CN115180327A - Four-way shuttle vehicle control method and device, electronic equipment and storage medium - Google Patents
Four-way shuttle vehicle control method and device, electronic equipment and storage medium Download PDFInfo
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- CN115180327A CN115180327A CN202210891144.5A CN202210891144A CN115180327A CN 115180327 A CN115180327 A CN 115180327A CN 202210891144 A CN202210891144 A CN 202210891144A CN 115180327 A CN115180327 A CN 115180327A
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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
Abstract
The invention discloses a four-way shuttle control method and device, electronic equipment and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining the moving distance and the accumulated error of the four-way shuttle, determining the actual walking distance according to the moving distance and the accumulated error, and controlling the four-way shuttle to slow down and stop according to the actual walking distance and the deceleration position. The four-way shuttle vehicle control method provided by the embodiment of the invention can effectively eliminate accumulated errors caused by wheel deformation, abrasion, slippage and the like, improve the positioning accuracy of the four-way shuttle vehicle and effectively ensure that the four-way shuttle vehicle stops at a target garage position.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a four-way shuttle control method and device, electronic equipment and a storage medium.
Background
The four-way shuttle vehicle refers to a storage robot capable of shuttling in four directions (front, back, left and right) in a plane, and is mainly different from a traditional two-way shuttle vehicle (forward and backward). The four-way shuttle vehicle generally has two sets of gear trains, one set of which is responsible for the X-direction walking, and the other set of which is responsible for the Y-direction walking. The trolley runs on the track and is completed by replacing the wheel train when encountering a turning part. Thus, the orientation of the cargo unit is unchanged throughout the working time. When the layer is changed, the trolley is mostly completed by a hoist outside the roadway. After the trolley automatically drives into the hoister, the hoister hoists to the required floor, and then the floor changing is completed.
The four-way shuttle car moves on the goods shelf track, is mainly supported by wheels, and calculates the moving distance according to the diameters of the wheels, namely the moving distance of the four-way shuttle car is 2 pi r when the wheels rotate for one circle, and r is the theoretical value of the radius of the wheels. However, in the practical application process, under the influence of wheel slip and accumulated error, the actual moving distance of the four-way shuttle vehicle is determined only by a theoretical calculation value to be inaccurate, and when the moving distance is far away, the bad condition that the vehicle runs out of one storage location less occurs.
For example, when the wheel of the four-way shuttle vehicle slips in the acceleration stage, the wheel rotates in an acceleration mode, and the whole four-way shuttle vehicle cannot reach the wheel speed immediately, so that the actual moving distance of the four-way shuttle vehicle is smaller than the rotating distance of the wheel; when the wheel of the four-way shuttle vehicle slips in the deceleration stage, the actual speed of the four-way shuttle vehicle is larger than the speed of the wheel, so that the actual moving distance of the four-way shuttle vehicle is larger than the rotating distance of the wheel. When the wheel is non-metallic material, bear the weight back of quadriversal shuttle, the wheel can compression deformation, and the distance r' of the point of actual and track contact to the wheel centre of a circle can be less than the theoretical value r of wheel radius, still can have certain compression deformation when the loading goods, and uses the back for a long time, and the wheel can wear and tear, also can influence actual diameter to lead to the wheel to change the actual displacement distance of round and not accord with theoretical distance. Then when the distance of travel is far, the undesirable situation that the four-way shuttle car runs one less garage position occurs, resulting in the final stop at the wrong garage position. Therefore, how to accurately acquire the actual walking distance of the four-way shuttle remains a problem to be solved urgently in the prior art.
Disclosure of Invention
The invention provides a control method and device of a four-way shuttle, electronic equipment and a storage medium, which are used for effectively eliminating accumulated errors caused by wheel deformation, abrasion, slippage and the like, improving the positioning accuracy of the four-way shuttle and effectively ensuring that the four-way shuttle stops at a target storage position.
According to an aspect of the present invention, there is provided a four-way shuttle control method, the method comprising:
acquiring the moving distance and the accumulated error of the four-way shuttle;
determining an actual walking distance according to the moving distance and the accumulated error;
and controlling the four-way shuttle vehicle to decelerate and stop according to the actual walking distance and the deceleration position.
