CN102040072B - Method for regulating speed of high-speed stocker by adopting wireless indoor positioning technique - Google Patents
Method for regulating speed of high-speed stocker by adopting wireless indoor positioning technique Download PDFInfo
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Abstract
The invention relates to a positioning and speed regulation method of a high-speed stocker applied to a full-automatic three-dimensional warehousing system, in particular to a method for carrying out three-stage positioning on a stacker by adopting a wireless indoor positioning technique, an address encoding positioning technique and an address slice photoelectric positioning technique and carrying out three-section optimized speed regulation on the stacker by selecting a high-speed/low-speed movement mode according to a moving distance. The method has the advantages of low cost, high throughput, low power consumption, high reliability and flexible application and can be widely applied to the fields of material-flow warehousing centers, modern distribution centers and the like, thereby having wide application prospect in the market.
Description
Technical field
The present invention relates to a kind of high-speed buck stacker location and speed regulating method that is applied to the fully automatic stereo warehousing system; Relating in particular to a kind of utilization wireless indoor location technology, geocoding location technology, address slice photoelectricity location technology carries out three grades of location and selects high speed/low-speed motion pattern according to miles of relative movement length piler; Piler is carried out three sections methods of optimizing speed governing; This method can be widely used in logistic storage center, modern DISTRIBUTION CENTRE etc., belongs to storage feedway technical field.
Background technology
The fully automatic stereo warehousing system is directly not carry out under the situation of artificial treatment; Material is carried out automatic access with modularity (like pallet) form on shelf warehousing system; It is the comprehensive facility that integrates technology such as high rack warehouse, planning, management, machinery, electric, control and computing machine; Have land utilization ratio height, high, the high accuracy for examination of access efficiency; Extensively having applied in the logistics system of machine manufacture, food, clothes, chemical industry, pharmacy, metallurgy and other industries at present, is the modern important component part of logistics.
Piler is the core equipment and the main haulage equipment of fully automatic stereo warehousing system; In the tunnel of stereo warehouse system, shuttle; Accomplish warehouse-in, outbound, move the storehouse, transfer the storehouse, operation such as make an inventory of goods in a warehouse, the running velocity of piler and efficient have determined the loading and unloading capacity and the turnover rate of whole fully automatic stereo warehousing system.
Optimize piler and relate to two aspects, the first improves the running velocity of piler, takes into account and cut down the consumption of energy simultaneously; It two is to optimize work flow, reduces the distance of piler Invalid path.For second kind of optimization, can classify, adjust warehouse-in order order at present through the material goods yard, optimize methods such as the shelf structure realization that the warehouse-in conveyer, adopts two ends all can go out to put in storage; And for first kind of optimization, mainly be the movable motor running velocity of improving the standard at present, the method for optimizing the variable-frequency motor velocity curve realizes.
Because stereo warehouse system tunnel horizontal direction distance is often much larger than vertical direction; As java standard library, the storehouse is high 9 meters to 12 meters, the storehouse is wide then to reach 100 meters; And the storehouse that has can reach 250 meters, so horizontal direction speed governing optimization more has realistic meaning to optimizing piler.
Improve the operating efficiency of piler, its main bottleneck is the accurate location of piler, and the mode of address slice photoelectricity location relative addressing is adopted in the location of horizontal direction in the conventional palletizer tunnel; Two opto-electronic pickups are installed, and apart just in time equals the length of an address slice on piler, during the piler level run; After one of them opto-electronic pickup was blocked by address slice, (Programmable Logic Control PLC) sent a logical signal to give programmable logic controller (PLC); Variable-frequency motor slows down, and piler slowly slides, after another opto-electronic pickup is blocked by address slice; Two opto-electronic pickups send logical signal simultaneously, and variable-frequency motor stops, and realizes the location of the horizontal direction of piler with this; This locate mode only need be regulated the position of address slice, i.e. the position of scalable piler location, and the addressing in goods yard then is that the mode through relative addressing realizes; Promptly according to the difference of stopping column address and target column address, the address slice quantity of counting piler process realizes having simple, low, the stable and reliable operation advantage of cost are installed; Shortcoming is can't hoisting speed, generally below 120 meters/minute.
Under the relative addressing mode of operation; Piler can't be known the absolute location of self before detecting the next address sheet, and also had how many distances from the target location; Be subject to the speed of response of opto-electronic pickup again; For reliable operation, can only limit the raising of piler operating efficiency in lower speed operation.
