between the infrared guidance receiving terminal 52 and the top surface of the infrared alignment base 51, and three groups of peripheral coordinate sensors 54 are distributed along a circumscribed circular trajectory b with the point where the central coordinate sensor 53 is located as the center of the circle. The connecting lines between the three groups of peripheral coordinate sensors 54 can form an equilateral triangle connecting trajectory a, which is used to compare and verify the component performance of the infrared guidance receiving terminal 52 through the coordination of the central coordinate sensor 53 and the three groups of peripheral coordinate sensors 54; the positioning external support frame 55 is sequentially limited and fixedly arranged on the outer side of the three groups of peripheral coordinate sensors 54, so as to assist in positioning the three groups of peripheral coordinate sensors 54, thereby improving the accuracy of comparison and verification.

[0035] Three adaptive limit channels 32 are provided on the top surface of the electric control box body 31. The central coordinate sensor 53 and three sets of peripheral coordinate sensors 54 are slidably mounted on the three adaptive limit channels 32, so as to utilize the adaptive limit channels 32 to improve the displacement stability of the central coordinate sensor 53 and the peripheral coordinate sensor 54. In an optional implementation scheme, both the central coordinate sensor 53 and the peripheral coordinate sensor 54 use high-precision distance measuring sensors, and markers are set in the logistics storage area, and the coordinate position corresponding to the logistics storage area is obtained through the distance information measured between the high-precision distance measuring sensor and the marker; The first pressure monitoring structure 6 includes a first pressure sensor 61 and a first spring telescopic rod 62, and the second pressure monitoring structure 7 includes a second pressure sensor 71 and a second spring telescopic rod 72; wherein, the first pressure sensor 61 and the second pressure sensor 71 are both located in the displacement path of the infrared alignment base 51, and the first pressure sensor 61 and the second pressure sensor 71 are respectively located at the two side positions of the infrared alignment base 51 in a one-to-one correspondence; the first spring telescopic rod 62 is arranged between one side of the displacement path of the infrared alignment base 51 and the monitoring end of the first pressure sensor 61, and the second spring telescopic rod 72 is arranged between the other side of the displacement path of the infrared alignment base 51 and the monitoring end of the second pressure sensor 71; the base of the first pressure sensor 61 and the base of the second pressure sensor 71 are respectively fixed to the electric control box body 31; when the infrared alignment base 51 is adaptively displaced, the elastic pressure received is respectively monitored in real time by the first pressure sensor 61 and the second pressure sensor 71, and then the difference in values ​​of the two sets of elastic pressures can be used to determine whether the vehicle body reaches the preset positioning.