According to another aspect of the present invention, there is provided a four-way shuttle control device, the device comprising:
the parameter acquisition module is used for acquiring the moving distance and the accumulated error of the four-way shuttle;
the walking distance module is used for determining the actual walking distance according to the moving distance and the accumulated error;
and the deceleration control module is used for controlling the four-way shuttle vehicle to decelerate and stop according to the actual walking distance and the deceleration position.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the four-way shuttle control method of any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the four-way shuttle control method according to any one of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, the moving distance and the accumulated error of the four-way shuttle are obtained, the actual walking distance is determined according to the moving distance and the accumulated error, and the four-way shuttle deceleration parking garage is controlled according to the actual walking distance and the deceleration position, so that the problem that the actual moving distance of the four-way shuttle is inaccurate due to wheel slipping and abrasion in the prior art is solved, the accumulated error caused by wheel deformation, abrasion, slipping and the like is effectively eliminated, the positioning accuracy of the four-way shuttle is improved, and the four-way shuttle can be effectively ensured to be parked on the target parking space.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a control method for a four-way shuttle according to an embodiment of the invention;
fig. 2 is a flowchart of a four-way shuttle control method according to a second embodiment of the invention;
fig. 3 is an exemplary diagram of a method for controlling deceleration of a four-way shuttle according to a third embodiment of the invention;
fig. 4 is a schematic structural diagram of a four-way shuttle control device according to a fourth embodiment of the invention;
fig. 5 is a schematic structural diagram of an electronic device implementing the four-way shuttle control method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a four-way shuttle control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where goods are transported by four-way shuttles in an stereoscopic warehouse, the method may be performed by a four-way shuttle control device, the four-way shuttle control device may be implemented in a form of hardware and/or software, and the four-way shuttle control device may be configured in a control terminal of the stereoscopic warehouse. As shown in fig. 1, the method includes:
and S110, acquiring the moving distance and the accumulated error of the four-way shuttle.
The four-way shuttle cars are intelligent robots which can shuttle and run on the rails of the stereoscopic warehouse and carry goods, a plurality of four-way shuttle cars can be arranged in one stereoscopic warehouse, and the four-way shuttle cars can be material box type shuttle cars or tray type shuttle cars. The moving distance is calculated by the current position coordinates of the four-way shuttle fed back by the encoder in real time, and the distance is not necessarily the actual moving distance of the four-way shuttle, for example, the moving distance may be calculated according to the initial position coordinates and the current position coordinates of the four-way shuttle. The accumulated error may be an error accumulated value between every two adjacent warehouse locations before and after the four-way shuttle vehicle passes from the initial position to the current position, which indicates an error between the moving distance and the actual traveling distance.
In the embodiment of the invention, the current position coordinate of the four-way shuttle is obtained through the encoder, the encoder sends the obtained current position coordinate and other data to the controller, and the controller can obtain the moving distance and the accumulated error of the four-way shuttle after calculation.
And S120, determining the actual walking distance according to the moving distance and the accumulated error.
The actual walking distance is the calculated actual walking distance of the four-way shuttle, the actual walking distance can be calculated through the controller according to the moving distance and the accumulated error, and the encoder can update the actual walking distance according to the moving distance and the accumulated error after the four-way shuttle passes through a library. For example, the controller may add/subtract the moving distance and the accumulated error according to actual conditions to obtain the actual walking distance.
In the embodiment of the invention, when the four-way shuttle car passes through a certain storehouse position, the encoder acquires the coordinate of the four-way shuttle car passing through the certain storehouse position through the sensor and sends the coordinate to the controller, the controller obtains the accumulated error through calculation, and after the error is confirmed, the controller determines the actual walking distance through the moving distance and the accumulated error of the four-way shuttle car.
And S130, controlling the four-way shuttle to decelerate and stop according to the actual walking distance and the deceleration position.
