CN205247207U - AGV order -picking trucks and automated guidance letter sorting system - Google Patents
AGV order -picking trucks and automated guidance letter sorting system Download PDFInfo
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- CN205247207U CN205247207U CN201520902750.8U CN201520902750U CN205247207U CN 205247207 U CN205247207 U CN 205247207U CN 201520902750 U CN201520902750 U CN 201520902750U CN 205247207 U CN205247207 U CN 205247207U
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Abstract
The utility model relates to a logistics field, concretely relates to AGV order -picking trucks and automated guidance letter sorting system. The utility model discloses an above -mentioned technological purpose can realize through following technical scheme: a AGV order -picking trucks, contains the automobile body and establishes just be used for the fork body of arrangement of goods on the automobile body, still contain positioner, navigation head, communication device and display device. The utility model aims at providing a AGV order -picking trucks and automated guidance letter sorting system can carry out the intellectuality letter sorting to the goods in the warehouse, promotes letter sorting efficiency to transformation to the warehouse is little, and is with low costs, does benefit to implementation.
Description
Technical field
The utility model relates to logistics field, is specifically related to a kind of AGV order-picking trucks and homing guidance sorting system.
Background technology
In traditional logistics sorting field, need workman to sort as requested the different article on shelf, carryingTo the walking arrangement such as fork truck, but along with the blowout of hyundai electronics commercial affairs develops, to electronization, the intelligence of storage sortingEnergyization, high efficiency are had higher requirement, and when original pilot steering fork truck sorts, manual intervention is more, easily make mistakes,Efficiency is not high, and while workman should carry out a dead lift to goods and drive again pallet fork car, also will check goods information, to workmanHave relatively high expectations.
Also exist the improvement technical scheme on manual sorting's basis, such as publication No. is CN104142682AA kind of commodity method for sorting based on intelligent AGV that patent document is announced, adopts AGV dolly automatic Pilot, has liter on dollyFall the equipment of lifting, shelf are again removable design for disassemblies, and dolly holds up movement by goods together with corresponding shelf, mobileCarry out manual sorting to sorting station.
But such operator scheme has following deficiency: one, and in service in system, need multiple AGV dollies constantly to comeReturn, equipment cost is high, and energy consumption is high; Two, each AGV dolly once can only be got a goods back and forth, and efficiency is low; Three, with respect to biographySystem warehouse, because shelf need to adopt portable design, completely different with free warehouse, construction and the upgrade cost in warehouse are large,Require high for medium-sized and small enterprises; Four, need the extra sorting station of setting up, further promote construction cost.
Utility model content
The purpose of this utility model is to provide a kind of AGV order-picking trucks and homing guidance sorting system, can be to the goods in warehouseThing carries out intellectuality sorting, promotes sorting efficiency, and little to the transformation in warehouse, and cost is low, is beneficial to enforcement.
Above-mentioned technical purpose of the present utility model is achieved by the following technical programs: a kind of AGV order-picking trucks, bagContaining car body be located on described car body and for the fork body of arrangement of goods, also comprise positioner, guider, communication device andDisplay unit;
Described positioner is located on described car body, is located at described car body driving trace gateway locational for identificationPositioning label;
Described Navigation Control Unit is located on described car body, for perception, the particular location that obtains described car body, attitude,And calculate described car body compared with the spacing of left and right shelf, revise the run trace of described car body by steering control device;
Described display unit is for showing the selection goods information of this kind of AGV order-picking trucks;
Described communication device is for the information communication between described display unit and overall control center.
