CN115009748B - Precision location method system of stacking industrial robot system - Google Patents

Precision location method system of stacking industrial robot system Download PDF

Info

Publication number
CN115009748B
CN115009748B CN202210801359.3A CN202210801359A CN115009748B CN 115009748 B CN115009748 B CN 115009748B CN 202210801359 A CN202210801359 A CN 202210801359A CN 115009748 B CN115009748 B CN 115009748B
Authority
CN
China
Prior art keywords
industrial robot
stacking
stacking industrial
coordinate information
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210801359.3A
Other languages
Chinese (zh)
Other versions
CN115009748A (en
Inventor
袁颖
高井峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yuanfeng High End Equipment Suzhou Co ltd
Original Assignee
Yuanfeng High End Equipment Suzhou Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yuanfeng High End Equipment Suzhou Co ltd filed Critical Yuanfeng High End Equipment Suzhou Co ltd
Priority to CN202210801359.3A priority Critical patent/CN115009748B/en
Publication of CN115009748A publication Critical patent/CN115009748A/en
Application granted granted Critical
Publication of CN115009748B publication Critical patent/CN115009748B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0428—Transfer means for the stacker crane between the alleys
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application is suitable for the technical field of stacking robots, and provides a precision location method system of a stacking industrial robot system, which comprises a plurality of location marks, a plurality of identification modules, a control terminal and a database, wherein the plurality of location marks respectively positioned around the stacking industrial robot are sequentially arranged along a stacking industrial robot feasible path through a goods shelf area arranged in a warehouse, and the identification modules corresponding to the location marks are integrated on the stacking industrial robot; when the stacking industrial robot runs on a feasible path, the identification module is started, the identification module obtains the position information of the stacking industrial robot through identifying the address identification mark, and coordinate value information of the stacking industrial robot is obtained according to the position information.

