Infrared-guided self-positioning method, system and trolley device for logistics warehousing vehicles

Abstract

The present invention discloses an infrared-guided self-positioning method, system and trolley device for logistics warehousing vehicles, which relates to the technical field of intelligent warehouse transport vehicles. The infrared-guided self-positioning method includes the following steps: constructing an aerial infrared guidance and vehicle body lag adaptive monitoring and return system; establishing a rectangular coordinate system and planning a travel path for the logistics warehousing area; controlling the load-bearing vehicle body structure to shift along the planned travel path based on the aerial infrared guidance and vehicle body lag adaptive monitoring and return system, and performing pressure monitoring in real time corresponding to the travel direction to compare and judge the relative position change of the load-bearing vehicle body structure and the alignment infrared receiving structure in the travel direction, and then controlling the load-bearing vehicle body structure to perform compensation adjustment according to the relative position difference value between the two. It solves the technical problem that in the prior art, when the logistics warehousing handling vehicle body travels based on aerial infrared guidance, the handling vehicle body is prone to relative delay and lag, affecting the overall alignment accuracy.

Description

Technical Field

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

[0002] In the current logistics warehousing industry, logistics warehousing sites still generally rely on manual guidance for handling vehicle bodies. This method is not only inefficient but also prone to human errors, such as inaccurate positioning and unreasonable path selection. At the same time, a large amount of labor is required for manual guidance, resulting in an increase in operating costs.

[0003] With the continuous progress of technology, some logistics warehousing sites are also developing towards automation and intelligence. Automatic positioning and navigation technology can improve the autonomy and intelligence level of handling vehicle bodies, reduce the dependence on manual intervention in warehousing handling, and efficient and accurate automatic positioning and navigation can better reasonably plan the driving path of the vehicle body based on the warehouse layout, which is one of the most crucial factors for improving the efficiency of warehousing automation operations.

[0004] In the prior art, the automatic positioning and navigation technology based on the logistics warehousing system usually adopts existing marker positioning or high-altitude infrared-guided positioning, etc. Among them, for the high-altitude infrared-guided positioning technology, the core of its function is to establish an infrared transceiver correlation correspondence between the handling vehicle body and the high-altitude guiding mechanism, so that the handling vehicle body can effectively travel along a specific planned path to a predetermined coordinate point by means of the infrared correspondence principle. Although this can achieve automated handling to a certain extent and improve the efficiency of warehousing operations, due to factors such as the heavy load of the handling vehicle body and the performance attenuation of infrared components, the handling vehicle body is prone to delays and lags relative to the high-altitude guiding mechanism due to gravity or signal reception errors, etc., resulting in the handling vehicle body being difficult to accurately reach the predetermined coordinate point, seriously affecting the functional accuracy and stability of the automatic positioning and navigation warehousing operations. Summary of the Invention

[0005] Therefore, the present invention provides an infrared-guided self-positioning method, system and trolley device for logistics warehousing vehicles to solve the technical problem in the prior art that when the logistics warehousing handling vehicle body travels based on high-altitude infrared guidance, the handling vehicle body is prone to relative delays and lags, thereby affecting the overall alignment accuracy.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An infrared-guided self-positioning method for logistics warehousing vehicles includes the following steps:

[0008] Construct a high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system;

[0009] Establish a rectangular coordinate system for the logistics and warehousing area and plan the traveling path;

[0010] Based on the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system, control the load vehicle body structure to shift along the planned traveling path, and perform pressure monitoring in real time corresponding to the traveling direction to compare and judge the relative position change in the traveling direction between the load vehicle body structure and the alignment infrared receiving structure, and then control the load vehicle body structure to perform compensation adjustment according to the relative position difference value between the two.

[0011] Based on the above technical solutions, the present invention is further described as follows:

[0012] As a further solution of the present invention,

[0013] The construction of the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system specifically includes:

[0014] Based on the logistics and warehousing area, set up a high-altitude displacement component structure, and transmissionally set an infrared guidance transmitting end corresponding to the X-direction and Y-direction driving ends of the high-altitude displacement component structure;

[0015] Continue to configure an electric control box structure based on the load vehicle body structure, and respectively configure an alignment driving component structure, an alignment infrared receiving structure, a first pressure monitoring structure, and a second pressure monitoring structure on the electric control box structure; the electric control box structure includes an electric control box main body, and the alignment driving component structure is set as an electric drive type lead screw component architecture that outputs linear kinetic energy based on the electric control box main body;

[0016] The alignment infrared receiving structure includes an infrared alignment base and an infrared guidance receiving end;

[0017] The infrared alignment base is transmissionally fixedly connected to the linear kinetic energy output end of the alignment driving component structure, so that the infrared alignment base can synchronously and adaptively shift based on the linear kinetic energy;

[0018] The infrared guidance receiving end is fixedly arranged on the infrared alignment base, and always maintains infrared transmission and reception correspondence between the infrared guidance receiving end and the infrared guidance transmitting end, and adjusts the output parameters of the alignment driving component structure based on this standard to keep the infrared alignment base shifting adaptively;

[0019] 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;

[0020] 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;

[0021] 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;

[0022] 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.

