Shuttle vehicle walking positioning system
By designing positioning codes that intersect the main track and the sub-track, and combining this with the special lens configuration of the code reader, the problems of inaccurate positioning and high construction difficulty of the four-way shuttle were solved, achieving precise positioning of the shuttle and efficient cargo management.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YUANLI JUHE (CHONGQING) ROBOTICS TECHNOLOGY CO LTD
- Filing Date
- 2025-05-28
- Publication Date
- 2026-05-08
AI Technical Summary
The existing four-way shuttle positioning method is easily affected by dust, resulting in inaccurate or no positioning. In addition, the sub-track laying and cleaning work is extensive and the construction is difficult.
The system uses a combination of main and sub-tracks, with the first positioning code facing upwards and the second positioning code facing sideways. The readers are equipped with downward-facing and side-facing lenses to collect information, which, combined with the maintenance access, facilitates cleaning and construction.
Ensure precise positioning of shuttle vehicles to reduce construction and cleaning workload, minimize manpower consumption, and improve the efficiency of cargo handling and storage.
Smart Images
Figure CN224211782U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent logistics technology, specifically to a shuttle vehicle positioning system. Background Technology
[0002] Currently, shuttles typically include four-way shuttles. Because four-way shuttles can move freely on crisscrossing transport tracks, they can adapt to the storage needs of different scenarios. To ensure that four-way shuttles can accurately and efficiently complete the handling and retrieval of goods on complex transport tracks, the position of the four-way shuttles must be precisely controlled.
[0003] The positioning method for four-way shuttles typically uses barcodes or QR codes. The barcodes or QR codes are laid face up on the sub-tracks and main track of the transport rail. The four-way shuttle has a barcode scanner; the scanner lens faces down to read the code, thus determining the shuttle's position on the transport rail. While barcode and QR code positioning has advantages such as low cost and high accuracy, laying the barcodes or QR codes face up easily attracts dust. Manually cleaning the barcodes or QR codes across the entire transport rail is a huge workload. Furthermore, to save space, conventional sub-tracks are not equipped with maintenance access, making the installation of barcodes or QR codes on sub-tracks difficult and labor-intensive. The dust on the barcodes or QR codes on sub-tracks is also difficult to clean, easily affecting the barcode reader's reading ability, thus leading to inaccurate positioning or even failure to position the four-way shuttle on the sub-track. Utility Model Content
[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of this application, a shuttle vehicle positioning system is provided, the technical solution of which is as follows.
[0005] The shuttle positioning system includes a main track, a sub-track, a first positioning code, a second positioning code, and a code reader mounted on the shuttle. The main track is set along a first direction, and the sub-track is set along a second direction. The sub-track intersects the main track, forming a reversing area at the intersection. The first positioning code is set in the reversing area with its display surface facing upwards. The second positioning code is set on the portion of the sub-track excluding the reversing area, with its display surface facing sideways. The code reader has a first lens and a second lens. The first lens faces downwards to collect information from the first positioning code, and the second lens is positioned sideways to collect information from the second positioning code.
[0006] The shuttle positioning system of this application sets the first positioning code facing upwards in the reversing area and sets the second positioning code facing sideways on the sub-track. The first lens of the code reader faces downwards to collect information from the first positioning code, and the second lens faces sideways to collect information from the second positioning code. On the one hand, when the shuttle travels on the main track or the sub-track, it can read the first and second positioning codes, which is beneficial for the accurate positioning of the shuttle and ensures that the shuttle can accurately and efficiently complete the tasks of transporting and storing goods. On the other hand, since the main track is usually equipped with a maintenance channel, the first positioning code with the facing upwards can be easily cleaned through the maintenance channel. Although the sub-track is usually not equipped with a maintenance channel, the second positioning code is facing sideways, so it can be affixed before the sub-track is installed. Even if the second positioning code is affixed on site, it can be directly affixed to the side of the sub-track without the need for a bracket, which greatly reduces the difficulty of on-site construction and the amount of laying work. Moreover, it is not easy to accumulate dust and does not require cleaning, which reduces the amount of cleaning work. In other words, the first positioning code is easy to clean, and the second positioning code is easy to construct and does not easily accumulate dust, thus saving manpower.
[0007] For example, the shuttle has a body with side walls and a bottom wall. A second lens is set on the side wall, and a first lens is set at a designated position on the bottom wall. When the shuttle travels to the reversing area, the first positioning code is located within the scanning field of view of the first lens.