The absolute location addressing of piler is improved in recent years method, and the metering system of absolute location mainly contains two kinds, first coder mode; Through various coded systems encoded in the goods yard, piler reads coded data through out-of-date through modes such as photoelectricity, radio frequencies, knows the position that piler is current with this; The bar code position fixing system of releasing in 2005 like German Le Yi electronics corporation (Barcode Positioning System, BPS), through on course, settling the bar code band; Photoelectricity bar code read head is installed on piler, in the piler operational process, continuous scanning barcode information; Through built-in coder transitions is range information, thereby realizes accurately location, advantage be precision height, good reliability, installation adjustment simply; Can be used in the application scenarios of many cars of a rail or curved in tracks; Shortcoming is to cost an arm and a leg, and bar code is polluted the back and influenced scanning result, and photoelectricity bar code read head scanning speed of response does not catch up with during high-speed motion;
It two is to adopt the laser ranging mode, and Chinese patent " a kind of piler accurate method of location and infinite speed variation fast that makes " (patent No.: ZL 200710045397.6) discloses this thinking, and promptly one side is installed laser rangefinder in the piler tunnel; And the large-area laser reflecting plate is installed on piler; Accurately measure the absolute distance of piler, range accuracy can reach ± and 3 millimeters, absolute distance that measures and goods yard column address compare; To confirm the column address of piler; Owing to recorded the absolute location, for condition has been created in the speed governing optimization of piler, optimize back piler running velocity can reach 200-280 rice/minute.
Laser ranging is a kind of high-precision distance measuring method; U.S. Bang Na (Banner) company has developed and has aimed at piler range finding design-calculated L-GAGE LT7 series length apart from the diffuser reflection laser sensor for this reason; This working sensor distance can reach 250 meters, and range accuracy is high, can reach ± 2 millimeters; Modular design, simple installation.
Yet the shortcoming of laser distance measurement method is and can only in rectilinear orbit, uses that light path is subject to interference such as foreign matter blocks, and the setting angle of the levelness of track and straightness error and reflecting plate all can bring measured error; Therefore installation and operating needs are higher, cost an arm and a leg, on the other hand; Because laser has certain danger; Though adopt infrared II level laser, also can cause certain discomfort, for maintenance, maintenance, user of service bring harm to human eye.
Compare laser ranging technique, the wireless distance finding technical costs reduces greatly, and danger is also littler relatively; And shortcoming is that range accuracy is lower, often can only reach the precision of meter level, according to the technical method of different wireless distance findings; Precision is also different; Generally speaking, as ultra broadband (Ultrawide Band, UWB) technology can reach the decimeter grade precision; RF tag (RFID) is technological, WiFi is technological can only reach meter accuracy; The ZigBee technology is then lower, often has only 3 to 5 meters precision.
Finding range also is a problem, can only reach 64 meters like the ZigBee technology distance of under the situation that does not add power gain, finding range, but from being embodied as this, the ZigBee technology is then the most cheap.
At present, the wireless distance finding principle mainly adopts and receives the signal strength indication (Received Signal Strength Indication RSSI) realizes; Because the signal strength between two nodes of radio communication reduces with the increase of distance; Therefore receive signal strength indication RSSI and can be used for confirming distance between the two, but the transmission of wireless signal in the space receives condition effect such as space medium, obstacle and demonstrate different character, therefore in the range finding of reality is used; Often precision is lower; Favourable one side is to use to wireless location, and some have the chip of less radio-frequency RF function, just has been integrated with the module of measure R SSI and location like the ZigBee chip CC2430 of TI company of Texas Instrument; Easy to use; And low in energy consumption, emissive power is merely 1 milliwatt, speed of response is fast, and the channel access delay is merely 15 milliseconds.
See that from piler practical application angle piler neither always work in the high-speed cruising state, piler moves to another goods yard from a goods yard; Need experience quicken, at a high speed, the process of slowing down, the brake of setting up mechanism possibly be able to prolong the time of piler high-speed cruising, thereby raises the efficiency; But also increased the energy consumption of piler simultaneously; Therefore generally speaking, piler adopts the variable-frequency motor traction, according to speed-optimization curve real-time regulated motor speed.
Therefore, though traditional address slice photoelectricity location relative addressing mode and coder absolute addressing mode speed of response are slow,, and under suitable speed is provided with, very high-precision reliable location addressing capability can be provided also in the piler deceleration stop stage.In view of the above, the invention provides a kind of utilization wireless indoor location technology, geocoding location technology, address slice photoelectricity location technology piler is carried out three grades of location and selects high speed/low-speed motion pattern according to miles of relative movement length, piler is carried out the methods of three sections optimization speed governing; It is low to have cost; Efficient is high, advantage low in energy consumption, reliable and stable; Can be widely used in having good economic benefit and market outlook in the various fully automatic stereo warehousing systems.