The deceleration position is a position where the four-way shuttle needs to decelerate when passing through the position and can be represented by coordinates, the controller can monitor the actual walking distance and the deceleration position of the four-way shuttle in real time and control the four-way shuttle to decelerate and stop according to the size relation between the actual walking distance and the deceleration position, and the deceleration position can be set in advance.
In the embodiment of the invention, after the controller calculates and updates the actual walking distance, the controller can control the four-way shuttle to decelerate and stop according to the size relation between the actual walking distance and the deceleration position. For example, when the actual walking distance of the four-way shuttle is greater than the deceleration position, it can be confirmed that deceleration can be performed at the moment, the current vehicle speed can be obtained in real time, the controller confirms acceleration according to the current vehicle speed and the remaining distance, and the controller controls the four-way shuttle to decelerate and stop according to the acceleration.
According to the embodiment of the invention, the moving distance and the accumulated error of the four-way shuttle are obtained, the actual walking distance is determined according to the moving distance and the accumulated error, and the four-way shuttle is controlled to decelerate and stop the warehouse according to the actual walking distance and the deceleration position, so that the problem of inaccurate actual moving distance of the four-way shuttle caused by wheel slipping and abrasion in the prior art is solved, the accumulated error caused by wheel deformation, abrasion, slipping and the like is effectively eliminated, the positioning accuracy of the four-way shuttle is improved, and the four-way shuttle can be effectively ensured to stop at the target warehouse location.
Example two
Fig. 2 is a flowchart of a four-way shuttle control method according to a second embodiment of the present invention, which is further embodied in the foregoing embodiments. As shown in fig. 2, the method includes:
s210, reading position pulse signals of the encoder on the four-way shuttle vehicle, and determining the moving distance according to the position pulse signals.
The encoder can be used for acquiring the current coordinate of the four-way shuttle, the encoder on the driving motor of the four-way shuttle can be directly utilized, an encoder can be additionally configured on the four-way shuttle, and the encoder can be specifically set according to production requirements. The position pulse signal can be used for calculating the pulse signal of the moving distance, when the encoder works, the encoder outputs pulses during rotation, and the current position can be known through counting the pulses. In the embodiment of the invention, when the four-way shuttle car starts to walk, the encoder starts to work, the position pulse signal generated by the encoder is obtained, and then the moving distance of the four-way shuttle car is confirmed through the position pulse signal.
And S220, determining an accumulated error according to the arriving storage position of the four-way shuttle.
The warehouse positions are spaces for storing articles in the stereoscopic warehouse, multiple layers are arranged in one stereoscopic warehouse, each layer is provided with multiple warehouse positions, and the number of the warehouse positions can be set according to actual needs. In this embodiment, whether the four-way shuttle vehicle reaches a certain parking space or not can be determined by the sensors, specifically, two first sensors may be installed on a first side wall of the four-way shuttle vehicle, the two first sensors are arranged at intervals along a first walking direction (for example, the X direction), two second sensors are installed on a second side wall of the four-way shuttle vehicle, and the two second sensors are arranged at intervals along a second walking direction (for example, the Y direction). The sensors are photoelectric sensors, and the distance between the two first sensors/the two second sensors must be slightly smaller than the length of the light shading sheet arranged at the position of the garage, so that the two first sensors or the two second sensors can be simultaneously switched on by signals after the four-way shuttle car reaches the position of the garage.
In the embodiment of the invention, the calculation method of the accumulated error generated in the process from the initial position to the target storage position of the four-way shuttle vehicle is as follows: the error accumulated value of the library spacing between every two adjacent front and back library positions passing by in the walking process; that is, the error generated during the walking process of the four-way shuttle vehicle is represented by the error value of the bank spacing between the two adjacent front and back bank positions.
Therefore, in the process that the four-way shuttle vehicle travels to the target storage location, the controller can monitor which storage location the four-way shuttle vehicle reaches in real time, if the storage location reached by the four-way shuttle vehicle does not meet the calculation error condition, the error of the displacement when the four-way shuttle vehicle travels to the storage location is marked as 0, if the storage location reached by the four-way shuttle vehicle meets the calculation error condition, the error is calculated according to the actual condition, and finally the errors are added, so that the accumulated error when the four-way shuttle vehicle reaches the target storage location can be determined.