Description

Precision location method system of stacking industrial robot system
Technical Field
The disclosure relates to the technical field of stacking robots, in particular to a precision location method system of a stacking industrial robot system.
Background
With the increase of land and manpower costs, automated stereoscopic warehouses are increasingly widely used in the industries of food, medicine, machinery, petroleum, chemical industry, and the like. The stacker plays a role as a central subject of the automated stereoscopic warehouse. The positioning device of the warehouse stacker is a foundation for storing goods, has great significance, is related to parking precision and has direct influence on the quality of goods to be stored.
Referring to the patent application with the publication number of CN 112744750A, an automatic address-identifying device and an address-identifying method for a stacker are disclosed. The automatic stacker addressing device comprises a stacker cargo table, a left view sensor, a right view sensor, a horizontal ranging sensor, a vertical ranging sensor and a controller; the left visual sensor is arranged at the left side of the cargo table, and the right visual sensor is arranged at the right side of the cargo table; the left side visual sensor and the right side visual sensor are arranged on the stacker cargo carrying platform. The left side vision sensor and the right side vision sensor identify the coordinate positions of the marks on the shelf relative to the left side vision sensor and the right side vision sensor; the label on the goods shelf is a regular hole, a hole or an attached label on the goods shelf.
According to the above technology, when in implementation, there are some defects that the coordinates of the stacker are identified only by adopting a left vision sensor, a right vision sensor, a horizontal ranging sensor and a vertical ranging sensor, wherein the horizontal ranging sensor and the vertical ranging sensor are used for acquiring the horizontal and vertical coordinates of the stacker, the left vision sensor and the right vision sensor are used for acquiring the horizontal and vertical coordinates values of the center of an identification object on a shelf by the acquirer, the reference parameters are fewer, and the problem of inaccurate address identification is easily caused.
Disclosure of Invention
The invention aims to provide a precision address identifying method system of a stacking industrial robot system, which can provide a more accurate address identifying function.
To achieve the purpose, the present disclosure adopts the following technical scheme: the accurate address confirmation method of the stacking industrial robot system comprises the following steps:
S1, establishing an address recognition module: sequentially arranging a plurality of address identification marks respectively positioned around the stacking industrial robot along a stacking industrial robot feasible path in a goods shelf area of a warehouse, and integrating an identification module corresponding to the address identification marks on the industrial robot;
S2, obtaining coordinate values: when the stacking industrial robot runs on the feasible path, starting an identification module, and acquiring position information of the stacking industrial robot by the identification module through identifying the address identification, and acquiring coordinate value information of the stacking industrial robot according to the position information;
S3, executing the step S2, and sequentially recording coordinate value information when the stacking industrial robot stops each time to obtain an address recognition value.
Preferably, the address identification comprises shelf identifications respectively positioned on two side shelves on the feasible path, a ground identification positioned on the bottom surface on the feasible path, and an end identification positioned on each straight line segment of the feasible path;
The recognition modules comprise side recognition modules respectively positioned at two sides of the stacking industrial robot, a bottom recognition module positioned at the bottom of the stacking industrial robot and end recognition modules positioned at the front side and the rear side of the stacking industrial robot;
the feasible path is divided into a plurality of sub-paths according to each straight line segment along the feasible path, and each sub-path corresponds to one straight line segment.
Preferably, the shelf marks adopt detection switches sequentially arranged on the shelf at intervals along the feasible path direction, and the side part identification module is an extension detection part which is positioned on the side part of the stacking industrial robot and matched with the detection switches; when the extension detection part approaches the detection switch to reach a preset threshold value, triggering the detection switch, and sending an identification signal containing corresponding coordinate information I by the detection switch;
the ground mark is a bar code strip extending along the feasible path, and the bottom recognition module is positioned at a bar code reader arranged at the bottom of the stacking industrial robot; the bar code reader obtains coordinate information II by identifying a bar code band at a corresponding position;
The end mark is a reflecting plate positioned on the goods shelf, the end recognition module is a laser range finder arranged on the front surface and the rear surface of the stacking industrial robot, and the laser range finder obtains coordinate information II by detecting the distance value between the stacking industrial robot and the reflecting plate.
Preferably, an encoder is mounted on a travelling wheel of the stacking robot, and when the stacking robot walks, the walking distance value of the stacking robot is converted into a pulse value through the encoder;
And carrying out reckoning on the distance value when the stacking robot turns around each time, and simultaneously recording and storing the last distance value.
The invention also provides a precision addressing system of the stacking industrial robot system, which comprises:
a plurality of addressing marks which are sequentially arranged around the industrial robot along a stacking industrial robot feasible path in a shelf area of a warehouse;
A plurality of identification modules integrated on the palletizing industrial robot and corresponding to the addressing identifications;
The control terminal is used for starting an identification module when the stacking industrial robot runs on the feasible path, the identification module obtains the position information of the stacking industrial robot by identifying the address identification, and the coordinate value information of the stacking industrial robot is obtained according to the position information;
