CN110893967A - RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse - Google Patents
RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse Download PDFInfo
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- CN110893967A CN110893967A CN201911274611.4A CN201911274611A CN110893967A CN 110893967 A CN110893967 A CN 110893967A CN 201911274611 A CN201911274611 A CN 201911274611A CN 110893967 A CN110893967 A CN 110893967A
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- goods
- way shuttle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
Abstract
The invention provides a RFID information checking and error correcting system for a four-way shuttle car whole warehouse, which aims to solve the technical problem that whether the goods taking and placing positions of the four-way shuttle car are consistent with the preset positions or not is inconvenient to master in the prior art; the goods storage system comprises a warehouse, a four-way shuttle, goods labels and a plurality of goods position labels, wherein the warehouse is internally provided with a plurality of walking tracks which are vertically staggered, each walking track is provided with at least one goods position point used for the four-way shuttle to take and place goods, each goods position point is correspondingly provided with a goods position label, the position of each goods position point is provided with a three-dimensional coordinate according to a three-dimensional coordinate system, the goods position labels comprise three-dimensional coordinate information of the corresponding goods position point, the goods labels comprise three-dimensional coordinate information of the goods taking point and three-dimensional coordinate information of the goods placing point, the four-way shuttle comprises a vehicle body and a reading and writing comparison module, the reading and writing comparison module is used for reading the information in the goods labels and the goods position labels and comparing the three-dimensional coordinates in the goods labels, and the goods labels are RFID labels.
Description
Technical Field
The invention relates to the field of logistics goods transportation, in particular to a four-way shuttle car whole warehouse RFID positioning system.
Background
The shuttle car is an automatic logistics carrying trolley which runs on a track of a three-dimensional goods shelf. The four-way shuttle car can directly transport goods on any storage position in a goods shelf to another storage position without middle transfer equipment like a forklift, so that the transport efficiency of the storage system can be improved, and particularly, the efficiency is improved more obviously when the operation of moving the goods shelf is carried out.
The four-way shuttle needs to accurately master whether the goods taking and placing position is consistent with the preset position when transporting goods to the specified position, and if the goods taking and placing position is inconsistent, the goods taking and placing conflict can be caused, and even the goods can be damaged or lost. In the prior art, the four-way shuttle is only sent an action instruction by a computer when taking and placing goods, and whether the goods taking and placing positions of the four-way shuttle are the preset positions or not needs to be checked by personnel in time, but the positions of the personnel are inconvenient to confirm due to the fact that goods are stored in a warehouse and tracks are densely arranged.
Disclosure of Invention
The invention provides a four-way shuttle vehicle whole-warehouse RFID information checking and error correcting system, which aims to solve the technical problem that whether the goods taking and placing positions of four-way shuttle vehicles are consistent with the preset position cannot be timely and conveniently mastered in the prior art.
The scheme for solving the technical problems is as follows: a RFID positioning system for a four-way shuttle car whole warehouse comprises a warehouse, a four-way shuttle car, a goods label and a plurality of goods position labels, wherein the warehouse is internally provided with a plurality of walking tracks which are vertically staggered, each walking track is provided with at least one goods position point for the four-way shuttle car to pick and place goods, each goods position point is correspondingly provided with a goods position label, the position of each goods position point is provided with a three-dimensional coordinate according to a three-dimensional coordinate system, the goods position labels comprise corresponding three-dimensional coordinate information of the goods position points, the goods labels comprise three-dimensional coordinate information of the goods picking points and three-dimensional coordinate information of the goods placing points, the four-way shuttle car comprises a car body and a read-write comparison module, the read-write comparison module is used for reading the goods label and the information in the goods position labels and comparing the three-dimensional coordinates in the goods position labels, and the car body can move on the walking tracks for picking and placing goods, wherein, the goods position label and the goods label are RFID labels.