Summary of the invention
The object of the present invention is to provide a kind of high-speed buck stacker speed regulating method that uses the wireless indoor location technology; Specifically a kind of utilization wireless indoor location technology, geocoding location technology, address slice photoelectricity location technology are carried out three grades of location and are selected high speed/low-speed motion pattern according to miles of relative movement length piler; Piler is carried out three sections methods of optimizing speed governing; Reduce the piler turn around time, reduce the piler energy consumption.
In order to realize above-mentioned technical purpose, the present invention accomplishes through following technique device:
The fully automatic stereo warehousing system, by: three-dimensional storage shelf, outbound chain, warehouse-in chain, the crashproof block of warehouse-in end, the crashproof block of outbound end, piler, address slice, double-photoelectric-sensor, column address code tag, column address code reader, wireless datum node, wireless mobile node, tunnel are formed.
Piler is parallel motion in the tunnel; On ground, tunnel, whenever an address slice is installed at a distance from a goods yard width; Address slice is installed double-photoelectric-sensor for having certain width light proof sheetmetal in the piler bottom, adopts correlation type forked type opto-electronic pickup; Separation just in time equals the address slice width; " block the front side ", " all blocking ", " rear side blocks ", " all not blocking " four kinds of logic state combinations can be provided, accurately regulate the address slice position, make piler just in time rest in each goods yard column position.
The column address code tag is installed below an edge-on body storage rack; Label substance is the goods yard column address; The installation site gets final product for not influencing input work, and all labels are installed on the same horizon, at piler the column address code reader is installed over against column address code tag position; Reserve certain distance between the two; Adopt noncontact to read mode, therefore certain spacing distance does not influence and reads precision and speed of response, and the wigwag motion error is reserved redundant space when also moving for piler.
One end is installed a wireless datum node in the tunnel, and a wireless mobile node is installed on piler, should be open space between the two; Avoid existing other objects; Unaffected to guarantee communication, can be installed on the top ceiling generally speaking, or be close to ground, tunnel; Both should be on the same horizon as far as possible, and parallel with the tunnel alignment.
Wireless datum node and wireless mobile node provide wireless distance finding, location and addressing when being used for piler high speed uniform movement; Column address code reader and column address code tag provide the column address absolute addressing, location and addressing when being used for piler braking decelerated movement; Address slice and double-photoelectric-sensor provide the location relative addressing of address slice photoelectricity, location and addressing when being used for the piler stop.
In conjunction with three kinds of locate modes, the concrete steps of technical scheme provided by the present invention are following:
(1) operation is decomposed, and confirms initial column address and target column address that piler moves;
(2) detect wireless status, activate wireless mobile node and wireless datum node, measure once reception signal strength indication RSSI between the two
0
(3) do you judge whether communication normal? Normally (Y) is then with RSSI
0With two radio node initial distance d
0Write wireless mobile node;
(4) then there is fault in mal (N), reports to the police, and finishes;
(5) programmable logic controller (PLC) PLC packs target column address and initial column address into relatively, and calculating needs the horizontal throw that moves;
(6) is the determined level distance greater than the short distance threshold value? Greater than (Y), then adopt the high-speed cruising pattern, otherwise (N) adopt low-speed operation mode;
(7) PLC starts piler, the high-speed cruising pattern, and variable-frequency motor to be to set the rate of acceleration rev up, reaches when setting high rotating speed, travels at the uniform speed; Low-speed operation mode, variable-frequency motor reaches when setting slow speed of revolution to set the rate of acceleration rev up, travels at the uniform speed;
(8) wireless mobile node periodic ranging, the distance between calculating and the wireless datum node is measured the RSSI between two radio nodes, according to formula RSSI-RSSI
0=10nlg (d
0/ d) can calculate current distance d;
(9) judge whether greater than deceleration distance? Y (greater than), then starting moderating process, wireless mobile node sends the deceleration logic state to PLC, otherwise (N) gets back to (8);
(10) moderating process, variable-frequency motor is to set the moderating ratio rev down, and the high-speed cruising pattern is different with low-speed operation mode moderating ratio setting value;
(11) start the column address code reader, when piler process column address code tag, read the column address coding;
(12) and the target column address relatively, judge whether to be previous address, target column address? Be (Y), then send and stop logic state, start two light point sensors, otherwise (N), continue to carry out (11) to PLC;
(13) double-photoelectric-sensor detects " block the front side " logic state, and variable-frequency motor switches to the stop rotating speed, detects " all blocking " logic state, and variable-frequency motor stops, and finishes.
After wireless mobile node and column address code reader are accomplished range finding and location, all through corresponding logic state and plc communication, so system reliability is good.
Description of drawings
Fig. 1 is the constructional drawing of a kind of fully automatic stereo warehousing system embodiment of a kind of high-speed buck stacker speed regulating method that uses the wireless indoor location technology of the present invention;
Fig. 2 is a kind of diagram of circuit that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 3 is a kind of wireless distance finding schematic diagram that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 4 is that the length of a kind of high-speed buck stacker speed regulating method that uses the wireless indoor location technology of the present invention is apart from the wireless distance finding schematic diagram;
Fig. 5 is a kind of curved in tracks wireless location schematic diagram that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 6 is a kind of column address coding location embodiment schematic diagram that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 7 is a kind of address slice photoelectricity positioning principle figure that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 8 is a kind of piler force analysis figure that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Fig. 9 is a kind of variable-frequency motor speed-optimization curve that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention;
Figure 10 is a kind of speed-power consumption-loading and unloading capacity contrast scheme drawing that uses the high-speed buck stacker speed regulating method of wireless indoor location technology of the present invention.
The specific embodiment
With reference to accompanying drawing, will describe the present invention below.
As shown in Figure 1; The applied a kind of fully automatic stereo warehousing system embodiment of the present invention, by: three-dimensional storage shelf (100), outbound chain (101), warehouse-in chain (102), warehouse-in end crashproof block (103), the crashproof block of outbound end (104), piler (105), address slice (106), double-photoelectric-sensor (107), column address code tag (108), column address code reader (109), wireless datum node (110), wireless mobile node (111), tunnel (112) are formed.
Piler (105) is parallel motion in tunnel (112); On ground, tunnel (112), whenever an address slice (106) is installed at a distance from a goods yard width; Address slice (106) is for having certain width light proof sheetmetal; Generally by the decision of single goods yard width, like 520 millimeters goods yard width, the width of its address slice (106) is preferably 100 millimeters to width.
In piler (105) bottom double-photoelectric-sensor (107) is installed; Adopt correlation type forked type opto-electronic pickup; Separation just in time equals address slice (106) width; " block the front side ", " all blocking ", " rear side blocks ", " all not blocking " four kinds of logic state combinations can be provided, accurately regulate address slice (106) position, make piler (105) just in time rest in each goods yard column position.
Column address code tag (108) is installed in below at an edge-on body storage rack (100), preferred 13.56M less radio-frequency RFID label, and label substance is the goods yard column address; The installation site gets final product for not influencing input work; All labels are installed on the same horizon, at piler (105) column address code reader (109) are installed over against column address code tag (108) position, preferred 13.56M less radio-frequency RFID tag read-write equipment; Reserve certain distance between the two; Be adopted as noncontact and read mode, therefore certain spacing distance does not influence and reads precision and speed of response, and the wigwag motion error is reserved redundant space during also for piler (105) operation.
(112) one ends are installed a wireless datum node (110) in the tunnel, go up at piler (105) wireless mobile node (111) is installed, preferred ZigBee wireless module CC2430; Should be open space between the two, avoid existing other objects, unaffected to guarantee communication; Can be installed on the top ceiling generally speaking; Or being close to ground, tunnel, both should be on the same horizon as far as possible, and parallel with the tunnel alignment.
Wireless datum node (110) and wireless mobile node (111) provide wireless distance finding, location and addressing when being used for piler (105) high speed uniform movement; Column address code reader (109) and column address code tag (108) provide the column address absolute addressing, location and addressing when being used for the motion of piler (105) braking deceleration; Address slice (106) and double-photoelectric-sensor (107) provide the location relative addressing of address slice photoelectricity, location and addressing when being used for piler (105) stop.