And a database for storing an address value obtained from the coordinate value information at each stop of the stacking industrial robot.
Preferably, the address identification comprises shelf identifications respectively positioned on two side shelves on the feasible path, a ground identification positioned on the bottom surface on the feasible path, and an end identification positioned on each straight line segment of the feasible path;
The recognition modules comprise side recognition modules respectively positioned at two sides of the stacking industrial robot, a bottom recognition module positioned at the bottom of the stacking industrial robot and end recognition modules positioned at the front side and the rear side of the stacking industrial robot;
the feasible path is divided into a plurality of sub-paths according to each straight line segment along the feasible path, and each sub-path corresponds to one straight line segment.
Preferably, the shelf marks adopt detection switches sequentially arranged on the shelf at intervals along the feasible path direction, and the side part identification module is an extension detection part which is positioned on the side part of the stacking industrial robot and matched with the detection switches; when the extension detection part approaches the detection switch to reach a preset threshold value, triggering the detection switch, and sending an identification signal containing corresponding coordinate information I by the detection switch;
the ground mark is a bar code strip extending along the feasible path, and the bottom recognition module is positioned at a bar code reader arranged at the bottom of the stacking industrial robot; the bar code reader obtains coordinate information II by identifying a bar code band at a corresponding position;
The end mark is a reflecting plate positioned on the goods shelf, the end recognition module is a laser range finder arranged on the front and rear sides of the stacking industrial robot, and the laser range finder obtains coordinate information III by detecting the distance value between the stacking industrial robot and the reflecting plate.
Preferably, an encoder is mounted on a travelling wheel of the stacking robot, and when the stacking robot walks, the walking distance value of the stacking robot is converted into a pulse value through the encoder;
And carrying out reckoning on the distance value when the stacking robot turns around each time, and simultaneously recording and storing the last distance value.
The beneficial effects of the present disclosure are: according to the system for precisely identifying the address of the stacking industrial robot system, a plurality of address identification marks respectively positioned around the stacking industrial robot are sequentially arranged along a feasible path of the stacking industrial robot through the goods shelf area arranged in the warehouse, and the identification modules corresponding to the address identification marks are integrated on the stacking industrial robot; when the stacking industrial robot runs on a feasible path, the identification module is started, the identification module obtains the position information of the stacking industrial robot through identifying the address identification mark, and coordinate value information of the stacking industrial robot is obtained according to the position information.
Drawings
Fig. 1 is a schematic structural diagram of a precision addressing system of a stacking industrial robot system provided by the present disclosure.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a technical scheme that: referring to fig. 1, referring to a system of a precision addressing method of a stacking industrial robot system, the precision addressing system of the stacking industrial robot system includes: the system comprises a plurality of address identifiers, a plurality of identification modules, a control terminal and an identification module.
The plurality of index markers are sequentially disposed around the stacking industrial robot along a viable path of the stacking industrial robot in a shelf area of the warehouse.
A plurality of identification modules are integrated on the palletizing industrial robot and correspond to the addressing identifications.
The address identification comprises shelf identifications respectively positioned on shelves at two sides of the feasible path, ground identifications positioned on the bottom surface of the feasible path and end identifications positioned on each straight line segment of the feasible path; the recognition modules comprise side recognition modules respectively positioned at two sides of the stacking industrial robot, a bottom recognition module positioned at the bottom of the stacking industrial robot and end recognition modules positioned at the front side and the rear side of the stacking industrial robot; the feasible path is divided into a plurality of sub-paths according to each straight line segment along the feasible path, and each sub-path corresponds to one straight line segment.
Specifically, the shelf marks adopt detection switches sequentially arranged on the shelf at intervals along the feasible path direction, and the side part identification module is an extension detection part which is positioned on the side part of the stacking industrial robot and is matched with the detection switches; when the extension detection part approaches the detection switch to reach a preset threshold value, triggering the detection switch, and sending an identification signal containing corresponding coordinate information I by the detection switch; the ground mark is a bar code strip extending along a feasible path, and the bottom recognition module is positioned at a bar code reader arranged at the bottom of the stacking industrial robot; the bar code reader obtains coordinate information II by identifying a bar code band at a corresponding position; the end mark is a reflecting plate positioned on a goods shelf, the end recognition module is a laser range finder arranged on the front surface and the rear surface of the stacking industrial robot, and the laser range finder obtains coordinate information III by detecting the distance value between the stacking industrial robot and the reflecting plate.
The travelling wheel of the stacking robot is provided with an encoder, and when the stacking robot walks, the walking distance value of the stacking robot is converted into a pulse value through the encoder; and carrying out re-statistics on the distance value when the stacking robot turns around and turns around each time, and simultaneously recording and storing the previous distance value.