According to the RFID positioning system for the four-way shuttle car whole warehouse, the position of the four-way shuttle car can be known only by reading the goods space label through the one-to-one correspondence relationship between the goods space label and the three-dimensional coordinates, the instant positioning of the four-way shuttle car can be realized, and whether the trolley is at the preset position or not can be confirmed by comparing the three-dimensional coordinate information of the goods space label with the three-dimensional coordinate information in the goods label.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic plan layout of a four-way shuttle 2 and a four-way shuttle full-warehouse RFID positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the connection of a four-way shuttle and a running rail in an embodiment of the invention;
fig. 3 is a logic block diagram of the connection of the components in the four-way shuttle in the embodiment of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
As shown in fig. 1 and fig. 2, the present invention provides a four-way shuttle car full-warehouse RFID positioning system, which includes a warehouse 1 and a four-way shuttle car 2, wherein a plurality of walking rails 11 are installed in the warehouse 1, and each walking rail 11 has at least one goods location for picking and placing goods by the four-way shuttle car 2, it can be understood that, in actual use, the goods location may be a pick-up point or a put-off point; each goods location point is correspondingly provided with a goods location label 111, the position of each goods location point has a three-dimensional coordinate according to a three-dimensional coordinate system, specifically, in practical use, the three-dimensional coordinate can establish a proper three-dimensional coordinate system according to the shape and the size of a practical warehouse, and the three-dimensional coordinate is determined for each goods location point according to the three-dimensional coordinate system.
In the process of cargo transportation, in order to ensure the integrity of the cargo 4, the pallet 3 is generally adopted to bear the cargo 4, before the cargo 4 enters a warehouse, the related information of the cargo 4 is directly written into the cargo tag, which is a common technology in the prior art, in the system, the cargo tag 31 is installed on the supporting plate 3 used for bearing the cargo 4, and the three-dimensional coordinate information of a cargo taking point and the three-dimensional coordinate information of a cargo placing point are also written into the cargo tag 31.
The four-way shuttle 2 comprises a vehicle body 21 and a read-write comparison module 22, the read-write comparison module 22 is used for reading information in the goods label 31 and the goods position label 111 and comparing three-dimensional coordinates in the goods label and the goods position label 111, the vehicle body 21 can move on the walking track 11 and is used for taking and placing goods 4, and the goods position label 111 and the goods label 31 are both RFID labels.
Specifically, the vehicle body 21 includes a moving mechanism 211, a control module 212, a communication module 213, and a timer 214, and the control module 212 receives a moving instruction through the communication module 213 and controls the moving mechanism 211 to move on the traveling rail 11 for picking and placing goods.
Referring to fig. 3, in the present embodiment, the four-way shuttle 2 is erected on the traveling track 11, the read-write comparing module 22 includes a first reader-writer 221, a second reader-writer 222 and a comparator 223 that are electrically connected to each other, the first reader-writer 221 is installed on the top of the four-way shuttle 2 for reading the cargo tag 31, and the second reader-writer 222 is installed on the bottom of the four-way shuttle 2 for reading the cargo space tag 111; the timer 214 is electrically connected to the second reader/writer 222, and when the four-way shuttle 2 moves along the traveling rail 11, the second reader/writer 222 reads the information of the cargo space tag 111 at the cargo space where the four-way shuttle 2 is located at fixed time. .
Specifically, when the four-way shuttle 2 arrives at the pickup position, the first reader/writer 221 reads the cargo tag 31 on the pallet 3 and the first cargo space tag information corresponding to the pickup position, and compares and determines whether the three-dimensional coordinate information of the cargo pickup point in the cargo tag 31 information is consistent with the three-dimensional coordinate of the first cargo space tag information by the comparator 223; when the four-way shuttle 2 arrives at the put-off position, the second reader/writer 222 reads the second goods location label information corresponding to the put-off position, and the comparator 223 compares and determines whether the three-dimensional coordinate information of the goods put-off point in the goods label 31 information is consistent with the three-dimensional coordinate matched with the second goods location label.
