Detection system and warehousing system
By using the first detector and the second detector in conjunction with the encoder in the storage system, the problem of inaccurate encoder output is solved, the location of goods can be accurately determined, the storage accuracy is improved, and the system cost is reduced.
Patent Information
- Application Number
- CN202422888530.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-09-16
- Estimated Expiration
- 2034-11-26
AI Technical Summary
In the prior art, the code value output by the encoder on the shuttle board is inaccurate, resulting in an inability to accurately determine whether the goods have arrived at the designated location, affecting the storage accuracy of the warehousing system.
The first detector and the second detector are used in conjunction with the encoder. Signals are transmitted and received on the shuttle board through the transmitter and the receiver, and the encoding value is recorded. The stacker determines whether the encoder is abnormal based on the encoding value to ensure the accuracy of the encoding value.
It improves the accuracy of judging whether the goods have arrived at the designated location, reduces the cost of building the detection system, and promptly detects and handles encoder anomalies to prevent goods from being placed in the wrong location.
Smart Images
Figure CN223341529U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of warehouse automation technology, and in particular to a detection system and a warehouse system. Background Art
[0002] Currently, when large quantities of goods need to be stored, they are typically stored in a warehousing system. This storage process employs a method whereby a stacker crane retrieves the goods and a shuttle board transports them. Specifically, a stacker crane first places the goods onto a shuttle board, which then moves along the warehouse system's racking aisles to a designated location to deposit the goods. Utility Model Content
[0003] In the related art, the goods are not placed in the designated cargo location for storing the goods.
[0004] After analysis, it was found that in the related art, a coding value is used to determine whether the goods have arrived at the designated location. Here, the coding value reflects the movement distance of the shuttle board.
[0005] Further analysis revealed that the code value was output by an encoder installed on the shuttle board. During the shuttle board's transportation, the encoder could malfunction, producing inaccurate code values. This made it impossible to accurately determine whether the goods had arrived at the designated location.
[0006] In order to solve the above problems, the embodiments of the present disclosure propose the following solutions.
[0007] According to one aspect of an embodiment of the present disclosure, a detection system is provided, comprising: a first detector, comprising a transmitter, mounted on a shuttle board for carrying goods, configured to transmit a first signal during the forward movement of the shuttle board, and a plurality of receivers, corresponding one-to-one to z cargo locations for storing z goods, each receiver being mounted above a corresponding cargo location, wherein the nth receiver is configured to: upon receiving the first signal during the process of placing the nth cargo, send a first stop signal to the shuttle board to stop the shuttle board, and send a first recording signal to an encoder, wherein 1≤n<z, n is a natural number, and z is the total number of cargo locations in the forward direction of the shuttle board; a second detector, mounted on the shuttle board, configured to send a second recording signal to the encoder in response to detecting the nth cargo in the forward direction; the encoder, mounted on the shuttle board, configured to record a coding value L of the position of the shuttle board in response to the first recording signal. n And send the code value L to the stacker n In response to the second recording signal, record the code value M of the position of the shuttle plate n And send the code value M to the stackern The stacker is configured to: according to the coding value L n , and the encoding value M n The sum of the code values corresponding to the distance between the shuttle plate and the nth cargo when the second detector detects the nth cargo is used to determine whether the encoder is abnormal.
[0008] In some embodiments, the zth receiver is configured to: when receiving the first signal during the process of placing the zth cargo, send a second stop signal to the shuttle board to stop the shuttle board, and send a third recording signal to the encoder; the encoder is configured to: in response to the third recording signal, record the encoding value L of the position of the shuttle board z And send the code value L to the stacker z The stacker is configured to: according to the coding value L n and preset range, determine whether the nth cargo is placed in the corresponding cargo position; and according to the coding value L z and the preset range to determine whether the zth item is placed in the corresponding cargo location.
[0009] In some embodiments, the transmitter is configured to transmit a first signal upwardly and perpendicularly to the shuttle board during the shuttle board's advancement.
[0010] In some embodiments, the stacker is configured to send a third stop signal to the shuttle board to stop the shuttle board when the encoder is abnormal.
[0011] In some embodiments, the stacker crane is configured to, when it is determined that the nth cargo or the zth cargo has not been placed in the corresponding cargo location, send a fourth stop signal to the shuttle board to stop the shuttle board.
[0012] In some embodiments, the stacker is configured to, when the encoder is abnormal, issue a first alarm signal indicating that the encoder is abnormal.
[0013] In some embodiments, the stacker is configured to, when it is determined that the nth cargo or the zth cargo has not been placed in the corresponding cargo location, issue a second alarm signal indicating that the cargo has not been placed in the corresponding cargo location.
[0014] In some embodiments, the first detector is a photodetector and / or the second detector is an ultrasonic sensor.
[0015] In some embodiments, the cargo is a cigarette box.
[0016] According to another aspect of the embodiments of the present disclosure, there is provided a warehousing system, characterized in that it comprises: the detection system described in any one of the above embodiments; the shuttle board; and a shelf, including the multiple cargo locations.
[0017] In the embodiment of the present disclosure, the detection system includes a stacker, a first detector, a second detector installed on a shuttle board, and an encoder installed on the shuttle board. The first detector includes a receiver installed above the corresponding cargo position and a transmitter installed on the shuttle board.
[0018] During the process of placing the nth item, when the nth receiver receives the first signal sent by the transmitter, it can send a first stop signal to the shuttle board to stop the shuttle board and send a first recording signal to the encoder. In response to detecting the nth item in the forward direction of the shuttle board, the second detector can send a second recording signal to the encoder.
[0019] The encoder can respond to the first recording signal and record the encoding value L of the position of the shuttle plate. n And send the code value L to the stacker n , and in response to the second recording signal, record the code value M of the position of the shuttle plate n And send the code value M to the stacker n , so that the stacker can n , and the code value M n The sum of the code values corresponding to the distance between the shuttle plate and the nth cargo when the second detector detects the nth cargo is used to determine whether the encoder is abnormal, thereby determining whether the output code value is accurate, which helps to improve the accuracy of judging whether the cargo has arrived at the designated cargo location.
[0020] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0022] Figure 1 is a schematic diagram of a detection system according to some embodiments of the present disclosure. DETAILED DESCRIPTION
[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.
[0024] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.
[0025] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship.
[0026] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.
[0027] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.
[0028] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0029] In addition, in the description of the present disclosure, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or order. Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or that all illustrated operations be performed to achieve the desired result. In certain circumstances, multitasking and parallel processing can be advantageous.
[0030] Figure 1 is a schematic diagram of a detection system according to some embodiments of the present disclosure.
[0031] In some embodiments, as Figure 1 As shown, the detection system includes a first detector (here, a transmitter 101 included in the first detector is schematically shown), a second detector 102 , an encoder 103 and a stacker 104 .
[0032] The transmitter 101 is mounted on a shuttle board 105 for carrying goods and is configured to transmit a first signal while the shuttle board 105 is moving. For example, the shuttle board 105 moves along an aisle 107 in a shelf. In some embodiments, the goods are cigarette boxes.
[0033] The first detector includes a plurality of receivers (not shown) corresponding to the z cargo locations for storing the z cargoes, each receiver being installed above the corresponding cargo location. It should be understood that the receivers are installed in positions such that they can receive the first signal sent by the transmitter 101.
[0034] The nth receiver is configured to, upon receiving the first signal transmitted by the transmitter 101 during the process of placing the nth cargo 106, send a first stop signal to the shuttle board 105 to stop the shuttle board 105 and send a first recording signal to the encoder 103. Here, 1 ≤ n < z, where n is a natural number and z is the total number of cargo positions in the forward direction of the shuttle board 105. For example, z can be 12.
[0035] For example, during the process of placing the nth cargo 106 , the nth receiver works, and other receivers except the nth receiver do not work, that is, only the nth receiver can receive the first signal during the process of placing the nth cargo 106 .
[0036] In some embodiments, when the shuttle board 105 stops moving in response to the first stop signal during the process of placing the nth item 106, the shuttle board 105 may place the nth item 106 at the stopped position. For example, the shuttle board 105 supporting the nth item 106 may descend to place the nth item 106 on the shelf at the stopped position.
[0037] The second detector 102 is mounted on the shuttle board 105 and is configured to send a second registration signal to the encoder 103 in response to detecting the n-th cargo 106 in the forward direction of the shuttle board 105 .
[0038] The encoder 103 is mounted on the shuttle board and is configured to record the code value L of the position (i.e., the current position) of the shuttle board 105 in response to the first recording signal sent by the nth receiver. n And send the code value L to the stacker 104 n And, in response to the second recording signal sent by the second detector 102, the encoding value M of the position (ie, the current position) of the shuttle plate 105 is recorded n And send the code value M to the stacker 104 n .
[0039] In some embodiments, the code value recorded by the encoder 103 is positively correlated with the moving distance of the shuttle board 105 in the forward direction. That is, the longer the moving distance of the shuttle board 105 is, the larger the code value recorded by the encoder 103 is.
[0040] As some embodiments, the encoder 103 is mounted on the drive shaft at the bottom of the shuttle board 105. For example, the encoder 103 can be configured to determine the encoding value by detecting the number of rotations of the drive shaft.
[0041] The stacker 104 is configured to: n , and the code value M n The sum of the code values corresponding to the distance between the shuttle plate 105 and the n-th cargo 106 when the second detector 102 detects the n-th cargo 106 is used to determine whether the encoder is abnormal.
[0042] As some embodiments, in the encoding value M n The sum of the code values corresponding to the distance between the shuttle board 105 and the nth cargo 106 when the second detector 102 detects the nth cargo 106 and the code value L n When the absolute value of the difference is greater than or equal to a preset threshold, it is determined that the encoder 103 is abnormal.
[0043] In other words, when the n+1th item is placed, another code value representing the nth item 106 can be obtained when the second detector 102 detects the nth item 106, and the code value L can be compared with the code value L. n Compare. If the code value is the same as the code value L n If the difference is too large, it means that the encoder 103 has an abnormality when the shuttle board 105 carries the n+1th cargo.
[0044] It should be understood that the detection distance of the second detector 102 can be set according to actual conditions, that is, the distance between the shuttle plate 105 and the nth cargo 106 when the second detector 102 detects the nth cargo 106 can be preset.
[0045] In the above embodiment, the detection system includes a stacker 104, a first detector, a second detector 102 mounted on a shuttle board, and an encoder 103 mounted on the shuttle board. The first detector includes a receiver mounted above the corresponding cargo location and a transmitter 101 mounted on the shuttle board.
[0046] During the process of placing the nth cargo 106, when the nth receiver receives the first signal sent by the transmitter 101, it can send a first stop signal to the shuttle board 105 to stop the shuttle board 105 and send a first recording signal to the encoder 103 to make the encoder 103 record the code value L of the position of the shuttle board 105. nIn response to detecting the nth cargo 106 in the forward direction of the shuttle board 105, the second detector 102 may send a second recording signal to the encoder 103 so that the encoder 103 records the code value M of the position of the shuttle board 105. n .
[0047] The stacker 104 can be operated according to the code value L n , code value M n The sum of the code values corresponding to the distance between the shuttle plate 105 and the n-th cargo 106 when the second detector 102 detects the n-th cargo 106 is used to determine whether the encoder is abnormal, thereby determining whether the output code value is accurate, which helps to improve the accuracy of judging whether the cargo has arrived at the designated cargo location.
[0048] In some embodiments, the first detector is a photoelectric detector and / or the second detector 102 is an ultrasonic sensor. For example, the transmitter 101 may be a laser transmitter and the receiver may be a photoelectric sensor.
[0049] As some embodiments, when the second detector 102 is an ultrasonic sensor, the second detector 102 can transmit an ultrasonic signal 1021 in the forward direction of the shuttle board 105 to detect whether there is cargo in the forward direction.
[0050] In the above embodiments, the detection system of the present disclosure can be constructed using photoelectric detectors and / or ultrasonic sensors, which helps to reduce the cost of constructing the detection system.
[0051] In some embodiments, upon receiving the first signal transmitted by the transmitter 101 during the process of placing the zth item, the zth receiver is configured to send a second stop signal to the shuttle board 105 to stop the shuttle board 105 and send a third recording signal to the encoder 103. It should be understood that the zth item is the last item.
[0052] The encoder 103 is configured to: in response to the third recording signal sent by the zth receiver, record the encoding value L of the position of the shuttle plate 105 z And send the code value L to the stacker 104 z .
[0053] The stacker 104 is configured to: n and preset range, determine whether the nth cargo 106 is placed in the corresponding cargo position; and according to the code value L z and the preset range to determine whether the zth item is placed in the corresponding cargo location.
[0054] As some embodiments, if the encoding value L nIf the code value L does not fall within the preset range, it is determined that the nth cargo 106 is not placed in the corresponding cargo location; z If the code value does not fall within the preset range, it is determined that the zth item is not placed in the corresponding cargo location. Similarly, if the code value falls within the preset range, it is determined that the item is placed in the corresponding cargo location.
[0055] It should be understood that if the shuttle board 105 can carry the zth cargo, it means that the encoder 103 has not been abnormal when the shuttle board 105 carried all previous cargoes, that is, the encoder 103 has good robustness. Therefore, when carrying the zth cargo, it is not necessary to determine whether the encoder 103 is abnormal.
[0056] It should be understood that in most cases, the encoder 103 gradually becomes abnormal during operation. Therefore, when transporting the first cargo, it may be considered to determine whether the encoder 103 is abnormal.
[0057] In the above embodiment, by judging whether the code value falls within a preset range, it can be determined whether the goods are placed in the corresponding cargo location.
[0058] In some embodiments, the transmitter 101 is configured to transmit the first signal upward perpendicularly to the shuttle board 105 during the shuttle board 105 moving forward. That is, the transmitter head of the transmitter 101 is arranged perpendicularly to the shuttle board 105.
[0059] That is, when the receiver receives the first signal transmitted by the transmitter 101 , the shuttle plate 105 is located directly below the receiver.
[0060] In this way, the position of the shuttle plate 105 can be accurately determined, so that the encoder 103 can output an accurate encoding value, which helps to further improve the accuracy of determining whether the goods have arrived at the designated cargo location.
