The invention belongs to the technical field of warehouse logistics, and provides a logistics stacker walking positioning and speed curve control device and method.The device comprises a positioning hole sensor, an encoder and a controller; the controller is used for receiving pulse data fed back by the positioning hole sensor and the encoder, adaptively learning position coordinates of each row of goods shelves and storing the position coordinates to the controller; the controller is used for extracting a target goods shelf position coordinate according to the issued task instruction, judging according to a coordinate difference between the target goods shelf position and the starting position of the stacking machine, and controlling the stacking machine to execute a first speed curve operation mode if the coordinate difference between the target goods shelf position and the starting position of the stacking machine is greater than a set threshold value; otherwise, controlling the stacking machine to execute a second speed curve operation mode; and judging whether the stacker reaches the target shelf position and whether the positioning hole sensor is aligned with the target row of positioning holes, if so, executing the task, otherwise, performing self-correction.
本发明属于仓储物流技术领域,提供了一种物流堆垛机行走定位及速度曲线控制装置及方法,该装置包括定位孔传感器、编码器以及控制器;所述控制器用于接收定位孔传感器和编码器反馈的脉冲数据,自适应学习每排货架位置坐标并将其存储至控制器;所述控制器用于根据下发任务指令提取目标货架位置坐标,根据堆垛机的目标货架位置和起始位置的坐标差进行判断,若堆垛机的目标货架位置和起始位置的坐标差满足大于设定的阈值,则控制堆垛机执行第一速度曲线运行模式,否则控制堆垛机执行第二速度曲线运行模式;判断堆垛机是否到达目标货架位置以及定位孔传感器是否对准目标排定位孔,若对准执行任务,否则进行自校正。
Logistics stacker walking positioning and speed curve control device and method
一种物流堆垛机行走定位及速度曲线控制装置及方法
2022-09-23
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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