Described fork body is located on described car body, and for putting sorting kinds of goods for user, described display unit can be arranged onOn described car body, also can be hand-held by workman, can be the equipment such as panel computer, smart mobile phone, display, described communication deviceCan adopt the mechanicss of communication such as bluetooth, wireless WIFI or OPM, in actual warehouse, often comprise between multiple shelf and shelfFor the tunnel of AGV order-picking trucks walking, at least in the entrance and exit position in described tunnel, described positioning label is set, when AGV choosesSelect garage to sail to this position, described positioner scans described positioning label, just can orient AGV order-picking trucks which is positioned at nowThe entrance in bar tunnel or exit also can arrange that multiple described positioning labels are for described positioner in interval in described tunnelScanning, the travel distance calculation element of installing in conjunction with AGV order-picking trucks, thus further more accurately orient this kind of AGV order-picking trucksParticular location in this tunnel; Described guider is located on described car body, when this kind of AGV order-picking trucks travels in tunnelThereby time can be scanned left and right shelf and calculates the distance of this kind of AGV order-picking trucks with respect to left and right shelf, and turn described in controllingTo device, track route is carried out to left and right sides to correction, in actual use, system is according to low level sorting and high-order dividingThe different demands of choosing are done different walking routes and are selected, arrange, and in the time that user needs low level sorting, can select, arrange this kindAGV order-picking trucks is walked at tunnel medium position, thereby all has sorting space in the left and right sides, when user needs high-order sortingTime, can select, arrange this kind of AGV order-picking trucks walking in the side near described shelf, facilitate workman to climb the above car body,The locational goods of described shelf eminence is sorted.
As of the present utility model preferred, described positioner is RFID card reader, is located at described vehicle bottom position, instituteStating positioning label is RFID electronic tag.
As of the present utility model preferred, described guider comprises laser sensor and travel distance calculation element, instituteState laser sensor for responding to the spacing of this kind of AGV order-picking trucks with respect to both racks, described travel distance calculation element is usedIn the travel distance that calculates this kind of AGV order-picking trucks.
Described laser sensor can be located at described car body top position, and court is multi-angle Emission Lasers bundle around, described in passing throughAfter shelf bounce-back, receive, thereby record the distance of described car body with respect to described shelf, described travel distance calculation element is used forCalculate travel distance, coordinate the data of described laser sensor accurately to locate concrete in described tunnel of this kind of AGV order-picking trucksPosition and attitude.
As of the present utility model preferred, this kind of AGV order-picking trucks comprises the drive motors for driving described car body to advance,Described travel distance calculation element, for collecting the encoder data on described drive motors, obtains the motor of described drive motorsRotating speed.
According to the motor speed of described drive motors and travel time, can calculate the range data of actual travel.
Preferably also comprise alarming device as of the present utility model, described alarming device comprises and is located on described car body, usesWhether there is the crashproof inductor of barrier and realize according to described crashproof sensor data signal in detecting course frontThe warning lamp of warning.
In the time having barrier or people to appear at the direction of advance of this kind of AGV order-picking trucks, will be caught by described crashproof inductorCatch, after catching, described warning lamp is reported to the police, and also can control the brakes running of this kind of AGV order-picking trucks, halts, thereby guaranteesPersonal security.
As of the present utility model preferred, the driving being also provided with for switching manual automatic driving mode on described car body is cutChanging device, described car body is provided with handle.
As of the present utility model preferred, this kind of AGV order-picking trucks has various lines and selects, function is set, according to selectionMission requirements setting, be chosen in the middle of both racks or be close to the route running of side shelf.
A kind of homing guidance sorting system, the shelf and the overall control center that comprise described AGV order-picking trucks, storage goods;
Described overall control center is sent to described display unit by described communication device by mission bit stream;
Described car body controller sends to overall control center by communication device by car body information, for overall control center monitoring instituteThere is vehicle;
In the middle of multiple described shelf, form tunnel, described AGV order-picking trucks is walked in described tunnel, gateway, described tunnelGround is provided with the positioning label for described positioner scanning;
Described shelf are for scanning for guider.
As of the present utility model preferred, in described tunnel, on the conduct route of described AGV order-picking trucks, also arrange to some extentState positioning label.
As of the present utility model preferred, described positioner is RFID card reader, is located at the bottom of described AGV order-picking trucksPosition, described positioning label is RFID electronic tag.
As of the present utility model preferred, described communication device is wireless WIFI communication device.
In sum, the utlity model has following beneficial effect:
1, this kind of AGV order-picking trucks can be according to described positioner location from position and attitude in warehouse.
2, described guider can be walked by this kind of AGV order-picking trucks of homing guidance in described tunnel, without pilot steering.
3, user can sort goods according to the information in described display unit, and efficiently convenient, error rate is low.
4, when described crashproof inductor has barrier forwardly, can automatically stop and having alarm signal, promote security.
5, this kind of homing guidance sorting system is little to traditional warehouse change, does not need shelf and tunnel to carry out big-movementReplacing, upgrade cost is low, is beneficial to popularization.
Brief description of the drawings:
Fig. 1 is the schematic perspective view of AGV order-picking trucks described in embodiment 1;
Fig. 2 is the running schematic diagram of homing guidance sorting system described in embodiment 1.
In figure:
1, car body, 11, handle, 2, guider, 3, alarming device, 31, warning lamp, 32, crashproof inductor, 4, fork body,5, communication device, 6, display unit, 7, drive switching device shifter, 8, positioner, 9, pedal, 10, car body controller.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
This specific embodiment is only to explanation of the present utility model, and it is not to restriction of the present utility model, abilityField technique personnel are reading after this description and can make to the present embodiment the amendment that there is no creative contribution as required, butAs long as be all subject to the protection of Patent Law within the scope of claim of the present utility model.
Embodiment 1, as shown in Figure 2: a kind of homing guidance sorting system, the shelf of the AGV order-picking trucks comprising, storage goodsAnd overall control center.
Overall control center is sent to AGV order-picking trucks by communication device 5 by mission bit stream.
In the middle of multiple shelf, form tunnel, as tunnel 01 and tunnel 02 that Fig. 2 plants, AGV order-picking trucks is walked in tunnel, laneGround, gateway, road is provided with the positioning label scanning for positioner 8, and in the present embodiment, positioning label is rfid card.
Shelf are for scanning for guider 2.
As shown in Figure 1: Fig. 1 is the concrete structure of AGV order-picking trucks: a kind of AGV order-picking trucks, comprises car body 1 and be located at car body 1Upper and for the fork body 4 of arrangement of goods, also comprise positioner 8, guider 2, communication device 5 and display unit 6;
Positioner 8 is located on car body 1, is located at the car body 1 locational positioning label in movement track gateway for identification;Guider 2 is located on car body 1, for calculating the particular location of car body 1, and calculates car body 1 compared with the spacing of left and right shelf, passes throughTransfer is revised the run trace of car body 1; Display unit 6 is for showing the selection goods information of this kind of AGV order-picking trucks; LogicalNews device 5 is for the information communication between display unit 6 and overall control center.
Fork body 4 is located on car body 1, and for putting sorting kinds of goods for user, display unit 6 can be arranged on car body 1, alsoCan be hand-held by workman, in this enforcement, adopt panel computer, communication device 5 can adopt bluetooth, wireless WIFI or OPM etc. logicalNews technology, adopts wireless WIFI technology in the present embodiment, is provided with the antenna of wireless WIFI on car body 1. Positioner 8 isRFID card reader, is located at car body 1 bottom position, and positioning label is RFID electronic tag.
Guider 2 is located on car body 1, in the time that this kind of AGV order-picking trucks travels in tunnel, can scan left and right shelf fromAnd calculate the distance of this kind of AGV order-picking trucks with respect to left and right shelf, and control transfer track route is carried out to a left sideDifferent settings, to correction, in actual use, is done according to the difference of low level sorting and high-order sorting in right side, when user needsWhile wanting low level sorting, this kind of AGV order-picking trucks can be set and walk at tunnel medium position, thereby all there is sorting in the left and right sidesSpace, in the time that user needs high-order sorting, can arrange this kind of AGV order-picking trucks walking in the position near shelf, facilitates workmanClimbing upper body 1, sorts the locational goods of shelf eminence. Guider 2 comprises laser sensor and travel distanceCalculation element, laser sensor is for responding to the spacing of this kind of AGV order-picking trucks with respect to both racks, travel distance calculation elementFor calculating the travel distance of this kind of AGV order-picking trucks. Laser sensor can be located at car body 1 tip position, and court around multi-angle is sent outPenetrate laser beam, receive, thereby record the distance of car body 1 with respect to shelf after shelf bounce-back, travel distance calculation element is usedIn calculating travel distance, coordinate the data of laser sensor accurately to locate the particular location of this kind of AGV order-picking trucks in tunnel. ShouldPlant AGV order-picking trucks and comprise the drive motors for driving car body 1 to advance, travel distance calculation element is used for collecting drive motorsEncoder data, obtain the motor speed of drive motors. According to the motor speed of drive motors and travel time, can calculateGo out the range data of actual travel.
AGV order-picking trucks also comprises alarming device 3, and alarming device 3 comprises and is located on car body 1, before courseWhether side has the crashproof inductor 32 of barrier and realizes the warning lamp 31 of warning according to crashproof inductor 32 data-signals. WhenWhile having barrier or people to appear at the direction of advance of this kind of AGV order-picking trucks, will be caught by crashproof inductor 32, alert after catchingShow that lamp 31 reports to the police, also can control the brakes running of this kind of AGV order-picking trucks, halt, thereby guarantee personal security. Car bodyOn 1, be also provided with the driving switching device shifter 7 for switching manual automatic driving mode, car body 1 is provided with handle 11.
Car body controller 10 is located on car body 1, for receiving the selection mission bit stream of overall control center, selects, arranges AGV and chooseSelect the travel route of car, and obtain position, parking stall, the attitude information of positioner 8, clearing draw car body controlled quentity controlled variable, are handed down to and leadBoat device 2 carries out automobile navigation control, and by communication device 5, the position of AGV order-picking trucks, attitude information is sent in master controlThe heart, for the state of overall control center detection AGV order-picking trucks.
Claims (11)
1. an AGV order-picking trucks, comprise car body (1) and be located at described car body (1) upper and for the fork body (4) of arrangement of goods, itsBe characterised in that: also comprise positioner (8), guider (2), communication device (5), display unit (6) and car body controller（10）；
It is upper that described positioner (8) is located at described car body (1), is located at position, described car body (1) movement track gateway for identificationThe positioning label being set up;
It is upper that described guider (2) is located at described car body (1), for calculating the particular location of described car body (1), and described in calculatingCar body (1), compared with the spacing of left and right shelf, is revised the travel direction of described car body (1) by transfer;
Described display unit (6) is for showing the selection goods information of this kind of AGV order-picking trucks;
Described car body controller (10) travels and sends car body position and attitude information to overall control center for controlling car body;
Described communication device (5) is for the information exchange between described display unit (6), car body controller (10) and overall control centerNews.
2. a kind of AGV order-picking trucks according to claim 1, is characterized in that: described positioner (8) is RFID Card ReaderDevice, is located at described car body (1) bottom position, and described positioning label is RFID electronic tag, and RFID electronic tag is embedded in AGV and choosesSelect in the ground of car driving path.
3. a kind of AGV order-picking trucks according to claim 1, is characterized in that: described guider (2) comprises laser sensingDevice and travel distance calculation element, described laser sensor is used for responding to the spacing of this kind of AGV order-picking trucks with respect to both racks,Described travel distance calculation element is for calculating the travel distance of this kind of AGV order-picking trucks.
4. a kind of AGV order-picking trucks according to claim 3, is characterized in that: this kind of AGV order-picking trucks comprises for drivingState drive motors that car body (1) advances and the steer motor of controlling car body and turning to, described travel distance calculation element is for gatheringEncoder data on described drive motors, obtains the motor revolution of described drive motors, drives the diameter of wheel in conjunction with car bodyObtain car body travel distance.
5. according to a kind of AGV order-picking trucks described in claim 1 or 2 or 3 or 4, it is characterized in that: also comprise alarming device (3),Described alarming device (3) comprises that to be located at described car body (1) upper, whether has the crashproof sense of barrier for detection of course frontAnswer device (32) and realize the warning lamp (31) of warning according to described crashproof inductor (32) data-signal.
