Container Handling Vehicle Track Wheel Position Measurement
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Solution Overview
Problem
Existing container handling vehicles in automated storage and retrieval systems face issues with wheel slippage, leading to misreading of angular position and limited accuracy in distance metering, particularly in high-density operations.
Innovation Solution
The implementation of a container handling vehicle equipped with a track wheel and a position measurement system, including an encoder and a non-rotatable track wheel sensor, which provides additional angular position measurements to compensate for encoder misreadings and enhance accuracy through synchronization with rolling means, improving distance measurement reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If encoder is connected to rolling means for angular position measurement, then position measurement is enabled, but wheel slippage causes misreading and reduced measurement accuracy
Solution Approach 1:
A non-rotatable track wheel sensor is introduced as an intermediary measurement device. This sensor reads encoder markings on the stationary track structure rather than on the rotating wheel itself. The track wheel acts as a mediator that transfers position information from the fixed track to the measurement system without being affected by wheel slippage, thereby resolving the contradiction between enabling position measurement and maintaining reliability under slippage conditions.
2Measurement precision
If single encoder system is used for position measurement, then device complexity is low, but measurement accuracy and reliability are limited
Solution Approach 1:
The track wheel sensor system serves as an intermediary that adds measurement redundancy without requiring a complete dual-encoder system. By reading encoder markings on the stationary track structure, it provides an independent measurement path that compensates for rolling means encoder errors, improving accuracy while adding minimal complexity compared to a full dual-encoder configuration.
Solution Approach 2:
The track wheel creates a copy of the position information by reading encoder markings on the stationary track structure. This copied measurement path is independent of the rolling means encoder, providing redundant position data that can be used to detect and correct measurement errors, thereby improving reliability without duplicating the entire encoder system.
Data Source
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AI summary
A container handling vehicle suitable for handling storage containers in an automated storage and retrieval system. The vehicle comprises a vehicle body, first rolling means rotatably connected at least indirectly to the vehicle body and configured to move the vehicle along a first lateral direction (X), second rolling means rotatably connected to the vehicle body and configured to move the vehicle along a second lateral direction (Y) perpendicular to the first direction (X), a rolling means displacement system arranged to displace the first rolling means in a vertical direction (Z) perpendicular to the first and second lateral directions (X,Y) between a lowered position located lower than the vertical position of the second rolling means and a raised position located higher than the vertical position of the second rolling means, a first track wheel rotatably connected to the vehicle body having a rotational axis parallel to the second lateral direction (Y) and a first position measurement system coupled to the first track wheel for acquisition of angular positioning data thereof.