[0008] For example, the first positioning code is set on the first track segment, which is the part of the parent track that is in the reversing area.
[0009] For example, the first track segment includes a first track body and a first bracket, the first bracket protruding inside the first track body, and a first positioning code disposed on the first bracket.
[0010] For example, the first bracket has a first top surface, and a first positioning code is disposed on the first top surface.
[0011] For example, the first positioning code is set on the second track segment, which is the part of the sub-track that is in the reversing area.
[0012] For example, the second track segment includes a second track body and a second support, the second support protruding from the inner side of the second track body, and a first positioning code is disposed on the second support.
[0013] For example, the second bracket has a second top surface, and the first positioning code is disposed on the second top surface.
[0014] For example, the sub-track forms a guide section outside the reversing area, the guide section having an inner surface, on which a second positioning code is disposed.
[0015] For example, the first direction and the second direction satisfy the perpendicular condition.
[0016] This utility model description introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.
[0017] The advantages and features of this application are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0018] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention. In the drawings,
[0019] Figure 1 A perspective view of a partial shuttle vehicle positioning system as an exemplary embodiment of this application;
[0020] Figure 2 for Figure 1 The image shown is a three-dimensional view of part of the shuttle vehicle's positioning system from another angle.
[0021] Figure 3 for Figure 1 A bottom view of part of the shuttle vehicle positioning system shown;
[0022] Figure 4 for Figure 1 A three-dimensional view of part of the shuttle car positioning system (without the shuttle car);
[0023] Figure 5 for Figure 4 Enlarged view of section A;
[0024] Figure 6 A perspective view of a partial shuttle vehicle positioning system (without the shuttle vehicle) as another exemplary embodiment of this application.
[0025] The above figures include the following reference numerals:
[0026] 10. Mother track; 110. First track segment; 111. First track body; 112. First support; 1121. First top surface; 1122. First fixing part; 1123. First mounting part; 20. Sub-track; 210. Second track segment; 211. Second track body; 212. Second support; 2121. Second top surface; 2122. Second fixing part; 2123. Second mounting part; 213. Guide segment; 2131. Inner side; 30. Shuttle; 310. Code reader; 311. First lens; 312. Second lens; 320. Car body; 321. Side wall; 322. Bottom wall; 40. Reversing area; 50. First positioning code; 60. Second positioning code. Detailed Implementation
[0027] In the following description, numerous details are provided to enable a thorough understanding of this application. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the application, and that the application can be implemented without one or more of these details. Furthermore, to avoid confusion with this application, some technical features well-known in the art have not been described in detail.
[0028] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may be available in addition to these detailed descriptions.
[0029] This application provides a shuttle vehicle positioning system. The following will describe in detail a shuttle vehicle positioning system according to an embodiment of this application with reference to the accompanying drawings.
[0030] See also Figures 1 to 6 The shuttle positioning system may include a main track 10, a sub-track 20, a first positioning code 50, a second positioning code 60, and a code reader 310 mounted on the shuttle 30. The shuttle 30 in this application may include a four-way shuttle or a multi-way shuttle, etc., and the shuttle 30 can travel on the track formed by the combination of the main track 10 and the sub-track 20. The main track 10 can travel along a first direction (e.g., ...). Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The sub-track 20 can be set along the second direction (e.g., in the XX direction). Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6The first and second directions can be perpendicular, as will be explained in detail below. Alternatively, they can intersect at an angle, allowing for different arrangements of the sub-tracks 20 and 10 depending on the application scenario. Sub-tracks 20 and 10 can intersect, forming a reversing area 40 at the intersection. It should be noted that sub-tracks 20 can be used for precise operations such as cargo storage and retrieval by the shuttle 30, which can switch to various sub-tracks 20 via the 10. Alternatively, sub-tracks 20 can be branch tracks extending from the 10, with the 10 serving as a connecting track between sub-tracks 20. A first positioning code 50 can be set in the reversing area 40, with its display surface facing upwards. A second positioning code 60 can be set on the portion of the sub-track 20 excluding the reversing area 40, with its display surface facing sideways. The first positioning code 50 and the second positioning code 60 can be barcodes or QR codes, etc. The materials of the first positioning code 50 and the second positioning code 60 can be paper, wood, or steel, etc., allowing for the selection of appropriate materials according to different scenarios. The code reader 310 can have a first lens 311 and a second lens 312. The first lens 311 can be positioned downwards to collect information from the first positioning code 50. When the shuttle 30 reaches the reversing area 40 where the first positioning code 50 is located, the first positioning code 50 can be within the scanning field of view of the first lens 311 to collect its information. The second lens 312 can be positioned sideways to collect information from the second positioning code 60. When the shuttle 30 reaches the sub-track 20 where the second positioning code 60 is located, the second positioning code 60 can be within the scanning field of view of the second lens 312 to collect its information. The code reader 310 captures the corresponding first positioning code 50 through the first lens 311 or the corresponding second positioning code 60 through the second lens 312. The images captured by the first lens 311 or the second lens 312 are analyzed and processed by the built-in image processor, and then image recognition is performed. The recognized encoded information is then decoded, and finally, the read information is transmitted to the control system, thereby obtaining the position information of the shuttle 30 on the track. The control system issues control commands based on the position information of the shuttle 30 on the track, and the shuttle 30 executes subsequent work according to the commands, thus realizing automated handling and management of goods.