The control terminal is used for starting the identification module when the stacking industrial robot runs on a feasible path, the identification module obtains the position information of the stacking industrial robot through identifying the address identification, and the coordinate value information of the stacking industrial robot is obtained according to the position information.
Specifically, the control terminal obtains coordinate information I, coordinate information II, coordinate information III and a distance value obtained by the encoder, the control terminal obtains the travel distance of the stacking industrial robot according to the distance value, and obtains coordinate information IV by combining and calculating with steering and reversing information of the stacking industrial robot, when at least two coordinate information of the coordinate information I, the coordinate information II and the coordinate information III are consistent, the consistent coordinate information is output as position information, and calibrated coordinate information is obtained, and meanwhile, when at least one coordinate information is inconsistent with other coordinate information, an identification module calibration instruction is sent out, wherein when the coordinate information II is inconsistent with the coordinate information I and the coordinate information III, the calibration is carried out through the coordinate information IV, when the coordinate information IV is inconsistent with the coordinate information II, an emergency calibration instruction is sent out, and the maintenance personnel carries out on-site calibration.
The database is used for storing address recognition values obtained according to coordinate value information when the stacking industrial robot stops each time.
The invention relates to a precision location method of a stacking industrial robot system, which is suitable for the precision location system of the stacking industrial robot system and comprises the following steps:
s1, establishing an address recognition module: sequentially arranging a plurality of address identification marks respectively positioned around the stacking industrial robot along a feasible path of the stacking industrial robot in a goods shelf area of the warehouse, and integrating an identification module corresponding to the address identification marks on the stacking industrial robot;
The address identification comprises shelf identifications respectively positioned on shelves at two sides of the feasible path, ground identifications positioned on the bottom surface of the feasible path and end identifications positioned on each straight line segment of the feasible path; the recognition modules comprise side recognition modules respectively positioned at two sides of the stacking industrial robot, a bottom recognition module positioned at the bottom of the stacking industrial robot and end recognition modules positioned at the front side and the rear side of the stacking industrial robot; the feasible path is divided into a plurality of sub-paths according to each straight line segment along the feasible path, and each sub-path corresponds to one straight line segment.
Specifically, the shelf marks adopt detection switches sequentially arranged on the shelf at intervals along the feasible path direction, and the side part identification module is an extension detection part which is positioned on the side part of the stacking industrial robot and is matched with the detection switches; when the extension detection part approaches the detection switch to reach a preset threshold value, triggering the detection switch, and sending an identification signal containing corresponding coordinate information I by the detection switch; the ground mark is a bar code strip extending along a feasible path, and the bottom recognition module is positioned at a bar code reader arranged at the bottom of the stacking industrial robot; the bar code reader obtains coordinate information II by identifying a bar code band at a corresponding position; the end mark is a reflecting plate positioned on a goods shelf, the end recognition module is a laser range finder arranged on the front surface and the rear surface of the stacking industrial robot, and the laser range finder obtains coordinate information II by detecting the distance value between the stacking industrial robot and the reflecting plate.
S2, obtaining coordinate values: when the stacking industrial robot runs on a feasible path, the identification module is started, the identification module obtains the position information of the stacking industrial robot through identifying the address identification, and the coordinate value information of the stacking industrial robot is obtained according to the position information.
S3, executing the step S2, and sequentially recording coordinate value information when the stacking industrial robot stops each time to obtain an address recognition value.
The travelling wheel of the stacking robot is provided with an encoder, and when the stacking robot walks, the walking distance value of the stacking robot is converted into a pulse value through the encoder; and carrying out re-statistics on the distance value when the stacking robot turns around and turns around each time, and simultaneously recording and storing the previous distance value.
In summary, according to the precision address identifying method system of the stacking industrial robot system, a plurality of address identifying marks respectively positioned around the stacking industrial robot are sequentially arranged along a feasible path of the stacking industrial robot through the goods shelf area arranged in the warehouse, and the identifying modules corresponding to the address identifying marks are integrated on the stacking industrial robot; when the stacking industrial robot runs on a feasible path, the identification module is started, the identification module obtains the position information of the stacking industrial robot through identifying the address identification mark, the coordinate information I, the coordinate information II and the coordinate information III of the stacking industrial robot are obtained according to the position information, and then the coordinate information is determined and calibrated through comparison.
The invention further provides an encoder, and the coordinate value IV is obtained by stacking the driving distance of the industrial robot so as to calibrate the coordinate information more accurately and improve the accuracy of address recognition.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (2)

