阅读说明：本技术 一种用于穿梭车的精确盘点方法 (Accurate checking method for shuttle vehicle ) 是由 彭与门 冯建涛 于 2020-03-31 设计创作，主要内容包括：本发明涉及精确化的穿梭车及仓储盘点领域,具体是一种用于穿梭车的精确盘点方法；其特征是：将光电传感器向内斜45°,使其照射到穿梭车本体的托盘底部且跟随穿梭车本体的车盖升降,还包括在穿梭车本体从A处移动到B处的过程中,将B侧光电检测到的第一个跳变坐标记录并计数加1；记录坐标并自动计算禁止检测的范围,计算公式为：坐标+托盘深度+间隔；待小车通过步骤2所获得的范围值后又放开检测条件,如果又检测到跳变信号则重复上一步。从而本盘点方法相较于传统盘点方法而言能够避免±1的误差,从而达到精确盘点的目的。(The invention relates to the field of precise shuttle car and storage checking, in particular to a precise checking method for a shuttle car; the method is characterized in that: the method comprises the steps that a photoelectric sensor is inclined inwards by 45 degrees, the photoelectric sensor irradiates the bottom of a tray of a shuttle body and is lifted along with a car cover of the shuttle body, and in the process that the shuttle body moves from a position A to a position B, the first jumping coordinate detected by photoelectric detection of the side B is recorded, counted and added with 1; recording coordinates and automatically calculating the detection-forbidden range, wherein the calculation formula is as follows: coordinates + tray depth + spacing; and (3) releasing the detection condition after the trolley passes through the range value obtained in the step (2), and repeating the previous step if a jump signal is detected again. Compared with the traditional inventory method, the inventory method can avoid the error of +/-1, thereby achieving the aim of accurate inventory.)

1. A precise checking method for a shuttle car comprises a shuttle car body with a photoelectric sensor, and is characterized in that: the photoelectric sensors are inclined inwards by 45 degrees, so that the photoelectric sensors irradiate the bottom of a tray of the shuttle body and lift along with a car cover of the shuttle body, every two photoelectric sensors form a group, and signals are redundant; the method further comprises the following checking method:

step 1, in the process that a shuttle vehicle body moves from a position A to a position B, recording and counting a first jumping coordinate detected by photoelectric detection of the side B by adding 1;

and 2, recording coordinates according to the numerical values obtained in the step 1 and automatically calculating the detection prohibition range, wherein the calculation formula is as follows: coordinates + tray depth + spacing;

and 3, releasing the detection condition after the trolley passes through the range value obtained in the step 2, and repeating the previous step if a jump signal is detected.

2. The precise inventory method for shuttle cars as claimed in claim 1, wherein: the type of photosensor is a background suppression type photosensor.

3. The precise inventory method for shuttle cars as claimed in claim 1, wherein: the checking method comprises the following steps of 1-3:

step 1, in the same tunnel tray size scene or under the same circumstances, the following actions are executed:

step 1.1, obtaining the depth and storage interval data of the tray, wherein the shuttle car needs to run back and forth for the whole roadway once in the whole process;

step 1.2, analyzing the obtained data by a CPU chip in the shuttle vehicle control core;

step 1.3, sending the analyzed data to an execution end or a handheld terminal;

and step 1.4, displaying the counting number after the execution end receives the data.

4. The precise inventory method for shuttle cars as claimed in claim 3, wherein: the checking method is realized by adopting the following codes:

THEN/in the movement of the shuttle in the positive direction from the A end to the B end

IF # tray detect signal AND NOT # OFF detect THEN// IF tray detect signal AND detect condition has been ON

# count value + = 1// count value plus 1

Recording coordinate: = # walking shaft coordinate:// and recording current coordinate

# closure detection: = 1;// inhibit detection

END_IF;

IF # OFF-DETECTION AND # TRAVEL AXIS COORDINATE > # RECORDING COORDINATE + # TRAVEL _1+ # SPACER

THEN// when the walking coordinates leave the forbidden detection area

# off detection: = 0;// reopening detection condition

;

END_IF;

ELSE

# closure detection = 0// shuttling vehicle under-stopped state opening detection

# count value: = 0// and return the count value to zero

;

END_IF。

Technical Field

The invention relates to the field of automatic storage and logistics, in particular to the field of accurate shuttle and storage checking, and specifically relates to an accurate checking method for a shuttle.