To facilitate a better understanding of the mechanism of use of the present system, the following is specifically exemplified:
goods 4 (carrier is tray 3) are conveyed to a goods taking point through a conveying line and a lifting machine, and an R goods label 31 on the tray 3 comprises goods information, three-dimensional coordinates (a, b and c) of the goods taking point and three-dimensional coordinates (a) of the goods placing point1，b1，c1)。
The control system controls the four-way shuttle vehicle to move to a certain goods taking position, the first reader-writer 221 reads the goods label 31, the second reader-writer 222 reads the three-dimensional coordinates (x, y, z) of the goods position corresponding to the goods taking position, the comparator checks whether the (x, y, z) and the (a, b, c) are consistent, if not, the system reports an error, and the control system does not receive a movement instruction;
if the two-way shuttle 2 is consistent, the control module 212 receives the motion command through the communication module 213, controls the motion mechanism 211 to move on the walking track 11, and periodically reads the information of the goods position tag 111 of the goods position where the four-way shuttle 2 is located by the second reader-writer under the action of the timer 214 so as to track the driving position.
When the four-way shuttle 2 reaches the stocking point, the second reader-writer reads the three-dimensional coordinates (x) of the stocking point corresponding to the stocking point1，y1，z1) Comparator check (x)1，y1，z1) And (a)1，b1，c1) If the position of the goods is consistent with the position of the four-way shuttle, the system reports the error, and the four-way shuttle can not place the goods at the position.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (5)
1. A RFID positioning system for a four-way shuttle car whole warehouse is characterized by comprising a warehouse, four-way shuttle cars, goods labels and a plurality of goods location labels, wherein the warehouse is internally provided with a plurality of walking tracks which are vertically staggered, each walking track is provided with at least one goods location point for the four-way shuttle cars to pick and place goods, each goods location point is correspondingly provided with a goods location label, the position of each goods location point has a three-dimensional coordinate according to a three-dimensional coordinate system, the goods location labels comprise the three-dimensional coordinate information of the corresponding goods location points, the goods labels comprise the three-dimensional coordinate information of the goods picking points and the three-dimensional coordinate information of the goods placing points, each four-way shuttle car comprises a car body and a read-write comparison module, the read-write comparison module is used for reading the information in the goods labels and the goods location labels and comparing the three-dimensional coordinates in the goods location labels, the vehicle body can move on the walking track and is used for picking and placing goods, wherein the goods position tags and the goods tags are RFID tags.
2. The RFID positioning system for the four-way shuttle vehicle whole warehouse as claimed in claim 1, wherein the vehicle body comprises a movement mechanism, a control module and a communication module, the control module receives a movement instruction through the communication module and controls the movement mechanism to move on the walking track for picking and placing goods.
3. The RFID positioning system for the four-way shuttle vehicle warehouse as claimed in claim 1, wherein the cargo tag is mounted on a pallet for carrying cargo, and when the four-way shuttle vehicle arrives at a cargo pick-up position, the read-write comparing module reads the cargo tag on the pallet and first cargo space tag information corresponding to the cargo pick-up position, and compares and determines whether the three-dimensional coordinate information of a cargo pick-up point in the cargo tag information is consistent with the three-dimensional coordinate of the first cargo space tag information; when the four-way shuttle vehicle reaches the goods placing position, the reading and writing comparison module reads second goods position label information corresponding to the goods placing position, and compares and judges whether the three-dimensional coordinate information of the goods placing point in the goods label information is consistent with the three-dimensional coordinate matched with the second goods position label.
4. The RFID positioning system for the four-way shuttle vehicle warehouse as claimed in claim 3, wherein the four-way shuttle vehicle is erected on the traveling track, the read-write comparing module comprises a first reader-writer, a second reader-writer and a comparator electrically connected with each other, the first reader-writer is installed on the top of the four-way shuttle vehicle and used for reading the cargo tag, and the second reader-writer is installed on the bottom of the four-way shuttle vehicle and used for reading the cargo tag.