[0023] As a further embodiment of the present invention,

[0024] The establishment of a rectangular coordinate system and planning of a travel path for the logistics storage area specifically includes:

[0025] 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.

[0026] 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.

[0027] As a further embodiment of the present invention,

[0028] 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:

[0029] 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;

[0030] When the elastic pressure detected by the first pressure sensor from the first spring telescopic rod is equal to the elastic pressure detected by the second pressure sensor from the second spring telescopic rod within a specific threshold range, the load-carrying vehicle body structure is in the standard positioning position relative to the infrared guiding receiving end at this time;

[0031] When the elastic pressure detected by the first pressure sensor is less than the elastic pressure detected by the second pressure sensor, it proves that in order to keep the infrared guiding receiving end and the infrared guiding transmitting end in alignment, the linear kinetic energy output by the alignment driving component structure drives the entire alignment infrared receiving structure to shift towards the second pressure monitoring structure, resulting in a displacement amount. Thus, the rebound pressure formed by the compression of the second spring telescopic rod is greater than the rebound pressure formed by the stretching of the first spring telescopic rod. At this time, it can be judged that the load-carrying vehicle body structure is in an over-advancing state relative to the infrared guiding receiving end. Then, gradually adjust and reduce the traveling kinetic energy output power of the load-carrying vehicle body structure until the pressure value detected by the first pressure sensor is equal to the pressure value detected by the second pressure sensor within a specific threshold range, so that the load-carrying vehicle body structure returns to the standard positioning position relative to the infrared guiding receiving end;

[0032] When the elastic pressure detected by the first pressure sensor is greater than the elastic pressure detected by the second pressure sensor, it proves that in order to keep the infrared guiding receiving end and the infrared guiding transmitting end in alignment, the linear kinetic energy output by the alignment driving component structure drives the entire alignment infrared receiving structure to shift towards the first pressure monitoring structure, making the rebound pressure formed by the compression of the first spring telescopic rod greater than the rebound pressure formed by the stretching of the second spring telescopic rod. At this time, it can be judged that the load-carrying vehicle body structure is in a lag state relative to the infrared guiding receiving end. Since increasing the traveling kinetic energy output power of the load-carrying vehicle body structure will cause the vehicle body vibration to further intensify and reduce the positioning accuracy, the load-carrying vehicle body structure is controlled to maintain the lag state and continue to travel until it reaches the target point and the infrared guiding receiving end and the infrared guiding transmitting end are in static alignment. At this time, the load-carrying vehicle body structure is controlled to compensate for the travel. When the pressure value detected by the first pressure sensor is equal to the pressure value detected by the second pressure sensor within a specific threshold range, the current load-carrying vehicle body structure is in the standard positioning position corresponding to the target point.

[0033] As a further solution of the present invention, the following steps are further included:

[0034] The coordinate system established by the cooperation of the alignment infrared receiving structure self-judges the attenuation degree of its component performance to maintain its high-altitude infrared guiding alignment accuracy and its positioning accuracy acting on the load-carrying vehicle body structure.

[0035] As a further solution of the present invention,

[0036] The construction of the high-altitude infrared guiding and vehicle body lag adaptive monitoring and return system specifically further includes:

[0037] The alignment infrared receiving structure further includes a central coordinate sensor and peripheral coordinate sensors;

[0038] A central coordinate sensor is fixedly arranged between the infrared guiding receiving end and the top surface of the infrared alignment base. Three groups of the peripheral coordinate sensors are arranged in a circumscribed circular trajectory with the point where the central coordinate sensor is located as the center. The three groups of the peripheral coordinate sensors are connected by lines to form an equilateral triangle connection trajectory. The component performance of the infrared guiding receiving end is verified by the cooperation of the central coordinate sensor and the three groups of the peripheral coordinate sensors;

[0039] Both the central coordinate sensor and the three groups of the peripheral coordinate sensors are set as high-precision ranging sensors. A marker is arranged in the logistics storage area, and the coordinate position corresponding to it in the logistics storage area is obtained through the distance information measured between the high-precision ranging sensor and the marker.