And S230, determining the actual walking distance according to the moving distance and the accumulated error.
In the embodiment of the invention, when the four-way shuttle car passes through a certain storehouse position, the encoder acquires the coordinate of the four-way shuttle car passing through the certain storehouse position through the sensor and sends the coordinate to the controller, the controller obtains the accumulated error through calculation, and after the error is confirmed, the controller determines the actual walking distance through the moving distance and the accumulated error of the four-way shuttle car. And when the accumulated error is not updated before the four-way shuttle vehicle travels to the next depot position, calculating the actual travel distance according to the calculated accumulated error.
And S240, acquiring the motion direction of the four-way shuttle.
The moving direction of the four-way shuttle car may be divided into a forward direction or a reverse direction, for example, the four-way shuttle car moves forward or reversely in the X/Y direction, and the moving direction of the four-way shuttle car may be set by the controller in advance, or may be set manually, which is not limited herein.
In the embodiment of the present invention, the controller may obtain the movement direction of the four-way shuttle through a movement task set at the control terminal, and may also confirm the movement direction according to the actual walking direction of the four-way shuttle, which is not limited in the embodiment of the present invention.
S250, when the movement direction is positive movement, if the actual walking distance is larger than the deceleration position, controlling the four-way shuttle vehicle to decelerate and stop the garage; and when the movement direction is reverse movement, if the actual walking distance is less than the deceleration position, controlling the four-way shuttle to decelerate and stop the garage.
In the embodiment of the invention, when the four-way shuttle car moves forwards in the X/Y direction and the actual walking distance is greater than the deceleration position, the four-way shuttle car is shown to pass through the deceleration position, and the speed can be reduced; when the four-way shuttle car moves reversely in the X/Y direction and the actual walking distance is smaller than the deceleration position, the four-way shuttle car passes through the deceleration position, so that the deceleration parking lot of the four-way shuttle car is controlled when the actual walking direction of the four-way shuttle car is judged.
And S260, determining that the four-way shuttle vehicle reaches the initial position, and clearing the moving distance and the accumulated error.
The initial position can be the initial position when the four-way shuttle starts to work for the first time or the initial position when the four-way shuttle works subsequently.
In the embodiment of the present invention, each time the four-way shuttle reaches the initial position, the moving distance and the accumulated error of the four-way shuttle need to be cleared, so as to prevent a working error caused by data not being cleared when the four-way shuttle starts to work, and it can be understood that this step may also be performed before S210.
According to the embodiment of the invention, by further detailing the embodiment, when the movement direction of the four-way shuttle vehicle is forward movement, if the actual walking distance is greater than the deceleration position, the four-way shuttle vehicle is controlled to decelerate and stop the garage; when the movement direction is reverse movement, if the actual walking distance is smaller than the deceleration position, the four-way shuttle vehicle deceleration parking garage is controlled, and when the fact that the four-way shuttle vehicle reaches the initial position is determined, the movement distance and the accumulated error are cleared, so that the four-way shuttle vehicle can be decelerated parking garage more accurately when passing through the deceleration position, and data are cleared in time when the four-way shuttle vehicle is finished.
Further, on the basis of the embodiment of the invention, the determination of the accumulated error according to the arriving position of the four-way shuttle vehicle comprises the following steps:
acquiring trigger signals when the four-way shuttle vehicle reaches different warehouse positions, and reading position pulse signals of an encoder of the four-way shuttle vehicle when the trigger signals are generated to obtain warehouse position coordinates of the warehouse positions; determining the library position interval according to the library position coordinates of adjacent library positions; determining a standard library interval corresponding to the value of each library bit interval in a preset configuration file; taking the difference value of each library position interval and the standard library position interval as the current error of the library position interval; and taking the sum of the current errors as the accumulated error of the four-way shuttle.
The trigger signal is information acquired for determining whether the four-way shuttle car reaches different storage positions, and the trigger signal may be information generated when a photosensor on the four-way shuttle car is shielded by a shade on the storage position. The bin position coordinates are coordinates of bin positions and can be determined according to position pulse signals when the encoder generates trigger signals, and bin position intervals are distances between adjacent bin positions.