5. The RFID location system of the four-way shuttle vehicle whole warehouse of claim 4, wherein the four-way shuttle vehicle further comprises a timer, the timer is electrically connected with the second reader, and when the four-way shuttle vehicle moves along the walking track, the second reader reads the information of the goods space label of the goods location where the four-way shuttle vehicle is located at fixed time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911274611.4A CN110893967A (en) | 2019-12-12 | 2019-12-12 | RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911274611.4A CN110893967A (en) | 2019-12-12 | 2019-12-12 | RFID (radio frequency identification) positioning system for four-way shuttle vehicle whole warehouse |
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| CN110893967A true CN110893967A (en) | 2020-03-20 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046982A (en) * | 2020-08-12 | 2020-12-08 | 久恒理树 | Automatic guide carrying device and operation method thereof |
| CN113325367A (en) * | 2021-06-28 | 2021-08-31 | 江苏智库智能科技有限公司 | Four-way shuttle vehicle relative position positioning method and system based on UWB technology |
| CN114229302A (en) * | 2021-12-28 | 2022-03-25 | 江苏智库智能科技有限公司 | Simulation method for three-dimensional warehouse management system of four-way shuttle |
| CN114229364A (en) * | 2021-12-07 | 2022-03-25 | 北京工业大学 | Automatic guide rail and method for mounting wireless displacement sensor |
| CN114394355A (en) * | 2022-01-25 | 2022-04-26 | 广州豪坤工业自动化控制技术有限公司 | Speed-adjustable goods-to-person annular track high-density intelligent warehousing system |
| CN116198898A (en) * | 2023-04-20 | 2023-06-02 | 巴斯夫一体化基地(广东)有限公司 | Warehouse for storing goods |
| CN116452115A (en) * | 2023-04-20 | 2023-07-18 | 巴斯夫一体化基地(广东)有限公司 | Method and device for managing warehouse |
| CN117088028A (en) * | 2023-10-16 | 2023-11-21 | 烟台比尔电子科技有限公司 | Automatic stacker for intelligent storage and control method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112046982A (en) * | 2020-08-12 | 2020-12-08 | 久恒理树 | Automatic guide carrying device and operation method thereof |
| CN113325367A (en) * | 2021-06-28 | 2021-08-31 | 江苏智库智能科技有限公司 | Four-way shuttle vehicle relative position positioning method and system based on UWB technology |
| CN114229364A (en) * | 2021-12-07 | 2022-03-25 | 北京工业大学 | Automatic guide rail and method for mounting wireless displacement sensor |
| CN114229364B (en) * | 2021-12-07 | 2024-05-28 | 北京工业大学 | Automatic guide rail and method for mounting wireless displacement sensor |
| CN114229302A (en) * | 2021-12-28 | 2022-03-25 | 江苏智库智能科技有限公司 | Simulation method for three-dimensional warehouse management system of four-way shuttle |
| CN114229302B (en) * | 2021-12-28 | 2024-08-20 | 江苏智库智能科技有限公司 | Simulation method for warehouse management system of four-way shuttle three-dimensional warehouse |
| CN114394355A (en) * | 2022-01-25 | 2022-04-26 | 广州豪坤工业自动化控制技术有限公司 | Speed-adjustable goods-to-person annular track high-density intelligent warehousing system |
| CN116198898A (en) * | 2023-04-20 | 2023-06-02 | 巴斯夫一体化基地(广东)有限公司 | Warehouse for storing goods |
| CN116452115A (en) * | 2023-04-20 | 2023-07-18 | 巴斯夫一体化基地(广东)有限公司 | Method and device for managing warehouse |
| CN116452115B (en) * | 2023-04-20 | 2023-09-29 | 巴斯夫一体化基地(广东)有限公司 | Method and device for managing warehouse |
| CN117088028A (en) * | 2023-10-16 | 2023-11-21 | 烟台比尔电子科技有限公司 | Automatic stacker for intelligent storage and control method thereof |
| CN117088028B (en) * | 2023-10-16 | 2024-03-01 | 烟台比尔电子科技有限公司 | Automatic stacker for intelligent storage and control method thereof |
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Inventor after: Jiang Fan Inventor after: Qiao Jun Inventor after: Luo Yulong Inventor before: Liu Yibo Inventor before: Qiao Jun Inventor before: Jiang Fan Inventor before: Luo Yulong |
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Application publication date: 20200320 |