[0036] S2: Establish a rectangular coordinate system and plan the travel path for the logistics storage area; The specific process is: Select a fixed point in the logistics storage area as the starting origin, and determine the direction of the coordinate axis based on the starting origin and the shape of the area. At the same time, further determine the coordinate unit distance according to the positioning accuracy requirements. The coordinate unit distances corresponding to different coordinate axis directions in the coordinate system remain consistent. Determine the positions of obstacles and markers in different coordinate axis directions in the logistics storage area, and plan the travel path of the load-carrying vehicle structure 2 corresponding to the current target point based on the shortest path and / or optimal efficiency principle; S3: Based on the high-altitude infrared guidance and the vehicle body hysteresis adaptive monitoring return system, the load-carrying vehicle body structure 2 is controlled to shift along the planned travel path, and the pressure is monitored in real time corresponding to the travel direction, so as to compare and determine the relative position change between the load-carrying vehicle body structure 2 and the alignment infrared receiving structure 5 corresponding to the travel direction, and then the load-carrying vehicle body structure 2 is controlled to perform compensation adjustment according to the relative position difference between the two; The specific process is: The infrared guidance transmitting end 11 is driven to shift along the planned travel path and output the infrared guidance signal synchronously through the high-altitude displacement component structure 1, and at the same time, the load-carrying vehicle structure 2 and its alignment infrared receiving structure 5 are controlled to start, and the infrared guidance receiving end 52 in the alignment infrared receiving structure 5 receives the infrared guidance signal from the infrared guidance transmitting end 11 in real time, and the infrared guidance receiving end 52 and the infrared guidance transmitting end 11 are kept aligned within the preset positioning accuracy threshold range based on the infrared guidance signal; Please refer to Figure 7, respectively monitoring the elastic pressure in real time through the first pressure sensor 61 in the first pressure monitoring structure 6 and the second pressure sensor 71 in the second pressure monitoring structure 7; When the elastic pressure from the first spring telescopic rod 62 monitored by the first pressure sensor 61 and the elastic pressure from the second spring telescopic rod 72 monitored by the second pressure sensor 71 remain equal within a specific threshold range, the load-carrying vehicle body structure 2 is at a standard positioning position relative to the infrared guide receiving terminal 52; Please refer to Figure 8 When the elastic pressure monitored by the first pressure sensor 61 is less than the elastic pressure monitored by the second pressure sensor 71, it is proved that in order to keep the infrared guide receiving end 52 and the infrared guide transmitting end 11 aligned, the linear kinetic energy output by the alignment drive component structure 4 drives the alignment infrared receiving structure 5 as a whole to shift toward the second pressure monitoring structure 7, thereby making the rebound pressure formed by the compression of the second spring telescopic rod 72 greater than the rebound pressure formed by the tension of the first spring telescopic rod 62. At this time, it can be determined that the load-carrying vehicle body structure 2 is in an over-advance state relative to the infrared guide receiving end 52. The output power of the traveling kinetic energy of the load-carrying vehicle body structure 2 is gradually adjusted to reduce until the pressure value monitored by the first pressure sensor 61 and the pressure value monitored by the second pressure sensor 71 return to be equal within a specific threshold range, so that the load-carrying vehicle body structure 2 returns to the standard positioning position relative to the infrared guide receiving end 52; Please refer to Fig. 9 When the elastic pressure monitored by the first pressure sensor 61 is greater than the elastic pressure monitored by the second pressure sensor 71, it is proved that in order to keep the infrared guide receiving end 52 and the infrared guide transmitting end 11 aligned, the linear kinetic energy output by the alignment drive component structure 4 drives the alignment infrared receiving structure 5 as a whole to shift toward the first pressure monitoring structure 6, so that the rebound pressure formed by the compression of the first spring telescopic rod 62 is greater than the rebound pressure formed by the tension of the second spring telescopic rod 72. At this time, it can be determined that the load-carrying body structure 2 is relatively red due to factors such as excessive load or insufficient axle transmission efficiency. The external guidance receiving end 52 is in a lagging state. Since increasing the output power of the kinetic energy of the load-carrying vehicle structure 2 will further intensify the vibration of the vehicle body and reduce the positioning accuracy, the load-carrying vehicle structure 2 is controlled to maintain the lagging state and continue to move until it reaches the target point and the infrared guidance receiving end 52 and the infrared guidance transmitting end 11 are stationary. At this time, the load-carrying vehicle structure 2 is controlled to compensate for the movement. When the pressure value monitored by the first pressure sensor 61 and the pressure value monitored by the second pressure sensor 71 return to being equal within a specific threshold range, the current load-carrying vehicle structure 2 is in the standard positioning position corresponding to the target point; S4: The coordinate system established by the alignment infrared receiving structure 5 is used to self-determine the degree of attenuation of its component performance, so as to maintain its high-altitude infrared guidance alignment accuracy and its positioning accuracy acting on the load-carrying vehicle body structure 2; The specific process is: Please refer to Fig.10 , by aligning the central coordinate sensor 53 in the infrared receiving structure 5 to correspond to the marker, the coordinate position of the marker in the logistics storage area coordinate system is obtained in real time, and this is synchronized as the real-time coordinate position of the infrared guidance receiving end 52. At the same time, the current coordinate position of the infrared guidance transmitting end 11 is obtained in real time based on the system electronic control module, and the infrared alignment between the current coordinate position of the infrared guidance transmitting end 11 and the real-time coordinate position of the infrared guidance receiving end 52 is further compared and verified, and then the degree of component performance attenuation of the infrared guidance receiving end 52 is determined according to the infrared alignment difference; To further determine the degree of attenuation of the component performance of the center coordinate sensor 53, the specific steps are as follows: Please refer to Fig.10 , the three groups of peripheral coordinate sensors 54 located in the triangular connection trajectory a respectively correspond to the markers to obtain their current coordinate positions in real time, and the circumscribed circular trajectory b is formed according to the current coordinate positions of the three groups of peripheral coordinate sensors 54. The center coordinate position of the circumscribed circular trajectory b is calculated by the system electronic control module; when the center coordinate position of the circumscribed circular trajectory b coincides with the current coordinate position of the infrared guidance transmitting end 11 and the current coordinate position of the central coordinate sensor 53 in a specific threshold range, it is judged that the central coordinate sensor 53 and the three groups of peripheral coordinate sensors 54 all meet the component performance requirements; when the center coordinate position of the circumscribed circular trajectory b does not coincide with the current coordinate position of the infrared guidance transmitting end 11, it is judged that there is at least one group of peripheral coordinate sensors 54 that does not meet the component performance requirements; when the center coordinate position of the circumscribed circular trajectory b coincides with the current coordinate position of the infrared guidance transmitting end 11 within a specific threshold range, but the center coordinate position of the circumscribed circular trajectory b does not coincide with the current coordinate position of the central coordinate sensor 53, it is judged that the central coordinate sensor 53 does not meet the component performance requirements.