[0031] The shuttle positioning system of this application sets the display surface of the first positioning code 50 facing upward in the reversing area 40, and sets the display surface of the second positioning code 60 facing sideways on the sub-track 20. The first lens 311 of the code reader 310 is set downward to collect information of the first positioning code 50, and the second lens 312 is set sideways to collect information of the second positioning code 60. On the one hand, when the shuttle 30 travels on the main track 10 or the sub-track 20, it can read the first positioning code 50 and the second positioning code 60, which is beneficial to the accurate positioning of the shuttle 30 during travel and ensures that the shuttle 30 can accurately and efficiently complete the cargo transportation. On the one hand, the main track 10 is equipped with a maintenance channel, through which the first positioning code 50 with its display surface facing upwards can be cleaned. Although the sub-track 20 is not usually equipped with a maintenance channel, the second positioning code 60 is side-mounted, allowing it to be affixed before installing the sub-track 20. Even if the second positioning code 60 is affixed on-site, it can be directly affixed to the side of the sub-track 20 without a support frame, greatly reducing on-site construction difficulty and laying workload. Moreover, it is not prone to dust accumulation and requires no cleaning, reducing cleaning workload. In other words, the first positioning code 50 is easy to clean, and the second positioning code 60 is easy to install and not prone to dust accumulation, thus saving manpower.
[0032] In some embodiments, since the sub-track 20 is a branch track extending from the parent track 10, the parent track 10 occupies a smaller proportion of the entire track. The parent track 10 is typically equipped with a maintenance passage, thus not occupying excessive space. The maintenance passage facilitates the cleaning of the first positioning code 50 with its display surface facing upwards on the parent track 10, minimizing cleaning workload and difficulty. The sub-track 20 occupies a larger proportion of the entire track. The second positioning code 60 can be installed on the corresponding sub-track 20 before assembly. The second positioning code 60 has its display surface facing sideways, making it less prone to dust accumulation and eliminating the need for cleaning, thereby reducing cleaning workload and saving manpower. The number of first positioning codes 50 and second positioning codes 60 is not specifically limited here; the key is to accurately determine the position of the shuttle 30, ensuring that the shuttle 30 can accurately and efficiently complete the handling and retrieval of goods. Specifically, the mother track 10 and the sub-track 20 can form a mesh track, a tree track, or a radial track, and the mother track 10 and the sub-track 20 can be arranged in different ways depending on the application scenario.