6. according to a kind of AGV order-picking trucks described in claim 1 or 2 or 3 or 4, it is characterized in that: described car body is also established on (1)Be useful on the driving switching device shifter (7) that switches manual automatic driving mode, described car body (1) is provided with handle (11).
7. according to a kind of AGV order-picking trucks described in claim 1 or 2 or 3 or 4, it is characterized in that: this kind of AGV order-picking trucks hasFunction is selected, arranged to various lines, according to choosing mission requirements setting, be chosen in the middle of both racks or be close to side shelfRoute running.
8. a homing guidance sorting system, is characterized in that: comprise AGV order-picking trucks as claimed in claim 1, for storeThe shelf of goods and overall control center;
Described overall control center is sent to described display unit (6) by described communication device (5) by mission bit stream;
Described car body controller (10) sends to overall control center by communication device (5) by car body information, supervises for overall control centerControl all vehicles;
In the middle of multiple described shelf, form tunnel, described AGV order-picking trucks is walked in described tunnel, ground, gateway, described tunnelBe provided with the positioning label for described positioner (8) scanning;
Described shelf are for scanning for guider (2).
9. a kind of homing guidance sorting system according to claim 8, is characterized in that: in described tunnel, at described AGVOn the conduct route of order-picking trucks, be also provided with described positioning label.
10. a kind of homing guidance sorting system according to claim 8, is characterized in that: described positioner (8) isRFID card reader, is located at the bottom position of described AGV order-picking trucks, and described positioning label is RFID electronic tag.
A kind of homing guidance sorting system described in 11. according to Claim 8 or 9 or 10, is characterized in that: described communication device(5) be wireless WIFI communication device.
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| CN201520902750.8U CN205247207U (en) | 2015-11-13 | 2015-11-13 | AGV order -picking trucks and automated guidance letter sorting system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105353759A (en) * | 2015-11-13 | 2016-02-24 | 上海诺力智能科技有限公司 | Sorting automatic Guided vehicle (AGV) and automatic guided sorting system |
| CN107971235A (en) * | 2017-12-26 | 2018-05-01 | 天津市天地申通物流有限公司 | Sorting machine people system and sorting system |
| CN108046172A (en) * | 2017-12-04 | 2018-05-18 | 深圳市今天国际物流技术股份有限公司 | Fork truck robot |
| CN110015530A (en) * | 2019-03-25 | 2019-07-16 | 安徽农业大学 | A kind of self-balancing intelligence carrying seedling machine |
| CN110395521A (en) * | 2019-09-05 | 2019-11-01 | 深圳海航物流设备有限公司 | A kind of automated storage and retrieval system |
| TWI680899B (en) * | 2017-08-25 | 2020-01-01 | 英華達股份有限公司 | Automatic guided vehicle power driving system and method, automatic guided vehicle system |
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2015
- 2015-11-13 CN CN201520902750.8U patent/CN205247207U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353759A (en) * | 2015-11-13 | 2016-02-24 | 上海诺力智能科技有限公司 | Sorting automatic Guided vehicle (AGV) and automatic guided sorting system |
| TWI680899B (en) * | 2017-08-25 | 2020-01-01 | 英華達股份有限公司 | Automatic guided vehicle power driving system and method, automatic guided vehicle system |
| CN108046172A (en) * | 2017-12-04 | 2018-05-18 | 深圳市今天国际物流技术股份有限公司 | Fork truck robot |
| CN107971235A (en) * | 2017-12-26 | 2018-05-01 | 天津市天地申通物流有限公司 | Sorting machine people system and sorting system |
| CN110015530A (en) * | 2019-03-25 | 2019-07-16 | 安徽农业大学 | A kind of self-balancing intelligence carrying seedling machine |
| CN110395521A (en) * | 2019-09-05 | 2019-11-01 | 深圳海航物流设备有限公司 | A kind of automated storage and retrieval system |
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