The preset configuration file is a file for recording the standard library interval, the preset configuration file can be arranged in the controller according to needs, the standard library interval for determining the class of each library position interval is arranged in the preset configuration file, the standard library interval L0 is set according to production requirements, and the three classes are respectively: 520mm/692mm/896mm.
In the embodiment of the invention, when the four-way shuttle car passes through a certain storehouse position, the photoelectric sensor generates a trigger signal because of being shielded by the shading sheet, the controller collects the trigger signal, reads a position pulse signal of an encoder of the four-way shuttle car, calculates the storehouse position coordinate of the storehouse position according to the position pulse signal, can determine the distance between adjacent storehouse positions according to the storehouse position coordinate of the adjacent storehouse position, determines the standard storehouse distance category corresponding to each storehouse position distance from a pre-configuration file, takes the difference value between each storehouse position distance and the standard storehouse distance as the current error of the storehouse position distance, and finally takes the sum of the current errors as the accumulated error.
Further, on the basis of the above embodiment of the present invention, acquiring the trigger signal when the four-way shuttle arrives at different garage positions includes:
and acquiring a trigger signal generated by shielding the photoelectric sensor on the four-way shuttle by a shading sheet on the storage position.
The positions of the photoelectric sensors and the light shading sheets can be set according to the actual structure of the four-way shuttle, but the distance between the two photoelectric sensors is slightly smaller than the length of the light shading sheets arranged at the warehouse position. For example, when the four-way shuttle car blocks the gobos on the garage space, the photoelectric sensor on the four-way shuttle car generates a signal, and the controller can use the signal as a trigger signal when the four-way shuttle car reaches the garage space.
Further, on the basis of the above embodiment of the present invention, determining a standard library interval corresponding to a value of each library bit interval in a preset configuration file includes:
reading at least one to-be-selected standard library interval configured in a preset configuration file; if the value of the library bit spacing is within the threshold range of the standard library spacing to be selected, determining the standard library spacing to be selected as the standard library spacing; and if the values of the library intervals are not within the threshold range of the standard library intervals to be selected, generating prompt information, and sending the prompt information to the upper computer to remind a user to check the running state of the four-way shuttle.
And the standard library interval to be selected is the standard library interval to be selected. The threshold range of the standard library interval is configured in a preset configuration file, and may be set according to an actual situation, for example, the threshold range may be set to L0 ± 40mm in this embodiment. The prompt information is used for prompting the user that the four-way shuttle vehicle runs abnormally, so as to remind the user of checking, when the user finishes checking and removing the abnormal condition, the four-way shuttle vehicle can run continuously, and the form of the prompt information can be prompted in the modes of voice, characters, indicator lights and the like, which is not limited in the embodiment.
The upper computer is a computer which can directly send a control command by a user, and the specific structure of the upper computer is not limited in this embodiment.
In the embodiment of the invention, when the library position spacing calculated by the controller falls within the threshold range of a certain standard library spacing, the controller judges that the library position spacing L belongs to the standard library spacing. For example, when the four-way shuttle passes a certain library position, the controller calculates the library position spacing L at the moment through the library position coordinates, if L =530mm, the library position spacing L falls within the range of 520 ± 40mm, then the controller can judge that the library position spacing L belongs to the standard library spacing of 520mm class, and the corresponding error Δ L =10mm; if the calculated spacing between the warehouse positions is not within the range of the set standard spacing between the warehouse positions, the failure is indicated to possibly occur, at the moment, the controller does not calculate errors, the four-way shuttle vehicle stops working, the controller uploads prompt information to the upper computer, and an operator is required to check whether the wheels are seriously abraded or whether interference objects exist on the track or not.
According to the embodiment of the invention, the moving distance and the accumulated error of the four-way shuttle are obtained, the actual walking distance is determined according to the moving distance and the accumulated error, and the four-way shuttle is controlled to decelerate and stop the warehouse according to the actual walking distance and the deceleration position, so that the problem of inaccurate actual moving distance of the four-way shuttle caused by wheel slipping and abrasion in the prior art is solved, the accumulated error caused by wheel deformation, abrasion, slipping and the like is effectively eliminated, the positioning accuracy of the four-way shuttle is improved, and the four-way shuttle can be effectively ensured to stop at the target warehouse location.