[0040] As a further solution of the present invention,

[0041] The coordinate system established by the cooperation of the alignment infrared receiving structure self-judges the attenuation degree of its component performance, specifically including: the central coordinate sensor in the alignment infrared receiving structure corresponds to the marker to obtain its current coordinate position in the coordinate system of the logistics storage area in real time, and synchronously uses this as the real-time coordinate position of the infrared guiding receiving end; the current coordinate position of the infrared guiding transmitting end is obtained in real time, and further the infrared alignment between the current coordinate position of the infrared guiding transmitting end and the real-time coordinate position of the infrared guiding receiving end is verified and compared, and then the attenuation degree of the component performance of the infrared guiding receiving end is judged according to the infrared alignment difference.

[0042] As a further solution of the present invention,

[0043] The coordinate system established by the cooperation of the alignment infrared receiving structure self-judges the attenuation degree of its component performance, specifically further including: the three groups of peripheral coordinate sensors in the triangular connection trajectory respectively correspond to the marker to obtain their current coordinate positions in real time, and a circumscribed circular trajectory is formed by fitting according to the current coordinate positions of the three groups of peripheral coordinate sensors, and the center coordinate position of the circumscribed circular trajectory is calculated by the system electronic control module;

[0044] When the center coordinate position of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guiding transmitting end and the current coordinate position of the central coordinate sensor in a specific threshold range in sequence, it is determined that both the central coordinate sensor and the three groups of peripheral coordinate sensors meet the component performance requirements;

[0045] When the center coordinate position of the circumscribed circular trajectory does not coincide with the current coordinate position of the infrared guiding emission end, it is determined that there is at least one set of peripheral coordinate sensors that do not meet the component performance requirements;

[0046] When the center coordinate position of the circumscribed circular trajectory coincides with the current coordinate position of the infrared guiding emission 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 center coordinate sensor, it is determined that the center coordinate sensor does not meet the component performance requirements.

[0047] An infrared-guided self-positioning system for a logistics warehousing vehicle, comprising:

[0048] A system construction module for constructing a high-altitude infrared guiding and vehicle body lag adaptive monitoring and return system;

[0049] A path planning module for establishing a rectangular coordinate system and planning a travel path for a logistics warehousing area;

[0050] A compensation and position adjustment module for controlling the load-carrying vehicle body structure to shift along the planned travel path based on the high-altitude infrared guiding and vehicle body lag adaptive monitoring and return system, and performing pressure monitoring in real time corresponding to the travel direction to compare and judge the relative position change in the travel direction between the load-carrying vehicle body structure and the alignment infrared receiving structure, and controlling the load-carrying vehicle body structure to perform compensation and position adjustment according to the relative position difference value therebetween.

[0051] A trolley device capable of executing the infrared-guided self-positioning method for the logistics warehousing vehicle.

[0052] The present invention has the following beneficial effects:

[0053] 1. The method can effectively achieve alignment within a preset positioning accuracy threshold range through the cooperation of the infrared guiding emission end of the high-altitude displacement component structure and the alignment infrared receiving structure on the load-carrying vehicle body structure, complete the precise positioning and guiding of the load-carrying vehicle body structure, and at the same time, the elastic pressure received can be monitored in real time by the first pressure monitoring structure and the second pressure monitoring structure, and the relative position change in the travel direction between the load-carrying vehicle body structure and the alignment infrared receiving structure can be compared and judged, and thus the load-carrying vehicle body structure is controlled to perform compensation and position adjustment according to the relative position difference value, improving the accuracy and stability of the travel of the load-carrying vehicle body structure.

[0054] 2. This method can use the central coordinate sensor in cooperation with three groups of peripheral coordinate sensors to compare and verify the component performance of the infrared guidance receiver. At the same time, it can compare the center coordinate position of the circumscribed circular trajectory formed by fitting the peripheral coordinate sensors with the current coordinate positions of the infrared guidance transmitter and the central coordinate sensor, so as to judge the attenuation degree of the component performance of the central coordinate sensor and the peripheral coordinate sensors, and effectively maintain the high-altitude infrared guidance alignment accuracy and the positioning accuracy of the load-carrying vehicle body structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0056] Figure 1 It is a schematic diagram of the overall process of the infrared guidance self-positioning method for logistics warehousing vehicles provided by the embodiment of the present invention.

[0057] Figure 2 It is a schematic diagram of the overall functional architecture of the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system in the infrared guidance self-positioning method for logistics warehousing vehicles provided by the embodiment of the present invention.

[0058] Figure 3 It is a schematic diagram of the structure of the electronic control box body in the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system corresponding to the infrared guidance self-positioning method for logistics warehousing vehicles provided by the embodiment of the present invention.

[0059] Figure 4 It is for the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system corresponding to the infrared guidance self-positioning method for logistics warehousing vehicles provided by the embodiment of the present invention Figure 3 The enlarged schematic diagram of the structure at A.

[0060] Figure 5 It is a schematic diagram of the assembly position of the electronic control box body structure of the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system in the infrared guidance self-positioning method for logistics warehousing vehicles corresponding to the load-carrying vehicle body structure.

[0061] Figure 6Schematic diagram of the assembly structure of the alignment drive component structure, alignment infrared receiving structure, first pressure monitoring structure and second pressure monitoring structure in the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system corresponding to the infrared guidance self-positioning method for logistics storage vehicles provided by the embodiments of the present invention.

[0062] Figure 7 One of the schematic diagrams of the relative position structure between the load-carrying vehicle body structure and the alignment infrared receiving structure in the infrared guidance self-positioning method for logistics storage vehicles provided by the embodiments of the present invention.

[0063] Figure 8 Another schematic diagram of the relative position structure between the load-carrying vehicle body structure and the alignment infrared receiving structure in the infrared guidance self-positioning method for logistics storage vehicles provided by the embodiments of the present invention.

[0064] Figure 9 Another schematic diagram of the relative position structure between the load-carrying vehicle body structure and the alignment infrared receiving structure in the infrared guidance self-positioning method for logistics storage vehicles provided by the embodiments of the present invention.

[0065] Figure 10 Schematic diagram of the architecture principle of component performance self-monitoring through the alignment infrared receiving structure in the infrared guidance self-positioning method for logistics storage vehicles provided by the embodiments of the present invention.

[0066] Figure 11 Schematic diagram of the architecture principle of the infrared guidance self-positioning system for logistics storage vehicles provided by the embodiments of the present invention.

[0067] Figure 12 Schematic diagram of the physical structure of the electronic device provided by the embodiments of the present invention.

[0068] In the drawings, the list of components represented by each reference numeral is as follows:

[0069] High-altitude displacement component structure 1, infrared guidance transmitting end 11;

[0070] Load-carrying vehicle body structure 2;

[0071] Electric control box body structure 3: electric control box main body 31, adaptive limit channel 32;

[0072] Alignment drive component structure 4: drive motor 41, transmission lead screw 42, displacement guide rail seat 43, transmission adjustment seat 44;

[0073] Alignment infrared receiving structure 5: infrared alignment base 51, infrared guidance receiving end 52, center coordinate sensor 53, peripheral coordinate sensor 54, positioning outer support 55;

[0074] First pressure monitoring structure 6: first pressure sensor 61, first spring telescopic rod 62;

[0075] The second pressure monitoring structure 7: the second pressure sensor 71, the second spring telescopic rod 72;

[0076] The triangular connection trajectory a; the circumscribed circular trajectory b;

[0077] The system construction module 10; the path planning module 20; the compensation and adjustment module 30;

[0078] The electronic device 90: the processor 901, the memory 902, the internal bus 903. Specific implementation manners

[0079] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope protected by the present invention.

[0080] Terms such as "upper", "lower", "left", "right", "middle", etc. cited in this specification are only for the convenience of clear narration, rather than used to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships shall also be regarded as the scope of implementation of the present invention without substantial change in technical content.

[0081] As Figures 1 to 10 shown, the embodiment of the present invention provides an infrared-guided self-positioning method for a logistics warehousing vehicle and a trolley device for executing the above method. The infrared-guided self-positioning method can effectively solve the technical problem that when a logistics warehousing handling vehicle body travels based on high-altitude infrared guidance in the prior art, the handling vehicle body is prone to relative delay and lag, thereby affecting the overall alignment accuracy, so as to maintain the traveling positioning accuracy and functional stability of the load-carrying vehicle body structure 2. The specific steps are as follows:

[0082] S1: Construct a high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system;

[0083] The specific process is as follows:

[0084] Please refer to Figures 2 to 5 , based on the logistics warehousing area, set the high-altitude displacement component structure 1, and correspondingly drive and set the infrared guidance transmitting end 11 at the X-direction and Y-direction driving ends of the high-altitude displacement component structure 1;

[0085] Continuing to configure the electric control box structure 3 based on the load-carrying vehicle body structure 2, and respectively disposing 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 corresponding to the electric control box structure 3. Among them, the electric control box structure 3 includes an electric control box main body 31. The alignment drive component structure 4 includes a drive motor 41, a transmission lead screw 42, a displacement guide rail seat 43, and a transmission adjustment seat 44. The base part of the drive motor 41 and the displacement guide rail seat 43 are respectively fixedly disposed inside the electric control box main body 31, and the rotational kinetic energy output end of the drive motor 41 is in transmission connection with one end of the transmission lead screw 42. The extending direction of the transmission lead screw 42 is parallel to the extending direction of the displacement guide rail seat 43. The transmission adjustment seat 44 is in screw assembly connection with the transmission lead screw 42, and the transmission adjustment seat 44 is in sliding assembly connection with the displacement guide rail seat 43, thereby forming an electric drive type lead screw assembly architecture for outputting linear kinetic energy.

[0086] The alignment infrared receiving structure 5 includes an infrared alignment base 51, an infrared guiding receiving end 52, a central coordinate sensor 53, a peripheral coordinate sensor 54, and a positioning outer support 55. Among them, the infrared alignment base 51 is in transmission and fixed connection with the transmission adjustment seat 44, so that the infrared alignment base 51 can perform synchronous adaptive displacement based on the linear kinetic energy output by the transmission adjustment seat 44. The infrared guiding receiving end 52 is fixedly disposed on the top surface of the infrared alignment base 51, and is used to always maintain infrared reception and transmission correspondence with the infrared guiding transmitting end 11, and based on this, adjust the output parameters of the drive motor 41, so as to keep the infrared alignment base 51 in adaptive displacement. A central coordinate sensor 53 is fixedly disposed between the infrared guiding receiving end 52 and the top surface of the infrared alignment base 51. Three peripheral coordinate sensors 54 are distributed along the circumscribed circular trajectory b with the point where the central coordinate sensor 53 is located as the center. The connection lines between the three peripheral coordinate sensors 54 can form an equilateral triangle connection trajectory a, which is used to cooperate with the central coordinate sensor 53 and the three peripheral coordinate sensors 54 to compare and verify the component performance of the infrared guiding receiving end 52. The positioning outer support 55 is sequentially and circumferentially and fixedly wound around the outer sides of the three peripheral coordinate sensors 54, and is used to assist in positioning the three peripheral coordinate sensors 54, thereby improving the accuracy of comparison and verification.

[0087] Three adaptive limit channels 32 are opened on the top surface of the electric control box main body 31. The central coordinate sensor 53 and the three peripheral coordinate sensors 54 are respectively slidably assembled in the three adaptive limit channels 32, so as to improve the displacement stability of the central coordinate sensor 53 and the peripheral coordinate sensors 54 by using the adaptive limit channels 32.

[0088] 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;

[0089] 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.

[0090] S2: Establish a rectangular coordinate system and plan the travel path for the logistics storage area;

[0091] The specific process is:

[0092] 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.

[0093] 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;

[0094] 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;

[0095] The specific process is:

[0096] The high-altitude displacement component structure 1 drives the infrared guidance transmitting end 11 to displace along the planned travel path and synchronously outputs an infrared guidance signal. At the same time, the load-carrying vehicle body structure 2 and its corresponding infrared receiving structure 5 are controlled to start. The infrared guidance receiving end 52 in the corresponding 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 in alignment within the preset positioning accuracy threshold range based on the infrared guidance signal.

[0097] Please refer to Figure 7 , 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 respectively monitor the elastic pressures received in real time.

[0098] When the elastic pressure monitored by the first pressure sensor 61 from the first spring telescopic rod 62 is equal to the elastic pressure monitored by the second pressure sensor 71 from the second spring telescopic rod 72 within a specific threshold range, the load-carrying vehicle body structure 2 is in the standard positioning position relative to the infrared guidance receiving end 52 at this time.

[0099] 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 guidance receiving end 52 and the infrared guidance transmitting end 11 in alignment, the linear kinetic energy output by the corresponding driving component structure 4 at this time drives the entire corresponding infrared receiving structure 5 to displace towards the second pressure monitoring structure 7, so that the rebound pressure formed by the compression of the second spring telescopic rod 72 is greater than the rebound pressure formed by the stretching of the first spring telescopic rod 62. At this time, it can be judged that the load-carrying vehicle body structure 2 is in an over-advancing state relative to the infrared guidance receiving end 52, and then the travel kinetic energy output power of the load-carrying vehicle body structure 2 is gradually adjusted and reduced until the pressure value monitored by the first pressure sensor 61 returns to be equal to the pressure value monitored by the second pressure sensor 71 within a specific threshold range, so that the load-carrying vehicle body structure 2 returns to the standard positioning position relative to the infrared guidance receiving end 52.

[0100] Please refer to Figure 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 proves that in order to keep the infrared guiding receiving end 52 and the infrared guiding transmitting end 11 in alignment. At this time, the linear kinetic energy output by the alignment driving component structure 4 drives the entire alignment infrared receiving structure 5 to shift towards the first pressure monitoring structure 6, causing the resilience pressure formed by the compression of the first spring telescopic rod 62 to be greater than the resilience pressure formed by the tension of the second spring telescopic rod 72. At this time, it can be judged that the load-carrying vehicle body structure 2 is in a lag state relative to the infrared guiding receiving end 52 due to factors such as overloading of the load or insufficient axle transmission efficiency. Since increasing the power output of the driving kinetic energy of the load-carrying vehicle body structure 2 will cause further aggravation of the vehicle body vibration and reduce the positioning accuracy, the load-carrying vehicle body structure 2 is controlled to continue moving in the lag state until it reaches the target point and the infrared guiding receiving end 52 and the infrared guiding transmitting end 11 are in static alignment. At this time, the load-carrying vehicle body 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 be equal within a specific threshold range, the current load-carrying vehicle body structure 2 is in the standard positioning position corresponding to the target point;

[0101] S4: Automatically judge the degree of component performance attenuation of the alignment infrared receiving structure 5 through the coordinate system established by it, so as to maintain its high-altitude infrared guiding alignment accuracy and the positioning accuracy acting on the load-carrying vehicle body structure 2;

[0102] The specific process is as follows:

[0103] Please refer to Figure 10 , the central coordinate sensor 53 in the alignment infrared receiving structure 5 obtains its current coordinate position in the logistics warehousing area coordinate system corresponding to the marker in real time, and synchronously uses this as the real-time coordinate position of the infrared guiding receiving end 52. At the same time, the current coordinate position of the infrared guiding 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 guiding transmitting end 11 and the real-time coordinate position of the infrared guiding receiving end 52 is further compared and verified. Then, the degree of component performance attenuation of the infrared guiding receiving end 52 is judged according to the infrared alignment difference;

[0104] Further judge the degree of component performance attenuation of the central coordinate sensor 53. The specific steps are as follows:

[0105] Please refer to Figure 10, the current coordinate positions of the markers are respectively obtained in real time by three groups of peripheral coordinate sensors 54 located on the triangular connection trajectory a, and the circumscribed circular trajectory b is formed by fitting 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 guiding emission end 11 and the current coordinate position of the central coordinate sensor 53 within a specific threshold range in sequence, it is determined that both the central coordinate sensor 53 and the three groups of peripheral coordinate sensors 54 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 guiding emission end 11, it is determined that at least one group of peripheral coordinate sensors 54 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 guiding emission 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 determined that the central coordinate sensor 53 does not meet the component performance requirements.

[0106] Please refer to Figure 11 , an infrared guiding self - positioning system according to the above - mentioned infrared guiding self - positioning method for a logistics warehousing vehicle is further provided in an embodiment of the present invention, which specifically includes:

[0107] A system construction module 10, configured to construct a high - altitude infrared guiding and vehicle body lag self - adaptive monitoring and returning system;

[0108] A path planning module 20, configured to establish a rectangular coordinate system and plan a traveling path for a logistics warehousing area;

[0109] A compensation and position adjustment module 30, configured to control the load - bearing vehicle body structure to shift along the planned traveling path based on the high - altitude infrared guiding and vehicle body lag self - adaptive monitoring and returning system, and perform pressure monitoring in real time corresponding to the traveling direction to compare and judge the relative position change in the traveling direction between the load - bearing vehicle body structure and the counter - position infrared receiving structure, and control the load - bearing vehicle body structure to perform compensation and position adjustment according to the relative position difference value between the two.

[0110] Figure 12 is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention. As Figure 12 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 complete communication with each other through the internal bus 903;

[0111] The processor 901 is used to call program instructions in the memory 902 to execute the methods provided in the above method embodiments. For example, it includes: constructing a high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system; establishing a rectangular coordinate system for the logistics and warehousing area and planning a travel path; controlling the load vehicle body structure to shift along the planned travel path based on the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system, and performing pressure monitoring in real time corresponding to the travel direction to compare and judge the relative position change in the travel direction between the load vehicle body structure and the alignment infrared receiving structure, and then controlling the load vehicle body structure to perform compensation adjustment according to the relative position difference value between the two.

[0112] This embodiment provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the methods provided in the above method embodiments. For example, it includes: constructing a high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system; establishing a rectangular coordinate system for the logistics and warehousing area and planning a travel path; controlling the load vehicle body structure to shift along the planned travel path based on the high-altitude infrared guidance and vehicle body lag adaptive monitoring and return system, and performing pressure monitoring in real time corresponding to the travel direction to compare and judge the relative position change in the travel direction between the load vehicle body structure and the alignment infrared receiving structure, and then controlling the load vehicle body structure to perform compensation adjustment according to the relative position difference value between the two.

[0113] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: various storage media such as ROM, RAM, magnetic disk, or optical disc that can store program codes.

[0114] The device embodiments described above are merely illustrative. 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, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment 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 such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a server, a network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0116] Although the present invention has been described in detail above with general descriptions and specific embodiments, on the basis of the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. An infrared-guided self-positioning method for a logistics warehousing vehicle, characterized in that, The steps include: Construct a high-altitude infrared guidance and vehicle body hysteresis adaptive monitoring return system; 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; Establish a rectangular coordinate system and plan the travel path for the logistics storage area; Based on the high-altitude infrared guidance and the vehicle body hysteresis adaptive monitoring return system, the load-carrying vehicle body structure is controlled to shift along the planned travel path, and the alignment drive component structure, the alignment infrared receiving structure, the first pressure monitoring structure and the second pressure monitoring structure are configured based on the load-carrying vehicle body structure. The alignment infrared receiving structure includes an infrared alignment base, and the infrared alignment base is transmission-fixedly connected to the linear kinetic energy output end of the alignment drive component structure, so that the infrared alignment base is synchronously adaptively displaced based on the linear kinetic energy; 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 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 infrared alignment base along its displacement path and the monitoring end of the first pressure sensor, and a second spring telescopic rod is arranged between the other side of the infrared alignment base along its displacement path and the monitoring end of the second pressure sensor; The pressure is monitored in real time corresponding to the direction of travel, that is, when the infrared alignment base is adaptively shifted, the elastic pressure is monitored in real time by the first pressure sensor and the second pressure sensor respectively, so as to compare and judge the relative position change between the load-carrying vehicle body structure and the alignment infrared receiving structure corresponding to the direction of travel, and then the load-carrying vehicle body structure is controlled to perform compensatory 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: An electric control box structure and an alignment drive component structure, an alignment infrared receiving structure, a first pressure monitoring structure and a second pressure monitoring structure respectively arranged on the electric control box structure are configured 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 configured 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 also includes an infrared guiding receiving end; 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 base of the first pressure sensor and the base of the second pressure sensor are respectively fixed to the electric control box body; Furthermore, the difference value of the two sets of elastic pressures is used to determine whether the load vehicle body structure reaches the preset positioning.

3. The infrared-guided self-positioning method for a logistics warehousing vehicle according to claim 2, wherein establishing a rectangular coordinate system and planning a travel path for the logistics warehousing area specifically includes: selecting a fixed point in the logistics warehousing area as the starting origin, determining the axis directions based on the starting origin and the area shape, and further determining the coordinate unit distance according to the positioning accuracy requirements, and the coordinate unit distances corresponding to different axis directions in the coordinate system are kept consistent; determining the obstacles in the logistics warehousing area and the positions of the markers in different axis directions, and planning the travel path of the load vehicle body structure corresponding to the current target point according to the shortest path and / or the principle of optimal efficiency.

4. The infrared-guided self-positioning method for a logistics warehousing vehicle according to claim 3, wherein controlling the load vehicle body structure to shift along the planned travel path based on the high-altitude infrared guidance and the vehicle body lag adaptive monitoring and return system, and performing pressure monitoring in real time corresponding to the travel direction to compare and judge the relative position change of the load vehicle body structure and the alignment infrared receiving structure in the travel direction, and then controlling the load vehicle body structure to perform compensation adjustment according to the relative position difference value between the two, specifically including: driving the infrared guidance transmitting end to shift along the planned travel path through the high-altitude shifting component structure and synchronously outputting an infrared guidance signal, and at the same time controlling to start the load vehicle body structure and its alignment infrared receiving structure, and 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 alignment between the infrared guidance receiving end and the infrared guidance transmitting end within the preset positioning accuracy threshold range based on the infrared guidance signal; respectively monitoring the elastic pressures received in real time by the first pressure sensor in the first pressure monitoring structure and the second pressure sensor in the second pressure monitoring structure; when the elastic pressure monitored by the first pressure sensor from the first spring telescopic rod is equal to the elastic pressure monitored by the second pressure sensor from the second spring telescopic rod within a specific threshold range, the load vehicle body structure is in the standard positioning position relative to the infrared guidance receiving end at this time; 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 keep 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 at this time drives the whole alignment infrared receiving structure to shift towards the second pressure monitoring structure to generate a displacement amount, so that the rebound pressure formed by the compression of the second spring telescopic rod is greater than the rebound pressure formed by the stretching of the first spring telescopic rod. At this time, it can be judged that the load vehicle body structure is in an over-travel state relative to the infrared guidance receiving end, and then the travel kinetic energy output power of the load vehicle body structure is gradually adjusted and reduced until the pressure value monitored by the first pressure sensor returns to be equal to the pressure value monitored by the second pressure sensor within a specific threshold range, and the load 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 keep the infrared guiding receiving end and the infrared guiding transmitting end in alignment. At this time, the linear kinetic energy output by the alignment driving component structure drives the entire alignment infrared receiving structure to shift towards the first pressure monitoring structure, causing the resilience pressure formed by the compression of the first spring telescopic rod to be greater than the resilience pressure formed by the tension of the second spring telescopic rod. At this time, it can be judged that the load-carrying vehicle body structure is in a lag state relative to the infrared guiding receiving end. Since increasing the output power of the traveling kinetic energy of the load-carrying vehicle body structure will cause the vehicle body vibration to further intensify and reduce the positioning accuracy, the load-carrying vehicle body structure is controlled to maintain the lag state and continue to travel until it reaches the target point and the infrared guiding receiving end and the infrared guiding transmitting end are in static alignment. At this time, the load-carrying vehicle body structure is controlled to compensate for the travel. When 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, 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 storage vehicles according to claim 4, characterized in that, It further includes the following steps: The coordinate system established by the cooperation of the alignment infrared receiving structure self-judges the attenuation degree of its component performance to maintain its high-altitude infrared guiding alignment accuracy and its positioning accuracy acting on the load-carrying vehicle body structure.

6. The infrared guiding self-positioning method for a logistics warehousing vehicle according to claim 5, wherein The construction of the high-altitude infrared guiding and vehicle body lag adaptive monitoring and return system specifically further includes: The alignment infrared receiving structure further includes a central coordinate sensor and peripheral coordinate sensors; A central coordinate sensor is fixedly arranged between the infrared guiding receiving end and the top surface of the infrared alignment base. Three groups of the peripheral coordinate sensors are arranged in an external circular trajectory with the point where the central coordinate sensor is located as the center. The connection lines between the three groups of the peripheral coordinate sensors form an equilateral triangle connection trajectory. The component performance of the infrared guiding receiving end is verified by the cooperation of the central coordinate sensor and the three groups of the peripheral coordinate sensors. The central coordinate sensor and the three groups of the peripheral coordinate sensors are all set as high-precision ranging sensors, and markers are arranged in the logistics warehousing area. The coordinate positions of them corresponding to the logistics warehousing area are obtained through the distance information measured between the high-precision ranging sensors and the markers.

7. The infrared guiding self-positioning method for a logistics warehousing vehicle according to claim 6, wherein The self-judgment of the attenuation degree of its component performance by the coordinate system established by the cooperation of the alignment infrared receiving structure specifically includes: The coordinate position of the central coordinate sensor in the alignment infrared receiving structure corresponding to the marker is obtained in real time to obtain its current coordinate position in the coordinate system of the logistics warehousing area, and this is synchronously used as the real-time coordinate position of the infrared guiding receiving end; the current coordinate position of the infrared guiding transmitting end is obtained in real time, and the infrared alignment between the current coordinate position of the infrared guiding transmitting end and the real-time coordinate position of the infrared guiding receiving end is further verified and compared. Then, the attenuation degree of the component performance of the infrared guiding receiving end is judged according to 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 determine the degree of attenuation of the component performance, and specifically includes: The three sets of peripheral coordinate sensors on the triangular connection track respectively correspond to the markers to obtain their current coordinate positions in real time, and the circumscribed circular track is formed according to the current coordinate positions of the three sets of peripheral coordinate sensors. The coordinate position of the center of the circumscribed circular track is calculated by 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 a logistics warehousing vehicle, 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; A compensation adjustment module 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 vehicle body hysteresis adaptive monitoring return system, and configures the alignment drive component structure, the alignment infrared receiving structure, the first pressure monitoring structure and the second pressure monitoring structure based on the load-carrying vehicle body structure. The alignment infrared receiving structure includes an infrared alignment base, and the infrared alignment base is transmission-fixedly connected to the linear kinetic energy output end of the alignment drive component structure, so that the infrared alignment base is synchronously and adaptively displaced based on the linear kinetic energy; 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 the two side positions of the infrared alignment base in a one-to-one correspondence; the first spring telescopic rod is transmission-set between one side of the infrared alignment base along its displacement path and the monitoring end of the first pressure sensor, and the second spring telescopic rod is transmission-set between the other side of the infrared alignment base along its displacement path and the monitoring end of the second pressure sensor; The pressure is monitored in real time corresponding to the direction of travel, that is, when the infrared alignment base is adaptively shifted, the elastic pressure is monitored in real time by the first pressure sensor and the second pressure sensor respectively, so as to compare and judge the relative position change between the load-carrying vehicle body structure and the alignment infrared receiving structure corresponding to the direction of travel, and then the load-carrying vehicle body structure is controlled to perform compensatory adjustment according to the relative position difference between the two.

10. A trolley device, characterized in that, It is capable of performing the infrared-guided self-positioning method for a logistics warehousing vehicle according to any one of claims 1-8.

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