1. The accurate address confirmation method of the stacking industrial robot system is characterized by comprising the following steps of: the method comprises the following steps:
s1, establishing an address recognition module: sequentially arranging a plurality of address identification marks respectively positioned around the stacking industrial robot along a feasible path of the stacking industrial robot in a goods shelf area of a warehouse, and integrating an identification module corresponding to the address identification marks on the stacking industrial robot;
S2, obtaining coordinate values: when the stacking industrial robot runs on the feasible path, starting an identification module, and acquiring position information of the stacking industrial robot by the identification module through identifying the address identification, and acquiring coordinate value information of the stacking industrial robot according to the position information;
S3, executing the step S2, and sequentially recording coordinate value information when the stacking industrial robot stops each time to obtain an address recognition value;
The address identification comprises shelf identifications respectively positioned on shelves at two sides of the feasible path, ground identifications positioned on the bottom surface of the feasible path and end identifications positioned on each straight line segment of the feasible path;
the recognition modules comprise side recognition modules respectively positioned at two sides of the stacking industrial robot, a bottom recognition module positioned at the bottom of the stacking industrial robot and end recognition modules positioned at the front and rear sides of the stacking industrial robot;
the feasible path is divided into a plurality of sub-paths according to each straight line segment along the feasible path, and each sub-path corresponds to one straight line segment;
the shelf marks adopt detection switches which are sequentially arranged on the shelf at intervals along the feasible path direction, and the side part identification modules are extension detection parts which are positioned on the side parts of the stacking industrial robot and matched with the detection switches; when the extension detection part approaches the detection switch to reach a preset threshold value, triggering the detection switch, and sending an identification signal containing corresponding coordinate information I by the detection switch;
the ground mark is a bar code strip extending along the feasible path, and the bottom recognition module is positioned at a bar code reader arranged at the bottom of the stacking industrial robot; the bar code reader obtains coordinate information II by identifying a bar code band at a corresponding position;
The end mark is a reflecting plate positioned on the goods shelf, the end recognition module is a laser range finder arranged on the front and rear sides of the stacking industrial robot, and the laser range finder obtains coordinate information III by detecting the distance value between the stacking industrial robot and the reflecting plate;
the travelling wheel of the stacking industrial robot is provided with an encoder, and when the stacking industrial robot walks, the walking distance value of the stacking industrial robot is converted into a pulse value through the encoder;
carrying out reckoning on the distance value when the stacking industrial robot turns around each time, and simultaneously recording and storing the last distance value;
the control terminal is used for starting the identification module when the stacking industrial robot runs on a feasible path, the identification module obtains the position information of the stacking industrial robot by identifying the address identification mark, and the coordinate value information of the stacking industrial robot is obtained according to the position information;
The control terminal obtains coordinate information I, coordinate information II, coordinate information III and a distance value obtained by an encoder, the control terminal obtains the travel distance of the stacking industrial robot according to the distance value, and obtains coordinate information IV by combining and calculating with steering and reversing information of the stacking industrial robot, when at least two coordinate information of the coordinate information I, the coordinate information II and the coordinate information III are consistent, the consistent coordinate information is output as position information, and further calibrated coordinate information is obtained, and meanwhile, when at least one coordinate information is inconsistent with other coordinate information, an identification module calibration instruction is sent out, wherein when the coordinate information II is inconsistent with the coordinate information I and the coordinate information III, the calibration is carried out through the coordinate information IV, and when the coordinate information IV is inconsistent with the coordinate information II, an emergency calibration instruction is sent out, and on-site calibration is carried out by maintenance personnel.
2. A precision addressing system for a stacking industrial robot system, which can implement the precision addressing method for a stacking industrial robot system of claim 1, characterized in that: comprising the following steps:
a plurality of addressing marks which are sequentially arranged around the stacking industrial robot on a shelf area of the warehouse along a feasible path of the stacking industrial robot;
A plurality of identification modules integrated on the palletizing industrial robot and corresponding to the addressing identifications;
The control terminal is used for starting an identification module when the stacking industrial robot runs on the feasible path, the identification module obtains the position information of the stacking industrial robot by identifying the address identification, and the coordinate value information of the stacking industrial robot is obtained according to the position information;
And a database for storing an address value obtained from the coordinate value information at each stop of the stacking industrial robot.
CN202210801359.3A 2022-07-07 2022-07-07 Precision location method system of stacking industrial robot system Active CN115009748B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210801359.3A CN115009748B (en) 2022-07-07 2022-07-07 Precision location method system of stacking industrial robot system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210801359.3A CN115009748B (en) 2022-07-07 2022-07-07 Precision location method system of stacking industrial robot system