[0037] Please refer to Fig.11 The embodiment of the present invention further provides an infrared guided self-positioning system according to the infrared guided self-positioning method for logistics warehousing vehicles, which specifically includes: System construction module 10, used to construct a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; The path planning module 20 is used to establish a rectangular coordinate system and plan a travel path for the logistics storage area; The compensation and positioning module 30 is used to control the displacement of the load-carrying vehicle body structure along the planned travel path based on the high-altitude infrared guidance and the vehicle body lag adaptive monitoring return system, and to perform real-time pressure monitoring corresponding to the travel direction, so as to compare and determine the relative position change between the load-carrying vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and control the load-carrying vehicle body structure to perform compensation and positioning according to the relative position difference between the two.

[0038] Fig.12 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as Fig.12 As shown, the electronic device 90 includes: a processor 901 (processor), a memory 902 (memory) and an internal bus 903; wherein the processor 901 and the memory 902 communicate with each other through the internal bus 903; The processor 901 is used to call the program instructions in the memory 902 to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a high-altitude infrared guidance and vehicle body lag adaptive monitoring return system; establishing a rectangular coordinate system and planning a travel path for the logistics warehousing area; based on the high-altitude infrared guidance and vehicle body lag adaptive monitoring return system, controlling the displacement of the load-carrying vehicle body structure along the planned travel path, and performing real-time pressure monitoring corresponding to the travel direction, so as to compare and determine the relative position change between the load-carrying vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and then controlling the load-carrying vehicle body structure to compensate and adjust according to the relative position difference between the two.

[0039] The present embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions. The computer instructions enable the computer to execute the methods provided by the above-mentioned method embodiments, for example, including: constructing a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring and return system; establishing a rectangular coordinate system and planning a travel path for the logistics warehousing area; based on the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring and return system, controlling the displacement of the load-carrying vehicle body structure along the planned travel path, and performing real-time pressure monitoring corresponding to the travel direction to compare and determine the relative position change between the load-carrying vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and then controlling the load-carrying vehicle body structure to perform compensation adjustment according to the relative position difference between the two.

[0040] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various storage media that can store program codes.

[0041] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0042] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a server, a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0043] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. An infrared guided self-positioning method for logistics warehousing vehicles, characterized in that: The steps include: Construct a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; Establish a rectangular coordinate system and plan the travel path for the logistics storage area; Based on high-altitude infrared guidance and vehicle body lag adaptive monitoring return system, the load-carrying vehicle body structure is controlled to shift along the planned travel path, and real-time pressure monitoring is performed corresponding to the travel direction to compare and judge the relative position change between the load-carrying vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and then the load-carrying vehicle body structure is controlled to perform compensation adjustment according to the relative position difference between the two.

2. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 1 is characterized in that: The construction of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system specifically includes: A high-altitude shifting component structure is set up based on the logistics storage area, and an infrared guide transmitting end is set up corresponding to the X-direction and Y-direction driving end transmission of the high-altitude shifting component structure; Continuing to configure the electric control box structure and the alignment drive component structure, the alignment infrared receiving structure, the first pressure monitoring structure and the second pressure monitoring structure respectively arranged on the electric control box structure based on the load-carrying vehicle body structure; the electric control box structure includes an electric control box body, and the alignment drive component structure is arranged as an electric drive type lead screw component architecture based on the output of linear kinetic energy by the electric control box body; The alignment infrared receiving structure comprises an infrared alignment base and an infrared guiding receiving terminal; The infrared alignment base is connected to the linear kinetic energy output end of the alignment drive assembly structure by transmission and fixed connection, so that the infrared alignment base can be synchronously and adaptively displaced based on the linear kinetic energy; The infrared guide receiving end is fixedly arranged on the infrared alignment base, and the infrared guide receiving end and the infrared guide transmitting end always keep the infrared receiving and transmitting correspondence, and use this as a standard to adjust the output parameters of the alignment driving component structure, so that the infrared alignment base maintains adaptive displacement; The first pressure monitoring structure includes a first pressure sensor and a first spring telescopic rod, and the second pressure monitoring structure includes a second pressure sensor and a second spring telescopic rod; The first pressure sensor and the second pressure sensor are both located on the displacement path of the infrared alignment base, and the first pressure sensor and the second pressure sensor are respectively located on two side positions of the infrared alignment base in a one-to-one correspondence; a first spring telescopic rod is arranged between one side of the displacement path of the infrared alignment base and the monitoring end of the first pressure sensor, and a second spring telescopic rod is arranged between the other side of the displacement path of the infrared alignment base and the monitoring end of the second pressure sensor; The base of the first pressure sensor and the base of the second pressure sensor are respectively fixed to the main body of the electric control box. When the infrared alignment base is adaptively shifted, the elastic pressure received is monitored in real time by the first pressure sensor and the second pressure sensor respectively, and then the difference in values ​​of the two sets of elastic pressures is used to determine whether the load-carrying vehicle structure has reached the preset positioning.

3. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 2 is characterized in that: The establishment of a rectangular coordinate system and planning of a travel path for the logistics storage area specifically includes: Select a fixed point in the logistics storage area as the starting origin, and determine the direction of the coordinate axis based on the starting origin and the shape of the area. At the same time, further determine the coordinate unit distance according to the positioning accuracy requirements. The coordinate unit distances corresponding to different coordinate axis directions in the coordinate system remain consistent. Determine the positions of obstacles and markers in different coordinate axis directions in the logistics storage area, and plan the travel path of the load-carrying vehicle structure corresponding to the current target point based on the shortest path and / or optimal efficiency principle.

4. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 3 is characterized in that: The high-altitude displacement component structure drives the infrared guidance transmitting end to shift along the planned travel path and synchronously outputs the infrared guidance signal, and at the same time controls the start of the load-carrying vehicle structure and its alignment infrared receiving structure, so that the infrared guidance receiving end in the alignment infrared receiving structure receives the infrared guidance signal from the infrared guidance transmitting end in real time, and keeps the infrared guidance receiving end and the infrared guidance transmitting end aligned within a preset positioning accuracy threshold range based on the infrared guidance signal, specifically including: The elastic pressure is respectively monitored in real time by a first pressure sensor in the first pressure monitoring structure and a second pressure sensor in the second pressure monitoring structure; When the elastic pressure from the first spring telescopic rod monitored by the first pressure sensor and the elastic pressure from the second spring telescopic rod monitored by the second pressure sensor remain equal within a specific threshold range, the load-carrying vehicle body structure is at a standard positioning position relative to the infrared guidance receiving end; When the elastic pressure monitored by the first pressure sensor is less than the elastic pressure monitored by the second pressure sensor, it proves that in order to maintain the alignment between the infrared guidance receiving end and the infrared guidance transmitting end, the linear kinetic energy output by the alignment driving component structure drives the alignment infrared receiving structure as a whole to shift toward the second pressure monitoring structure, thereby making the rebound pressure formed by the compression of the second spring telescopic rod greater than the rebound pressure formed by the tension of the first spring telescopic rod. At this time, it can be determined that the load-carrying vehicle body structure is in an over-advance state relative to the infrared guidance receiving end. The kinetic energy output power of the load-carrying vehicle body structure is gradually adjusted to reduce until the pressure value monitored by the first pressure sensor and the pressure value monitored by the second pressure sensor return to be equal within a specific threshold range, so that the load-carrying vehicle body structure returns to the standard positioning position relative to the infrared guidance receiving end; When the elastic pressure monitored by the first pressure sensor is greater than the elastic pressure monitored by the second pressure sensor, it proves that in order to maintain the alignment between the infrared guidance receiving end and the infrared guidance transmitting end, the linear kinetic energy output by the alignment driving component structure drives the alignment infrared receiving structure as a whole to shift toward the first pressure monitoring structure, so that the rebound pressure formed by the compression of the first spring telescopic rod is greater than the rebound pressure formed by the tension of the second spring telescopic rod. At this time, it can be determined that the load-carrying vehicle body structure is in a lagging state relative to the infrared guidance receiving end. Since increasing the output power of the kinetic energy of the load-carrying vehicle body structure will further aggravate the vibration of the vehicle body and reduce the positioning accuracy, the load-carrying vehicle body structure is controlled to maintain the lagging state and continue to move until it reaches the target point and the infrared guidance receiving end and the infrared guidance transmitting end are stationary aligned. At this time, the load-carrying vehicle body structure is controlled to compensate for the movement. When the pressure value monitored by the first pressure sensor and the pressure value monitored by the second pressure sensor return to being equal within a specific threshold range, the current load-carrying vehicle body structure is in the standard positioning position corresponding to the target point.

5. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 4 is characterized in that: The following steps are also included: The coordinate system established through the alignment of the infrared receiving structure can self-judge the degree of attenuation of its component performance to maintain its high-altitude infrared guidance alignment accuracy and its positioning accuracy on the load-bearing vehicle structure.

6. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 5 is characterized in that: The construction of the high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system specifically includes: The alignment infrared receiving structure also includes a central coordinate sensor and a peripheral coordinate sensor; A central coordinate sensor is fixedly arranged between the infrared guidance receiving end and the top surface of the infrared alignment base, and three groups of peripheral coordinate sensors are distributed on a circumscribed circular track with the point where the central coordinate sensor is located as the center of the circle, and the lines between the three groups of peripheral coordinate sensors form an equilateral triangle connection track, and the component performance of the infrared guidance receiving end is verified by matching and comparing the central coordinate sensor with the three groups of peripheral coordinate sensors; The central coordinate sensor and the three groups of peripheral coordinate sensors are all configured as high-precision distance measuring sensors, and markers are set in the logistics storage area. The distance information measured between the high-precision distance measuring sensor and the marker is used to obtain the corresponding coordinate position in the logistics storage area.

7. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 6 is characterized in that: The coordinate system established by the alignment infrared receiving structure can self-determine the degree of attenuation of the component performance, specifically including: By aligning the central coordinate sensor in the infrared receiving structure with the marker, its current coordinate position in the coordinate system of the logistics storage area is obtained in real time, and this is synchronized as the real-time coordinate position of the infrared guidance receiving end; the current coordinate position of the infrared guidance transmitting end is obtained in real time, and the infrared alignment between the current coordinate position of the infrared guidance transmitting end and the real-time coordinate position of the infrared guidance receiving end is further compared and verified, and the degree of component performance attenuation of the infrared guidance receiving end is determined based on the infrared alignment difference.

8. The infrared guided self-positioning method for logistics warehousing vehicles according to claim 7 is characterized in that: The coordinate system established by the alignment infrared receiving structure can self-determine the degree of attenuation of its component performance, and specifically includes: obtaining the current coordinate position of the marker in real time by three sets of peripheral coordinate sensors located in the triangular connection track, respectively corresponding to the marker, and fitting to form a circumscribed circular track according to the current coordinate position of the three sets of peripheral coordinate sensors, and calculating the coordinate position of the center of the circumscribed circular track through the system electronic control module; When the coordinate position of the center of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guidance transmitting end and the current coordinate position of the central coordinate sensor in a specific threshold range, it is determined that the central coordinate sensor and the three sets of peripheral coordinate sensors meet the component performance requirements; When the coordinate position of the center of the circumscribed circular trajectory does not coincide with the current coordinate position of the infrared guidance transmitting end, it is determined that there is at least one set of peripheral coordinate sensors that do not meet the component performance requirements; When the center coordinate position of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guidance transmitting end within a specific threshold range, but the center coordinate position of the circumscribed circular trajectory does not coincide with the current coordinate position of the central coordinate sensor, it is determined that the central coordinate sensor does not meet the component performance requirements.

9. An infrared guided self-positioning system for logistics warehousing vehicles, characterized in that: include: System construction module, used to build high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; Path planning module, used to establish a rectangular coordinate system and plan the travel path for the logistics storage area; The compensation and adjustment module is used to control the displacement of the load-bearing vehicle body structure along the planned travel path based on the high-altitude infrared guidance and the vehicle body lag adaptive monitoring return system, and perform real-time pressure monitoring corresponding to the travel direction to compare and determine the relative position change between the load-bearing vehicle body structure and the positioning infrared receiving structure corresponding to the travel direction, and control the load-bearing vehicle body structure to perform compensation adjustment according to the relative position difference between the two.

10. A cart device, characterized in that: The infrared-guided self-positioning method for logistics warehousing vehicles can be executed as described in any one of claims 1-8.

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