As shown in Figure 2, in conjunction with three kinds of locate modes, technical scheme concrete steps provided by the present invention are following:
(1) beginning (200).(201) are decomposed in operation.Confirm initial column address and target column address that piler (105) moves; Any one operation finally can be decomposed into moving one by one of piler (105); Can be decomposed into two like input work and move, that is: move to the warehouse-in platform-＞get goods-＞move to the target goods yard, move to the warehouse-in platform and come down to move to the warehouse-in platform from current stop goods yard; Initial column address is a current goods yard column address, and the purpose column address is the warehouse-in platform; Moving to the target goods yard then is to move to the target goods yard from the warehouse-in platform, and initial column address is the warehouse-in platform, and the purpose column address is a target goods yard column address;
(2) detect wireless status (202), activate wireless mobile node (111) and wireless datum node (110), the reception signal strength of measuring is once between the two indicated RSSI
0
(3) do you judge whether communication normal? (203) normal (Y) is then with RSSI
0With two radio node initial distance d
0Write wireless mobile node (111);
(4) then there is fault (210) in mal (N), reports to the police (211), finishes (224);
(5) programmable logic controller (PLC) PLC packs target column address (204) and initial column address into relatively, and calculatings needs mobile horizontal throw (205);
(6) is the determined level distance greater than short distance threshold value (206)? Greater than (Y), then adopt high-speed cruising pattern (208), otherwise (N) adopt low-speed operation mode (207);
(7) PLC starts piler (209), the high-speed cruising pattern, and variable-frequency motor to be to set the rate of acceleration rev up, reaches when setting high rotating speed, travels at the uniform speed; Low-speed operation mode, variable-frequency motor reaches when setting slow speed of revolution to set the rate of acceleration rev up, travels at the uniform speed;
(8) distance between wireless mobile node (111) calculating regularly and the wireless datum node (110) is measured the RSSI between two radio nodes, according to formula RSSI-RSSI
0=10nlg (d
0/ d) can calculate current distance d;
(9) is judging distance greater than deceleration distance (213)? Greater than (Y), then start moderating process (214), wireless mobile node (111) sends the deceleration logic state to PLC, otherwise (N) gets back to (8); [0066] (10) moderating process (214), variable-frequency motor is to set the moderating ratio rev down, and the high-speed cruising pattern is different with low-speed operation mode moderating ratio setting value;
(11) start column address code reader (215), when piler (105) process column address code tag (108), read column address coding (216);
(12) and the target column address relatively, judge whether to be previous address, target column address (217)? Be (Y), then send and stop logic state (218), start two light point sensors (219), otherwise (N), continue to carry out (11) to PLC;
(13) double-photoelectric-sensor detects " block the front side " logic state (220), and variable-frequency motor switches to stops rotating speed (221), detects " all blocking " logic state (222), and variable-frequency motor stops (223), finishes (224).
Shown in Fig. 3 (a), radio node A (300) and radio node B (301) level are installed (303), and the distance that then records between the two is exactly the distance of piler horizontal motion; And if (304) tilt to be installed as radio node C (302), then record between the two distance greater than the distance of piler horizontal motion, in practical application, should be installed on the same horizon, and parallel as far as possible, otherwise need convert with the tunnel.
Radio node A (300) and radio node B (301) can select realizations such as UHF UWB wireless module, RF tag RFID wireless module, WLAN WiFi module, wireless sensor network ZigBee module for use.One embodiment of the present of invention are to select the ZigBee chip CC2430 of TI company for use; Frequency of operation is to exempt from filing fee and the 2.4GHz that exempts from usage charges, and transmission distance is between 10 meters to 75 meters, and transfer rate is 20 to 250 kbps; For improving wireless signal strength, the centre should be not have blocks clearance envelope.
Shown in Fig. 3 (b), the initial distance d between wireless datum node position (310) and the wireless mobile node position A (311)
0(313) and receive signal strength indication RSSI
0Between relation be: RSSI
0=-(10nlgd
0+ A), and n representation signal propagation constant wherein, the reception signal strength when A represents 1 meter of distance also is a constant.
And current distance d (314) between wireless datum node position (310) and the wireless mobile node position B (312) and the relation between the RSSI are: RSSI=-(10nlgd+A).
Known RSSI
0, d
0, RSSI, can release RSSI-RSSI from two formulas
0=10nlg (d
0/ d), can calculate current distance d (314) thus.
The CC2430 built-in chip type is through the function of RSSI location; In 8 RSSI registers, only fill in a RSSI value; Just can realize above-mentioned distance measurement function, owing to there is error, the error that this distance measuring method obtains is between 3 meters to 5 meters; And the actv. operating distance relatively is suitable for the stereo storage rack of moderate distance in 64 meters.
Shown in Fig. 4 (a), apart from stereo storage rack (400), can adopt the method that increases radio-frequency emission power for long, as increasing the power gain chip CC2591 of TI, operating distance can reach 500 meters; Perhaps adopt the compact directional antenna, then enhanced wireless node A (401) and enhanced wireless Node B (402) can realize the application of long distance.
Shown in Fig. 4 (b); Can divide the section location, length is divided into some sections apart from stereo storage rack (400), like section A (406) and section B (407); ZigBee wireless technology for 64 meters of operating distances; The distance of section A (406) and section B (407) can reach 128 meters, and total length can reach 256 meters, is suitable for long application apart from stereo storage rack (400).
Dispose wireless anchor node A (403), wireless anchor node B (404), (405) three wireless anchor nodes of wireless anchor node C; Section A wireless mobile node (408) in section A (406) is confirmed to realize the range finding location with wireless anchor node A (403) or wireless anchor node B (404) according to the power of wireless signal; In like manner, the section B wireless mobile node (409) in section B (407) is confirmed to realize the range finding location with wireless anchor node B (404) or wireless anchor node C (405) according to the power of wireless signal.
As shown in Figure 5; For curved in tracks stereo storage rack (500); Adopt radio network technique; Comprehensive wireless node of network 1-1 (501), wireless network node 2-1 (502), wireless network node 1-2 (503), wireless network node 2-2 (504), wireless network node 1-3 (505), wireless network node 2-3 (506) position the wireless mobile node in every tunnel 1 (507); Related algorithm has a lot, like weighted mass center location algorithm, RSSI similarity location algorithm, four limits range finding location algorithm etc.
The location that the wireless network location technology also can adopt the method for time-sharing multiplex to realize a plurality of mobile nodes; As adopt the embodiment of ZigBee wireless technology; Generally speaking, can follow the tracks of the mobile node about 100 simultaneously, this specific character also is fit to for the application of the many cars of a rail.
From the consideration of accuracy of positioning,, there is the algorithm that improves precision certainly because the wireless location precision can only reach 3 meters to 5 meters; But can increase the complexity of system, and on the piler position application, wireless location is only located when the piler uniform movement; Such precision also can meet the demands; Therefore when calculating deceleration distance, can comprehensive speed and error, by formula d
Slow down=d
Target-0.5*v
At the uniform velocity* t
Slow down-d
ErrorObtain, piler reaches deceleration distance d
Slow downThe time, accomplished most target range d
Target, and, having at piler self under the situation of certain friction drag in order to guarantee the reliability of piler, there is a upper limit in the moderating ratio of safe shut down, can draw safest deceleration time of t thus
Slow downAnd the piler stage speed v that travels at the uniform speed
At the uniform velocityHalf of product be exactly the theoretical of piler safe shut down, and error d
ErrorAlso need take into account, therefore after deducting these factors, obtain deceleration distance.
As suppose d
Target=50 meters, v
At the uniform velocity=240 meters/minute, t
Slow down=3 seconds, d
Error=5 meters, then can calculate d
Slow down=39 meters.
Column address coding location embodiment as shown in Figure 6, corresponding each shelf row (600) are all disposed a column address passive RFID tags (601), at the correspondence position of piler column address passive RFID reader (602) are installed; Reading column address coding (603) afterwards; Judge whether that to previous address, target column address in the process that is moved to the left, the previous address of target column address (605) is exactly the column address in right side, target column address (606); And in the process that moves right; The previous address of target column address (605) is exactly left side, a target column address column address (607), after the arrival, sends stop logic state (604) to PLC.
This part function also can adopt bar-code label and bar code optical scanner to realize.
Shown in Fig. 7 (a), in the process of moving right, right side opto-electronic pickup (702) blocks; Send " block the front side " logic state, variable-frequency motor switches to the stop rotating speed, and left side opto-electronic pickup (701) blocks; Send " all blocking " logic state, variable-frequency motor stops.
Shown in Fig. 7 (b), in being moved to the left process, left side opto-electronic pickup (701) blocks; Send " block the front side " logic state, variable-frequency motor switches to the stop rotating speed, and right side opto-electronic pickup (702) blocks; Send " all blocking " logic state, variable-frequency motor stops.
As shown in Figure 8, piler is in operational process to the right, and goods (800) receives upwards application force (801), forward direction friction force (802) effect; Forward direction friction force (802) can make goods follow the piler motion starting acceleration phase when enough big, and with the weight of goods, and upwards the size of application force (801) is relevant; Therefore starting acceleration phase; The target goods yard will increase forward direction friction force (802) top-right, also help the increase of rate of acceleration; And in the deceleration stop stage, oppositely directed forward direction friction force (802) also is one of limiting condition of moderating ratio; Simultaneously, the suffered piler resistance (803) of piler also is one of parameter of piler deceleration stop stage computationally secure t deceleration time deceleration.