[0033] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6The shuttle 30 may have a body 320, which may have side walls 321 and a bottom wall 322. A second camera 312 may be mounted on the side wall 321. To ensure stable operation of the shuttle 30, the sub-track 20 may consist of two parallel tracks. When the shuttle 30 travels on the sub-track 20, the second camera 312 may be mounted on the side wall 321, which is parallel to the sub-track 20. A first camera 311 may be mounted at a designated position on the bottom wall 322. It should be noted that the designated position is such that when the shuttle 30 reaches the reversing area 40 where the first positioning code 50 is located, the first camera 311 is positioned on the bottom wall 322 such that the first positioning code 50 is within its scanning field of view. For example, when the first positioning code 50 is located near the center of the reversing area 40, the designated position of the first camera 311 on the bottom wall 322 may be near the center of the bottom wall 322. When the first positioning code 50 is set near the edge of the reversing area 40, the first lens 311 can be positioned on the bottom wall 322 near the edge of the bottom wall 322. Specifically, when the bottom wall 322 is square, the position near the edge of the bottom wall 322 can be near one of its four sides. When the first positioning code 50 is set near the first track body 111 (mentioned below), the first lens 311 is set on the side of the bottom wall 322 near the first track body 111. When the first positioning code 50 is set near the second track body 211 (mentioned below), the first lens 311 is set on the side of the bottom wall 322 near the second track body 211. Thus, when the shuttle 30 travels on the main track 10 or the sub-track 20, the first lens 311 can read the first positioning code 50, and the second lens 312 can read the second positioning code 60. This allows for precise control of the shuttle 30's position, ensuring that the shuttle 30 can accurately and efficiently complete the handling and storage of goods on the main track 10 and the sub-track 20.
[0034] See also Figure 1 , Figure 3 and Figure 6 The first positioning code 50 can be set on the first track segment 110. The first track segment 110 is the part of the parent track 10 located in the reversing area 40. In this way, when the shuttle 30 travels to the reversing area 40, the first lens 311 of the code reader 310 on the shuttle 30 can read the first positioning code 50, thereby accurately determining the position of the shuttle 30.
[0035] See again Figure 1 , Figure 3 and Figure 6The first track segment 110 may include a first track body 111 and a first support 112. The first support 112 may protrude from the inner side of the first track body 111. For stable operation of the shuttle 30, the parent track 10 may consist of two parallel tracks. Therefore, there may be two first track bodies 111, arranged parallel to each other, with the inner side of each body approaching the other. The first support 112 and the first track body 111 may be an integral structure, improving the stability of the connection between them. Alternatively, the first support 112 and the first track body 111 may be separate structures, connected by snap-fit, screws, or other means. This allows the first support 112 to be installed or removed relative to the first track segment 110, facilitating maintenance or cleaning. A first positioning code 50 may be mounted on the first support 112. Specifically, the first bracket 112 may have a first fixing part 1122 and a first mounting part 1123. The first fixing part 1122 can be connected to the first track body 111 by means of snap-fit, screw connection, etc. The first positioning code 50 is disposed on the first mounting part 1123. The first mounting part 1123 may be a plate-shaped part to facilitate the setting of the first positioning code 50. The first mounting part 1123 and the first positioning code 50 can be connected by means of adhesive or screw connection, etc. In this way, the first bracket 112 protrudes from the inner side of the first track body 111, and the first positioning code 50 is disposed on the first bracket 112, which can ensure that when the shuttle car 30 travels to the reversing area 40, the first positioning code 50 can be located below the shuttle car 30, and the display surface of the first positioning code 50 is set upward, thereby ensuring that the position of the first lens 311 reading the first positioning code 50 can accurately correspond to the position of the shuttle car 30 in the reversing area 40, and thus accurately grasp the position of the shuttle car 30.
[0036] See again Figure 1 , Figure 3 and Figure 6The first bracket 112 may have a first top surface 1121, and the first positioning code 50 may be disposed on the first top surface 1121. The wheels of the shuttle 30 can travel on the top surface of the first track body 111, that is, the uppermost surface of the first track body 111 after installation. The first top surface 1121 of the first bracket 112 may be a surface close to the top surface of the first track body 111. The first top surface 1121 may be located on the first mounting portion 1123. In this way, the display surface of the first positioning code 50 can be ensured to face upwards, and the first lens 311 can be positioned downwards to read the first positioning code 50, thereby accurately determining the position of the shuttle 30. In some embodiments, the first bracket 112 may also have an upwardly inclined side, and the first positioning code 50 may be disposed on the inclined side. In this way, the first lens 311 can be positioned downwards to read the first positioning code 50, thereby accurately determining the position of the shuttle 30. Of course, the first positioning code 50 can also be set on any suitable surface of the first bracket 112, which can ensure that the first lens 311 can read the first positioning code 50.
[0037] See also Figure 3 and Figure 4 The first positioning code 50 can be set on the second track segment 210. The second track segment 210 is the part of the sub-track 20 located in the reversing area 40. In this way, when the shuttle 30 travels to the reversing area 40, the first lens 311 of the code reader 310 on the shuttle 30 can read the first positioning code 50, thereby accurately determining the position of the shuttle 30.
[0038] See also Figures 3 to 5The second track segment 210 may include a second track body 211 and a second support 212. The second support 212 may protrude from the inner side of the second track body 211. For stable operation of the shuttle 30, the sub-track 20 may consist of two parallel tracks. Therefore, there may be two second track bodies 211, arranged parallel to each other, with the inner side of each second track body 211 being the side closest to the other. The second support 212 and the second track body 211 may be an integral structure, improving the stability of the connection between them. Alternatively, the second support 212 and the second track body 211 may be separate structures, connected by snap-fit, screws, or other means. This allows the second support 212 to be installed or removed relative to the second track segment 210, facilitating maintenance or cleaning. A first positioning code 50 may be mounted on the second support 212. Specifically, the second bracket 212 may have a second fixing part 2122 and a second mounting part 2123. The second fixing part 2122 can be connected to the second track body 211 by means of snap-fit, screw connection, etc. The first positioning code 50 is disposed on the second mounting part 2123. The second mounting part 2123 may be a plate-shaped part to facilitate the placement of the first positioning code 50. The second mounting part 2123 and the first positioning code 50 can be connected by means of adhesive or screw connection, etc. In this way, the second bracket 212 protrudes from the inner side of the second track body 211, and the first positioning code 50 is disposed on the second bracket 212, which ensures that when the shuttle car 30 travels to the reversing area 40, the first positioning code 50 can be located below the shuttle car 30, and the display surface of the first positioning code 50 is set upwards. This ensures that the position of the first lens 311 reading the first positioning code 50 can accurately correspond to the position of the shuttle car 30 in the reversing area 40, thereby accurately grasping the position of the shuttle car 30.
[0039] See again Figures 3 to 5 The second bracket 212 may have a second top surface 2121, and the first positioning code 50 may be disposed on the second top surface 2121. The wheels of the shuttle 30 can travel on the top surface of the second track body 211, that is, the uppermost surface of the second track body 211 after installation. The second top surface 2121 of the second bracket 212 may be a surface close to the top surface of the second track body 211. The second top surface 2121 may be located on the second mounting part 2123. In this way, it can be ensured that the display surface of the first positioning code 50 is facing upwards, and that the first lens 311 is facing downwards to read the first positioning code 50, thereby accurately determining the position of the shuttle 30.
[0040] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The sub-track 20 can form a guide section 213 outside the reversing area 40. That is, the guide section 213 can be formed on the portion of the sub-track 20 outside the reversing area 40. The guide section 213 can have an inner surface 2131, and the second positioning code 60 can be disposed on the inner surface 2131. The guide section 213 and the second positioning code 60 can be connected by means of adhesive or screws. The guide section 213 can be a plate-like component, and the plate surface can be used to guide the shuttle 30. To ensure stable travel of the shuttle 30, the sub-track 20 can consist of two parallel tracks. During the travel of the shuttle 30 on the sub-track 20, the guide section 213 serves to guide the shuttle 30 to travel in the second direction YY. Understandably, in the two parallel tracks, each track has one guide section 213, and the two guide sections 213 are parallel. The inner surface 2131 of the guide section 213 can be the side of the two guide sections 213 that are close to each other. Thus, on the one hand, by setting the guide section 213, the stability of the shuttle 30 traveling on the sub-track 20 can be improved, thereby ensuring that the shuttle 30 can stably arrive at the designated position for cargo storage and retrieval operations; on the other hand, the second positioning code 60 is set on the inner side 2131 of the guide section 213. The display surface of the second positioning code 60 is set to the side, which makes it less prone to dust accumulation and eliminates the need for cleaning, thereby reducing the amount of cleaning work and saving manpower. Moreover, there is no need to install additional brackets or other structures on the sub-track 20 to set the second positioning code 60, which can save manufacturing steps and processing time, thereby improving processing efficiency and saving manufacturing costs.