Publications (2)

Publication Number Publication Date
CN115009748A CN115009748A (en) 2022-09-06
CN115009748B true CN115009748B (en) 2024-05-07

Family

ID=83080497

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210801359.3A Active CN115009748B (en) 2022-07-07 2022-07-07 Precision location method system of stacking industrial robot system

Country Status (1)

Country Link
CN (1) CN115009748B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115783598A (en) * 2022-11-30 2023-03-14 江苏亨通智能装备有限公司 Storage positioning system
CN117022959A (en) * 2023-06-30 2023-11-10 重庆市信息通信咨询设计院有限公司 Automatic addressing method for logistics robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390651A (en) * 2011-07-04 2012-03-28 上海精星物流设备工程有限公司 Orbital distribution trolley used for positioning automatic warehouse bar code
KR101496769B1 (en) * 2014-04-29 2015-02-27 주식회사 시엔비 Apparatus for determining positon on rail of stacker crane
CN205023290U (en) * 2015-09-30 2016-02-10 湖北龙源电力科技有限公司 Warehouse stacker positioner
CN105775540A (en) * 2016-03-07 2016-07-20 上海诺力智能科技有限公司 Control method of storing and taking trays for magnetic stripe guide type vehicle
CN111717580A (en) * 2020-04-26 2020-09-29 江苏欧标智能储存科技有限公司 Method for demonstrating stop bit position of stacker
CN112327314A (en) * 2020-07-22 2021-02-05 江苏智库智能科技有限公司 Positioning system, positioning method and control method of heavy-load stacker
CN112744750A (en) * 2021-01-19 2021-05-04 长沙长泰智能装备有限公司 Automatic addressing device and method for stacker

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390651A (en) * 2011-07-04 2012-03-28 上海精星物流设备工程有限公司 Orbital distribution trolley used for positioning automatic warehouse bar code
KR101496769B1 (en) * 2014-04-29 2015-02-27 주식회사 시엔비 Apparatus for determining positon on rail of stacker crane
CN205023290U (en) * 2015-09-30 2016-02-10 湖北龙源电力科技有限公司 Warehouse stacker positioner
CN105775540A (en) * 2016-03-07 2016-07-20 上海诺力智能科技有限公司 Control method of storing and taking trays for magnetic stripe guide type vehicle
CN111717580A (en) * 2020-04-26 2020-09-29 江苏欧标智能储存科技有限公司 Method for demonstrating stop bit position of stacker
CN112327314A (en) * 2020-07-22 2021-02-05 江苏智库智能科技有限公司 Positioning system, positioning method and control method of heavy-load stacker
CN112744750A (en) * 2021-01-19 2021-05-04 长沙长泰智能装备有限公司 Automatic addressing device and method for stacker

Also Published As

Publication number Publication date
CN115009748A (en) 2022-09-06

Similar Documents

Publication Publication Date Title
CN115009748B (en) Precision location method system of stacking industrial robot system
CN109323696B (en) Indoor positioning navigation system and method for unmanned forklift
CN113557207B (en) System and method for vehicle position calibration using shelf post identification and gantry swing compensation
RU2565011C1 (en) Method and system of use of distinctive reference points for locating of industrial vehicles at beginning of work
CN106643805B (en) Method for calibrating position of laser positioning sensor in AGV
US9580285B2 (en) Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
CA2539334C (en) Transponder-assisted positioning system
AU2024204528A1 (en) Systems and methods for vehicle position calibration using rack leg identification
CN112068558B (en) Shuttle vehicle walking positioning control method
CN109335531B (en) Material taking and discharging method for shuttle vehicle
CN112744750B (en) Automatic addressing device and method for stacker
DE102009004854B4 (en) Method and system for determining the position of an industrial truck
CN107357290A (en) One kind is based on magnetic navigation robot ambulation system
CN208752462U (en) A kind of inertial navigation magnetic stripe hybrid navigation AGV system
CN113917928A (en) Full-automatic AGV unmanned forklift and path planning method thereof
CN112330748A (en) Tray identification and positioning method based on binocular depth camera
CN211504158U (en) AGV navigation system for jacking
CN214751524U (en) AGV container loading navigation positioning system
WO2022222697A1 (en) Automatic mobile robot, logistics docking system, and docking method
Garibotto et al. Computer vision control of an intelligent forklift truck
CN117125391B (en) Visual-based stereoscopic warehouse position data measurement system and method
CN216526888U (en) Full-automatic AGV unmanned forklift
CN115469601A (en) Method for positioning a module, first module, second module and automation system
AU2015203030B2 (en) Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
CN115256471A (en) Accurate positioning system for liquid crystal panel of stacking industrial robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant