Shuttle vehicle tray identification system

Abstract

The utility model relates to the technical field of material equipment control, and discloses a shuttle vehicle tray identification system, the left side and the right side of a shuttle vehicle are provided with strip-shaped supporting plates, the middle position of at least one supporting plate is provided with a weight sensor assembly and a pressure-sensitive sensor, the weight sensor assembly comprises a weight sensor and a weight sensor support, and the weight sensor support is provided with a pressure-sensitive sensor. A round hole is formed in the middle of the supporting plate, the weight sensor support is installed on the back face of the supporting plate, and the weight sensor is installed on the weight sensor support, extends out of the round hole and is higher than the supporting plate. The multiple pressure-sensitive sensors are arranged on the side edge of the round hole, and wire harnesses of the pressure-sensitive sensors penetrate through the round hole and are connected to a control unit in the shuttle vehicle together with wire harnesses of the weight sensor assembly. The weight sensor is used for detecting the weight of the tray to redistribute power, and the pressure-sensitive sensor is used for confirming the position deviation of the tray to correct the position deviation, so that the shuttle vehicle works in the optimal state.

Description

Technical Field

[0001] This utility model relates to the field of material equipment control technology, and in particular to a shuttle pallet recognition system. Background Technology

[0002] In automated storage and retrieval systems (AS / RS), shuttle equipment often needs to identify the pallets loaded on them and identify off-center loading.

[0003] Common pallet recognition technologies on vehicles include red dot photoelectric sensors. However, these sensors do not perform well in applications with perforated pallets, often resulting in the photoelectric sensor shining through the pallet, causing pallet recognition failure and thus false alarms from the shuttle equipment.

[0004] Ultrasonic sensors are also occasionally used in such functions. Although they avoid the problem of false alarms caused by the hollow pallet, they still cannot achieve the relevant extended functions. For example, when the vehicle is loaded with an empty pallet or light goods, it still runs at full load parameters.

[0005] Under full-load operation, due to safety and stability considerations, the speed and related parameters are about 30-40% lower than under no-load operation. When a fully operational automated warehouse has a large number of empty pallet return functions, the overall operating efficiency of the project will decrease significantly. Utility Model Content

[0006] The purpose of this invention is to solve the above problems and provide a shuttle pallet recognition system. The system uses a weight sensor to detect the weight of the pallet and redistributes the power, and uses a pressure sensor to confirm the positional deviation of the pallet and make corrections, so that the shuttle can work in the best condition.

[0007] The technical solution adopted by this utility model is:

[0008] A shuttle pallet recognition system is characterized in that the shuttle has elongated support plates on its left and right sides. A weight sensor assembly and a pressure sensor are disposed in the middle of at least one support plate. The weight sensor assembly includes a weight sensor and a weight sensor bracket. A circular hole is formed in the middle of the support plate. The weight sensor bracket is mounted on the back of the support plate, and the weight sensor is mounted on the weight sensor bracket, extending from the circular hole and higher than the support plate. Multiple pressure sensors are disposed on the sides of the circular hole. The wiring harnesses of the pressure sensors pass through the circular hole and are connected to a control unit inside the shuttle along with the wiring harnesses of the weight sensor assembly. The pressure sensors are used to receive pressure from the pallet feet. The control unit determines whether there is a pallet on the shuttle and the weight of the pallet load based on the measurement values ​​of the weight sensors, and determines the position of the pallet on the shuttle based on the resistance changes of the pressure sensors.

[0009] Furthermore, at least two pressure sensors are provided on each support plate along the length of the support plate. The pressure sensors are symmetrically arranged on both sides of the circular hole and are defined as positive position sensors. The tray is a three-section tray. When the tray is placed on the support plate, the middle foot of the tray is located on the two positive position sensors.

[0010] Furthermore, two pressure-sensitive sensors, defined as limit sensors, are set on both sides of the two positive position sensors. The distance between the two limit sensors and the two positive position sensors is equal, and the distance between the two limit sensors is greater than the size of the middle foot of the pallet.

[0011] Furthermore, two pressure-sensitive sensors, defined as limit deviation sensors, are set on both sides of the two limit sensors, and the distance between the two limit deviation sensors and the two limit sensors is equal.

[0012] Furthermore, the control unit adjusts the shuttle's operating speed based on the load weight obtained from the weight sensor using the following formula:

[0013] V = V0 × (1 - M) J / M0)

[0014] in,

[0015] V0: Maximum operating speed of the shuttle;

[0016] M J The load weight identified by the weight sensor;

[0017] M0: Maximum load weight within the safe range of the shuttle.

[0018] Furthermore, when both positive position sensors detect pressure on the tray, the control unit determines that the tray position is normal; when one limit sensor detects pressure on the tray, the control unit determines that the tray position is off; when one limit deviation sensor detects pressure on the tray, the control unit determines that the tray position is incorrect.

[0019] Furthermore, when the pallet position is off, the control unit controls the shuttle to travel to the pallet calibration location to perform the pallet calibration process; when the pallet position is incorrect, the control unit controls the vehicle to immediately issue an alarm.

[0020] Furthermore, when the tray is mispositioned, the control unit sends a fault alarm processing message to the upper-level system and performs abnormal processing.

[0021] The beneficial effects of this utility model are:

[0022] (1) By monitoring the load of the shuttle car through a weight sensor, the vehicle motion control parameters are adjusted to improve operating efficiency;

[0023] (2) By arranging pressure-sensitive sensors, the position of the tray can be monitored and corrected at any time;

[0024] (3) Without changing the structure and layout of the shuttle, improve the overall safety and performance of the shuttle.

[0025] (4) Identifying the off-center load deviation of the pallet when the vehicle picks up the goods reduces the risk of collision and overturning when the vehicle and pallet are running on an off-center load. Attached Figure Description

[0026] Appendix Figure 1 This is a three-dimensional structural diagram of the shuttle vehicle of this utility model;

[0027] Appendix Figure 2 This is an unfolded view of the weight sensor and pressure sensor mounted on the support plate;

[0028] Appendix Figure 3 This is a schematic diagram of the structure of the support plate on which the weight sensor bracket is installed.

[0029] Appendix Figure 4 This is a diagram showing the positions of the pallet and the shuttle.

[0030] Appendix Figure 5 This is a diagram showing the normal position of the pallet on the shuttle.

[0031] Appendix Figure 6 This is a schematic diagram showing the tray shifting to either side on the shuttle.

[0032] Appendix Figure 7 This is a diagram illustrating the incorrect positioning of the pallet on the shuttle car.

[0033] The labels in the attached diagram are as follows:

[0034] 1. Shuttle vehicle; 2. Support plate;

[0035] 3. Pallet; 4. Foot support;

[0036] 5. Weight sensor assembly; 6. Weight sensor;

[0037] 7. Weight sensor bracket; 8. Round hole;

[0038] 9. Positive positioning sensor; 10. Limit sensor;

[0039] 11. Limit deviation sensor. Detailed Implementation

[0040] The specific implementation of the shuttle tray recognition system of this utility model will be described in detail below with reference to the accompanying drawings.

[0041] See appendix Figure 1 , 4 The shuttle 1 has long support plates 2 on its left and right sides, which are used to place the pallet 3. The pallet 3 used in this patent is a three-tiered pallet with three rows of feet 4 for supporting the pallet 3. The space between the feet 4 is used for forklift handling.

[0042] See appendix Figures 1 to 3 A weight sensor assembly 5 is set in the middle of the two support plates 2. The weight sensor assembly 5 includes a weight sensor 6 and a weight sensor bracket 7. A circular hole 8 is opened in the middle of the support plate 2. The weight sensor bracket 7 is installed on the back of the support plate 2. The weight sensor 6 is installed on the weight sensor bracket 7. The weight sensor 6 extends out of the circular hole 8 and is slightly higher than the support plate 2.

[0043] When the pallet 3 is placed on the support plate 2, the middle foot 4 of the pallet 3 rests on the two support plates 2, applying pressure to the weight sensor 6, and the weight sensor 6 completes the weighing of the pallet 3 and the goods on it.

[0044] Multiple pressure sensors are also provided in the middle of the two support plates 2, located on both sides of the circular hole 8. The wiring harness of the pressure sensor passes through the circular hole 8 and is connected to the control unit inside the shuttle car 1 along with the wiring harness of the weight sensor assembly 5. The pressure sensor is used to receive the pressure of the pallet 3 foot 4.

[0045] The control unit receives the weighing result from the weight sensor 6 and the resistance feedback from the pressure sensor. The resistance value of the pressure sensor indicates whether the tray 3 is located on the shuttle 1. This replaces infrared sensors or ultrasonic detection.

[0046] The control unit adjusts the operating speed of shuttle 1 according to the load weight obtained from weight sensor 6 using the following formula:

[0047] V = V0 × (1 - M) J / M0)

[0048] in,

[0049] V0: Maximum operating speed of the shuttle;

[0050] M J The load weight identified by the weight sensor;

[0051] M0: Maximum load weight within the safe range of the shuttle.

[0052] The motion control ladder algorithm described above can be used to adjust the motion control parameters of shuttle 1 according to the load conditions, thereby avoiding the problem of low operating efficiency under low load and thus improving the vehicle's operating efficiency.

[0053] See appendix Figure 2 At least two pressure sensors are provided on each support plate 2 along the length of the support plate 2. The pressure sensors are symmetrically arranged on both sides of the circular hole 8 and are defined as positive position sensors 9. When the tray 3 is placed on the support plate 2, the middle foot 4 of the tray 3 is located on the two positive position sensors 9.

[0054] On both sides of the two positive position sensors 9, two pressure-sensitive sensors are set, defined as limit sensors 10. The distance between the two limit sensors 10 and the two positive position sensors 9 is equal, and the distance between the two limit sensors 10 is greater than the size of the middle foot 4 of the pallet 3.

[0055] On both sides of the two limit sensors 10, two pressure-sensitive sensors are set, defined as limit deviation sensors 11, and the distance between the two limit deviation sensors 11 and the two limit sensors 10 is equal.

[0056] The position of tray 3 is determined by checking whether the pressure sensor is under pressure from tray 3. Both support frames can be detected simultaneously for more accurate results.

[0057] See appendix Figure 5 When all 9 positivity sensors detect pressure, the control unit determines that the position of tray 3 is normal.

[0058] See appendix Figure 6 When a limit sensor 10 detects pressure, the control unit determines that the position of pallet 3 has deviated. When the position of pallet 3 deviates, the control unit controls the shuttle 1 to travel to the calibration position of pallet 3 to perform the pallet 3 calibration process.

[0059] See appendix Figure 7 When a limit deviation sensor 11 detects pressure, the control unit determines that the tray 3 is in an incorrect position. When the tray 3 is in an incorrect position, the control unit immediately initiates an alarm process. Simultaneously with issuing the alarm, the control unit sends fault alarm processing information to the upper-level system and performs abnormal handling.

[0060] The labels "Pattern 3 is in the correct position," "position is off-center," and "position is incorrect" are merely expressions of its status. In practice, the actual position depends on the size and location of the equipment. For example, a deviation of less than 5% is considered normal, 5%-10% is considered off-center, and more than 10% is considered incorrect. In addition to the three pressure sensors positioned at different locations, more pressure sensors can be added to provide more precise feedback on the tray's positional deviation.

[0061] The above are merely preferred embodiments of this utility model. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A shuttle vehicle tray recognition system, characterized in that: The shuttle car is provided with long strip support plates on the left and right sides. At the middle position of at least one support plate, a weight sensor assembly and a pressure sensor are provided. The weight sensor assembly includes a weight sensor and a weight sensor bracket. A circular hole is opened at the middle position of the support plate. The weight sensor bracket is installed on the back of the support plate. The weight sensor is installed on the weight sensor bracket. The weight sensor extends out of the circular hole and is higher than the support plate. Multiple pressure sensors are disposed on the side of the circular hole. The wiring harnesses of the pressure sensors pass through the circular hole and are connected to the control unit inside the shuttle car along with the wiring harnesses of the weight sensor assembly. The pressure sensors are used to receive pressure from the pallet foot. The control unit determines whether there is a tray on the shuttle and the weight of the tray load based on the measurement value of the weight sensor, and determines the position of the tray on the shuttle based on the resistance change of the pressure sensor.

2. The shuttle tray recognition system according to claim 1, characterized in that: At least two pressure sensors are provided on each support plate along the length of the support plate. The pressure sensors are symmetrically arranged on both sides of the circular hole and are defined as positive position sensors. The tray is a three-section tray. When the tray is placed on the support plate, the middle foot of the tray is located on the two positive position sensors.

3. The shuttle tray recognition system according to claim 2, characterized in that: On both sides of the two positive position sensors, two pressure-sensitive sensors are set up, which are defined as limit sensors. The distance between the two limit sensors and the two positive position sensors is equal, and the distance between the two limit sensors is greater than the size of the middle foot of the pallet.

4. The shuttle tray recognition system according to claim 3, characterized in that: Two pressure-sensitive sensors, defined as limit deviation sensors, are set on both sides of the two limit sensors. The distance between the two limit deviation sensors and the two limit sensors is equal.

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