Background

For the field of large-scale warehouse logistics, the problem of low efficiency and inaccuracy exists by only manually checking because the quantity of goods in the warehouse is huge. Therefore, in the modern intelligent logistics storage industry, the manual checking work is often replaced by the shuttle type goods shelf and the matched shuttle car and tray. However, due to the diversity of the trays and the uncertainty of the field working conditions, the counting function of most shuttle vehicles on the market has errors of +/-1, so that the automatic counting function of the current shuttle vehicle cannot actually realize the accurate measurement of the number of the trays in each roadway.

Disclosure of Invention

The invention aims to overcome the defects, and particularly provides an accurate checking method suitable for a shuttle car, which is formed by improving the structure of the shuttle car and assisting a new counting means.

In order to achieve the above object, the present invention is realized by:

the accurate checking method for the shuttle car comprises the steps that the shuttle car body with the photoelectric sensors is inwards inclined by 45 degrees, so that the photoelectric sensors irradiate the bottom of a tray of the shuttle car body and lift along with a car cover of the shuttle car body, every two photoelectric sensors are in one group, and signals are redundant; the method further comprises the following checking method:

step 1, in the process that a shuttle vehicle body moves from a position A to a position B, recording and counting a first jumping coordinate detected by photoelectric detection of the side B by adding 1;

and 2, recording coordinates according to the numerical values obtained in the step 1 and automatically calculating the detection prohibition range, wherein the calculation formula is as follows: coordinates + tray depth + spacing;

and 3, releasing the detection condition after the trolley passes through the range value obtained in the step 2, and repeating the previous step if a jump signal is detected.

According to the accurate checking method for the shuttle car, the type of the photoelectric sensor is a background suppression type photoelectric sensor.

The accurate checking method for the shuttle car comprises the following steps: the checking method comprises the following steps of 1-3:

step 1, in the same tunnel tray size scene or under the same circumstances, the following actions are executed:

step 1.1, obtaining the depth and storage interval data of the tray, wherein the shuttle car needs to run back and forth for the whole roadway once in the whole process;

step 1.2, the CPU chip analyzes the obtained data;

step 1.3, sending the analyzed data to an execution end;

and step 1.4, after receiving the data, the execution end carries out corresponding action.

The accurate checking method for the shuttle car adopts the following codes to realize the checking method:

THEN/in the movement of the shuttle in the positive direction from the A end to the B end

IF # tray detect signal AND NOT # OFF detect THEN// IF tray detect signal AND detect condition has been ON

# count value + = 1// count value plus 1

Recording coordinate: = # walking shaft coordinate:// and recording current coordinate

# closure detection: = 1;// inhibit detection

END_IF;

IF # OFF-DETECTION AND # TRAVEL AXIS COORDINATE > # RECORDING COORDINATE + # TRAVEL _1+ # SPACER

THEN// when the walking coordinates leave the forbidden detection area

# off detection: = 0;// reopening detection condition

;

END_IF;

ELSE

# closure detection = 0// shuttling vehicle under-stopped state opening detection

# count value: = 0// and return the count value to zero

;

END_IF;

In the inventory method, the coordinates are updated once a tray signal is detected, so that the accumulated error is reduced, and the calculation process in the inventory method does not need to set the roadway depth. Compared with the traditional inventory method, the inventory method does not need to set the number of the tray beams, is not limited by the shape of the bottom of the tray and is not influenced by other foreign matters in the roadway, so that the error of +/-1 can be avoided compared with the traditional inventory method, and the aim of accurate inventory is fulfilled.

Drawings

FIG. 1 is a schematic diagram of the sensor position layout according to the present invention.

Detailed Description

The invention is further illustrated by the following specific examples.