As shown in Figure 9; High-speed cruising pattern speed governing curve (900) is accomplished high-speed cruising pattern startup pick-up time (904) afterwards; Get at a high speed and travel at the uniform speed; Operation gets into the high-speed cruising pattern and stops deceleration time (905) greater than after the deceleration distance, and the area that broken line and abscissa cross is a miles of relative movement;
Low-speed operation mode speed governing curve (902) is accomplished low-speed operation mode startup pick-up time (903) afterwards; Entering low speed travels at the uniform speed; Operation gets into low-speed operation mode and stops deceleration time (906) greater than after the deceleration distance, and the area that broken line and abscissa cross is a miles of relative movement;
For short distance high-speed cruising pattern speed governing curve (901); When reaching high speed, get into moderating process; And adopt low-speed operation mode speed governing curve (902) equally, as long as high-speed cruising pattern distance (908) dash area area and low-speed operation mode distance (909) dash area area equate that then total miles of relative movement also equates; And the high speed/low-speed operation mode time difference (907) also is more or less the same; Therefore move for short distance, adopt low-speed operation mode to improve safety, reduced energy consumption.
Therefore, the short distance threshold value is used to distinguish high-speed cruising pattern and two kinds of patterns of low-speed operation mode, adopts formula d
Threshold value=0.5*v
At a high speed* t
QuickenObtain.
As suppose v
At a high speed=240 meters/minute, t
Quicken=3 seconds, then can calculate d
Threshold value=6 meters.
Shown in figure 10, the stereo warehouse system of employing high-speed buck stacker, its high-speed buck stacker speed governing curve (1000); Generally speaking, starting acceleration and stopping in the moderating process, need overcome the inertia acting; The corresponding increase of power meeting of variable-frequency motor, and during traveling at the uniform speed, as long as power overcomes the acting of piler resistance; Power is just lower, shown between high-speed buck stacker horsepower curve (1002) band shaded area;
Compare with the stereo warehouse system of present employing low speed piler; Its low speed piler speed governing curve (1001), and between low speed piler horsepower curve (1003) twill shaded area, can see; For identical miles of relative movement; The low speed piler is far longer than high-speed buck stacker in time, and then low speed piler higher speed piler is big for total power consumption, and particular case will be looked the operational factor of piler and decided.
The loading and unloading capacity of stereo warehouse in unit time, high-speed buck stacker throughput curve (1004) is higher than low speed piler throughput curve (1005).
In addition; Just be embodied as originally and saw; At present, laser ranging technique realizes that cost is ten thousand yuan of levels, and the range finding location technology cost that the present invention realizes is thousand yuan of levels; Therefore the present invention has that cost is low, the high and low power consumption of loading and unloading capacity, reliability are high, the advantage of applying flexible, and market application foreground is widely arranged.
Claims (2)
1. high-speed buck stacker speed regulating method that uses the wireless indoor location technology; Be applied to the fully automatic stereo warehousing system; It is characterized in that: utilization wireless indoor location technology, geocoding location technology, address slice photoelectricity location technology are carried out three grades of location and are selected high low speed mode of motion according to miles of relative movement length piler; Piler is carried out three sections methods of optimizing speed governing, and concrete steps are following:
(1) operation is decomposed, and confirms initial column address and target column address that piler moves;
(2) detect wireless status, activate wireless mobile node and wireless datum node, measure once reception signal strength indication RSSI between the two
0
(3) do you judge whether communication normal? Normally, then with RSSI
0With two radio node initial distance d
0Write wireless mobile node; Then there is fault in mal, reports to the police, and finishes;
(4) pack the target column address into programmable logic controller (PLC) PLC and initial column address relatively, calculating needs the horizontal throw that moves;
Does (5) judgement need mobile horizontal throw greater than the short distance threshold value? Greater than, then adopt the high-speed cruising pattern, otherwise adopt low-speed operation mode;
(6) programmable logic controller (PLC) PLC starts piler, and under the high-speed cruising pattern, variable-frequency motor to be to set the rate of acceleration rev up, reaches when setting high rotating speed, travels at the uniform speed; Under low-speed operation mode, variable-frequency motor reaches when setting slow speed of revolution to set the rate of acceleration rev up, travels at the uniform speed;
(7) distance between wireless mobile node and the wireless datum node is calculated in wireless mobile node periodic ranging, measures the reception signal strength indication RSSI between two radio nodes, according to formula RSSI-RSSI
0=10nlg (d
0/ d) can calculate current distance d, n representation signal propagation constant wherein;
(8) do you judge that current distance is greater than deceleration distance? Greater than, then starting moderating process, wireless mobile node sends the deceleration logic state to programmable logic controller (PLC) PLC, otherwise gets back to step (7);
(9) moderating process, variable-frequency motor is to set the moderating ratio rev down, and the high-speed cruising pattern is different with low-speed operation mode moderating ratio setting value;
(10) start the column address code reader, when piler process column address code tag, read the column address coding;
(11) the column address coding and the target column address of reading are compared, judge whether to be previous address, target column address? Be, then send and stop logic state, start double-photoelectric-sensor to programmable logic controller (PLC) PLC, otherwise, execution in step (10) continued;
(12) in piler moves right process; When right side opto-electronic pickup (702) is blocked; Double-photoelectric-sensor sends " block the front side " logic state, and variable-frequency motor switches to the stop rotating speed, when left side opto-electronic pickup (701) is blocked; Double-photoelectric-sensor sends " all blocking " logic state, and variable-frequency motor stops; Be moved to the left in the process at piler; When left side opto-electronic pickup (701) is blocked; Double-photoelectric-sensor sends " block the front side " logic state, and variable-frequency motor switches to the stop rotating speed, when right side opto-electronic pickup (702) is blocked; Double-photoelectric-sensor sends " all blocking " logic state, and variable-frequency motor stops.
2. a kind of high-speed buck stacker speed regulating method that uses the wireless indoor location technology as claimed in claim 1; It is characterized in that: three grades of location comprise location and addressing when the wireless distance finding location is used for piler high speed uniform movement, select for use ultra broadband UWB wireless technology, RF tag RFID technology, WLAN WiFi technology, wireless sensor network ZigBee technology to realize; The column address coding provides the column address absolute addressing, and location and addressing when being used for piler braking decelerated movement select for use bar code photo electric scanning, passive RF label RFID technology to realize; Address slice and double-photoelectric-sensor provide the location relative addressing of address slice photoelectricity, location and addressing when being used for the piler stop.
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| CN102435979B (en) * | 2011-09-08 | 2014-01-08 | 浙江工商大学 | Method for improving wireless positioning precision of stacker |
| CN102867245A (en) * | 2012-09-08 | 2013-01-09 | 无锡中科苏惠自动化技术有限公司 | Comprehensive inventory management method for production materials |
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| WO2014170290A1 (en) * | 2013-04-19 | 2014-10-23 | Koninklijke Philips N.V. | A coded light device, and a product information system comprising such a coded light device |
| CN104555221B (en) * | 2014-12-12 | 2018-04-27 | 云南财经大学 | A kind of online flexible conjunction single system of vertical dynamic access |
| CN104528246B (en) * | 2014-12-31 | 2017-08-15 | 江苏速升自动化装备股份有限公司 | A kind of random storage stereo garage |
| CN105600250A (en) * | 2015-12-22 | 2016-05-25 | 深圳市鸿志软件有限公司 | RFID recognizing and locating method and system applied to traveling of shuttle vehicle |
| CN106127417A (en) * | 2016-07-12 | 2016-11-16 | 国网甘肃省电力公司电力科学研究院 | A kind of tiered warehouse facility haulage equipment dispatching method and system |
| CN107917720A (en) * | 2016-10-08 | 2018-04-17 | 南京梅山冶金发展有限公司 | The method of the condition monitoring of dump car |
| CN107967752B (en) * | 2017-12-27 | 2024-09-17 | 广东安居宝数码科技股份有限公司 | Cargo rack movement control method and system |
| CN111731735B (en) * | 2020-06-05 | 2021-09-07 | 哈工大机器人南昌智能制造研究院 | Carrying and stacking method |
| CN113135403B (en) * | 2021-05-17 | 2023-03-10 | 西门子工厂自动化工程有限公司 | Anti-shaking control method and device for stacker and readable medium |
| CN113589266B (en) * | 2021-07-21 | 2023-11-24 | 中国煤炭科工集团太原研究院有限公司 | Mining multi-mode wireless ranging system based on UWB technology |
| CN116165963B (en) * | 2023-04-19 | 2023-07-11 | 苏州迈卡格自动化设备有限公司 | Anti-swing PLC motion curve calculation method and control system for ultra-high stacker |
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