[0041] See again Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The first direction can be perpendicular to the second direction. Thus, since the main track 10 is set along the first direction and the sub-track 20 is set along the second direction, and the first and second directions are perpendicular, the complexity of the arrangement of the main track 10 and the sub-track 20 can be reduced, and the trajectory of the shuttle 30 can be more predictable. Therefore, by using a positioning code, the position of the shuttle 30 can be more accurately determined, ensuring that the shuttle 30 can more accurately and efficiently complete the handling and retrieval of goods on the main track 10 and the sub-track 20. Specifically, as... Figure 3 The first direction can be the longitudinal direction, and the second direction can be the transverse direction. In this way, the first direction and the second direction can satisfy the perpendicular condition. The arrangement of the mother track 10 and the daughter track 20 is simple and can reduce the installation difficulty.
[0042] In some embodiments, see reference again Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 Since the wheels of the shuttle 30 travel on the mother track 10 and the sub-track 20, the bottom wall 322 of the vehicle body 320 is located above the mother track 10 and the sub-track 20. The first lens 311 is set on the bottom wall 322 and reads the code downwards. The first positioning code 50 is located on the first bracket 112 protruding inside the first track body 111 or on the second bracket 212 protruding inside the second track body 211. The display surface of the first positioning code 50 can face upwards and be displayed on the bottom wall 322. When the shuttle 30 travels to a certain reversing area 40, the first lens 311 can read the first positioning code 50 of the reversing area 40. When the shuttle 30 travels onto a sub-track 20, the guide section 213 is located on both sides of the vehicle body 320, parallel to the side wall 321. The second lens 312 is mounted on the side wall 321 for lateral code reading, and the second positioning code 60 is located on the inner side 2131 of the guide section 213. The display surface of the second positioning code 60 can face to the side and be displayed towards the side wall 321, allowing the second lens 312 to read the second positioning code 60 of the sub-track 20. Thus, when the shuttle 30 travels on the main track 10 or the sub-track 20, the first lens 311 can read the first positioning code 50, and the second lens 312 can read the second positioning code 60. This allows for precise control of the shuttle 30's position, ensuring that the shuttle 30 can accurately and efficiently complete the handling and retrieval of goods on the main track 10 and the sub-track 20.
[0043] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.
[0044] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.
[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.
[0046] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.
[0047] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the scope of the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.
Claims
1. A shuttle vehicle positioning system, characterized in that, It includes the main track, the sub-track, the first positioning code, the second positioning code, and the code reader installed on the shuttle; The mother track is arranged along a first direction, the sub-track is arranged along a second direction, the sub-track intersects the mother track, and the sub-track and the mother track form a reversing area at the intersection. The first positioning code is arranged in the reversing area with the display surface of the first positioning code facing upward. The second positioning code is arranged on the part of the sub-track excluding the reversing area, and the display surface of the second positioning code is arranged sideways. The barcode reader has a first lens and a second lens. The first lens is positioned downwards to collect information from the first positioning code, and the second lens is positioned to the side to collect information from the second positioning code.
2. The shuttle vehicle positioning system according to claim 1, characterized in that, The shuttle has a body with side walls and a bottom wall. The second lens is mounted on the side wall, and the first lens is mounted at a designated position on the bottom wall. When the shuttle travels to the reversing area, the first positioning code is within the scanning field of view of the first lens.
3. The shuttle vehicle positioning system according to claim 1 or 2, characterized in that, The first positioning code is set on the first track segment, which is the part of the mother track located in the reversing area.
4. The shuttle vehicle positioning system according to claim 3, characterized in that, The first track segment includes a first track body and a first support. The first support protrudes from the inner side of the first track body, and the first positioning code is disposed on the first support.
5. The shuttle vehicle positioning system according to claim 4, characterized in that, The first bracket has a first top surface, and the first positioning code is disposed on the first top surface.
6. The shuttle vehicle positioning system according to claim 1 or 2, characterized in that, The first positioning code is set on the second track segment, which is the part of the sub-track located in the reversing area.
7. The shuttle vehicle positioning system according to claim 6, characterized in that, The second track segment includes a second track body and a second support. The second support protrudes from the inner side of the second track body, and the first positioning code is disposed on the second support.
8. The shuttle vehicle positioning system according to claim 7, characterized in that, The second bracket has a second top surface, and the first positioning code is disposed on the second top surface.
9. The shuttle vehicle positioning system according to claim 1 or 2, characterized in that, The sub-track forms a guide section outside the reversing area, the guide section having an inner side surface, and the second positioning code is disposed on the inner side surface.
10. The shuttle vehicle positioning system according to claim 1 or 2, characterized in that, The first direction and the second direction are perpendicular.