As shown in fig. 1, an accurate checking method for a shuttle car comprises a shuttle car body with photoelectric sensors, wherein the photoelectric sensors are inclined inwards by 45 degrees, so that the photoelectric sensors irradiate the bottom of a tray of the shuttle car body and lift along with a car cover of the shuttle car body, every two photoelectric sensors are in one group, and signals are redundant; the method further comprises the following checking method:

step 1, in the process that a shuttle vehicle body moves from a position A to a position B, recording and counting a first jumping coordinate detected by photoelectric detection of the side B by adding 1;

step 2, recording coordinates (the coordinates refer to the number of pulses recorded by an encoder of a shuttle vehicle walking servo motor through the rotation of the motor and the converted positions, and the unit is MM) according to the numerical values obtained in the step 1 and automatically calculating the prohibition detection (the prohibition detection refers to a condition that a counter starts to work in a program)

The purpose of inhibiting detection is to ensure that the bottom of a tray is not affected by other signals, since the range from the start of scanning to the tray edge count value + 1) is calculated as: coordinates + tray depth + spacing;

and 3, releasing the detection condition after the trolley passes through the range value obtained in the step 2 (the detection condition means that the detection condition is assumed to be A (Boolean data type, only 2 values can be generated, 1 and 0), the moving position of the shuttle car is b (real number, unit mm), the position recorded by the shuttle car scanning the edge of the tray is c (real number, unit mm), and the tray length + interval value is d (real number, unit mm).

Then the condition that a is 1 (or true) is b > (c + d) and the previous step is repeated if a further transition signal is detected.

According to the accurate checking method for the shuttle car, the type of the photoelectric sensor is a background suppression type photoelectric sensor.

The accurate checking method for the shuttle car comprises the following steps: the checking method comprises the following steps of 1-3:

step 1, in the same tunnel tray size scene or under the same circumstances, the following actions are executed:

step 1.1, obtaining the depth and storage interval data of the tray, wherein the shuttle car needs to run back and forth for the whole roadway once in the whole process;

step 1.2, the CPU chip analyzes the obtained data;

step 1.3, sending the analyzed data to an execution end;

and step 1.4, after receiving the data, the execution end carries out corresponding action.

The inventory is improved aiming at two traditional inventory methods which are respectively as follows:

1. the shuttle vehicle is moved and the photoelectric statistics is carried out by a cross beam at the bottom of the tray.

Examples are: if the number of the cross beams at the bottom of each tray is 3, the result is directly output if the counted number can be divided by 3, and the quotient +1 (the remainder is 1) is used if the counted number cannot be divided.

The disadvantages are as follows: this algorithm requires the number of pallet bottom beams to be set in the parameters, and there will be errors if there are pallets with different bottoms in the roadway. And if objects such as floating packaging bags are arranged above the tray, the counting precision is also influenced.

2. The method comprises the steps of dividing a moving coordinate of a roadway passing through a trolley into N sections, detecting photoelectric jump signals in each section range, adding 1 in the range as long as the signals jump once, not receiving other signals, moving to the next section range, and continuing to receive detection.

Examples are: knowing the roadway depth of 5500MM, the pallet depth of 1000MM and the interval of 100MM, the roadway can be divided into 5 sections, 0-1100MM is 1 section, 1100-2200MM is 2 sections, and so on.

The disadvantages are as follows:

1. the roadway depth parameters need to be set (the tray and interval parameters are the conventional parameters which must be set);

2. if the tray is not placed in the middle (for example, each coordinate in the middle of two coordinate sections occupies a part), errors occur;

3. the moving coordinates have accumulated errors, if a little deviation is set for the distance corresponding to each pulse, a large error is accumulated, and the accumulated error of wheel slip cannot be avoided, and the main reason is that no point can update the coordinates in the process of moving from the A end to the B end of the roadway. Thus, the position of the second half coordinate segment is shifted, and most or less than 1 torr occurs.

In the inventory method, the coordinates are updated once a tray signal is detected, so that the accumulated error is reduced, and the calculation process in the inventory method does not need to set the roadway depth. Compared with the traditional inventory method, the inventory method does not need to set the number of the tray beams, is not limited by the shape of the bottom of the tray and is not influenced by other foreign matters in the roadway, so that the error of +/-1 can be avoided compared with the traditional inventory method, and the aim of accurate inventory is fulfilled.