[0061] In some embodiments, the stacker 104 is configured to send a third stop signal to the shuttle board 105 to stop the shuttle board 105 when the encoder 103 is abnormal. In this way, the goods can be prevented from being placed in the wrong location.
[0062] In some embodiments, the stacker 104 is configured to, upon determining that the nth item 106 or the zth item has not been placed in the corresponding cargo location, send a fourth stop signal to the shuttle board 105 to stop the shuttle board 105. This can prevent items from being placed in the wrong location.
[0063] In some embodiments, the stacker 104 is configured to, when the encoder 103 is abnormal, issue a first alarm signal indicating the abnormality of the encoder 103. For example, the first alarm signal may be a voice announcement indicating the abnormality of the encoder 103; or, for another example, the first alarm signal may be a light signal indicating the abnormality of the encoder 103.
[0064] In this way, the staff can be reminded in time that the encoder 103 is abnormal so that the staff can perform maintenance.
[0065] In some embodiments, the stacker 104 is configured to, upon determining that the nth item 106 or the zth item has not been placed in the corresponding storage location, issue a second alarm signal indicating that the item has not been placed in the corresponding storage location. For example, the second alarm signal may be a voice announcement indicating that the item has not been placed in the storage location. For another example, the second alarm signal may be a light signal indicating that the item has not been placed in the storage location.
[0066] In this way, the staff can be reminded in time of abnormalities in the goods entering the warehouse so that the staff can place the goods to the corresponding storage location in time.
[0067] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0068] The present disclosure also provides a storage system comprising: a detection system according to any one of the above embodiments; a shuttle board according to any one of the above embodiments; and a plurality of shelves. For example, the storage system is an aisle-type dense storage system.
[0069] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.
[0070] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims
1. A detection system, characterized in that: include: a first detector including a transmitter mounted on a shuttle board for carrying cargo and configured to transmit a first signal during the shuttle board's advancement; and a plurality of receivers corresponding one to each of the z cargo locations for storing the z cargo items, each receiver being mounted above a corresponding cargo location, wherein the nth receiver is configured to: upon receiving the first signal during the process of placing the nth cargo item, send a first stop signal to the shuttle board to stop the shuttle board, and send a first recording signal to the encoder, wherein 1≤n<z, n is a natural number, and z is the total number of cargo locations in the forward direction of the shuttle board; a second detector mounted on the shuttle board and configured to send a second recording signal to the encoder in response to detecting an nth item in the forward direction; The encoder is mounted on the shuttle board and is configured to record the code value L of the position of the shuttle board in response to the first recording signal. n And send the code value L to the stacker n In response to the second recording signal, record the code value M of the position of the shuttle plate n And send the code value M to the stacker n ; The stacker is configured to: n , and the encoding value M n The sum of the code values corresponding to the distance between the shuttle plate and the nth cargo when the second detector detects the nth cargo is used to determine whether the encoder is abnormal.
2. The detection system according to claim 1, characterized in that The zth receiver is configured to: upon receiving the first signal during the process of placing the zth cargo, send a second stop signal to the shuttle board to stop the shuttle board, and send a third recording signal to the encoder; The encoder is configured to: record the encoding value L of the position of the shuttle plate in response to the third recording signal z And send the code value L to the stacker z ; The stacker is configured to: n and the preset range to determine whether the nth item is placed in the corresponding cargo location; And according to the coding value L z and the preset range to determine whether the zth item is placed in the corresponding cargo location.
3. The detection system according to claim 1 or 2, characterized in that: The transmitter is configured to transmit a first signal upward perpendicular to the shuttle board during the shuttle board's advancement.
4. The detection system according to claim 1 or 2, characterized in that: The stacker is configured to send a third stop signal to the shuttle board to stop the shuttle board when the encoder is abnormal.
5. The detection system according to claim 2, characterized in that: The stacker is configured to, when it is determined that the nth cargo or the zth cargo has not been placed in the corresponding cargo location, send a fourth stop signal to the shuttle board to stop the shuttle board.
6. The detection system according to claim 1 or 2, characterized in that: The stacker is configured to, when the encoder is abnormal, issue a first alarm signal indicating that the encoder is abnormal.
7. The detection system according to claim 2, characterized in that: The stacker is configured to, when determining that the nth cargo or the zth cargo has not been placed in the corresponding cargo location, send a second alarm signal indicating that the cargo has not been placed in the corresponding cargo location.
8. The detection system according to claim 1 or 2, characterized in that: The first detector is a photodetector and / or the second detector is an ultrasonic sensor.
9. The detection system according to claim 1 or 2, characterized in that: The goods described are cigarette boxes.
10. A warehousing system, characterized in that: include: The detection system according to any one of claims 1 to 9; the shuttle board; as well as The shelf includes the plurality of cargo locations.