EXAMPLE III
Fig. 3 is an exemplary diagram of a method for controlling deceleration of a four-way shuttle according to a third embodiment of the present invention, and this embodiment is a specific implementation scheme of the third embodiment, and takes the four-way shuttle as an example to travel along a first travel direction (e.g., an X direction). As shown in fig. 3, the method includes:
and S310, when the four-way shuttle is at the initial position, the controller clears all the library position coordinates, the accumulated errors and the corrected moving distance which are recorded last time.
The coordinates of the initial position of the four-way shuttle can be set to (X0, Y).
In this embodiment, a WCS System (a Warehouse Control System) may be used to transmit information such as a moving distance S between the four-way shuttle at the initial position and the target Warehouse position, a deceleration distance Δ S, and a related command to the controller, where the deceleration distance Δ S may be a fixed value set at the debugging stage.
And S320, starting the four-way shuttle vehicle, walking along the first walking direction, feeding back the current position coordinates of the four-way shuttle vehicle in real time by the encoder in the walking process, and calculating the actual walking distance of the four-way shuttle vehicle in real time by the controller.
The current coordinate of the four-way shuttle is recorded as X ', and the actual travel distance of the four-way shuttle is recorded as S ' = (X ' -X0) -Ae, where Ae is the accumulated error, and initially Ae =0.
Accordingly, S320 may further include:
s321, the four-way shuttle vehicle walks to the first warehouse location, the encoder feeds back the current coordinate X 'of the four-way shuttle vehicle in real time, the controller calculates the actual walking distance S' of the four-way shuttle vehicle in real time, and when the four-way shuttle vehicle walks to the first warehouse location and the two first sensors are simultaneously switched on in signal, the controller records the coordinate fed back by the encoder at the moment as the coordinate (X1, Y) of the first warehouse location.
Specifically, when the four-way shuttle car passes through the first depot level, the condition of calculating errors is not met, and at this time, an accumulated error is not generated, so that the controller sets the accumulated error Ae1=0 in the process that the four-way shuttle car travels to the first depot level, which indicates that: and in the process that the four-way shuttle vehicle travels to the first storehouse position, the real-time actual travel distance S '= the position distance (X' -X0) fed back by the encoder in real time.
And S322, the four-way shuttle vehicle continuously walks along the first walking direction and towards the second storehouse position, the controller calculates the actual walking distance S' of the four-way shuttle vehicle in real time, and when the four-way shuttle vehicle walks to the second storehouse position and the two first sensors are simultaneously switched on again, the controller records the coordinates fed back by the encoder at the moment as second storehouse position coordinates (X2, Y).
Specifically, before the four-way shuttle vehicle does not reach the second depot, the cumulative error still remains to be 0 because the condition of calculating the cumulative error is not satisfied, and therefore, in the process of the four-way shuttle vehicle walking to the second depot, the real-time actual walking distance S '= the position distance (X' -X0) fed back by the encoder in real time.
Correspondingly, when the four-way shuttle reaches the second storage position, the controller can calculate the storage position distance L1 between the two storage positions according to the second storage position coordinate (X2, Y) and the first storage position coordinate (X1, Y), and the calculation formula is as follows: l1= X2-X1. Then, the controller analyzes the calculated library position interval L1 based on the standard library interval parameter, judges which kind of standard library interval the library position interval L1 belongs to, and calculates an error delta L1 of the library position interval L1 relative to the standard library interval L0, and the calculation formula is as follows: Δ L1= L1-L0; at the same time, the controller also calculates the accumulated error Ae2= Ae1+ Δ L1. Of course, after reaching the second library position, the actual walking distance S '= X' -X0-Ae2.
And S323, the four-way shuttle continues to walk along the first walking direction and to the third storehouse position, the controller calculates the actual walking distance S' of the four-way shuttle in real time, and when the four-way shuttle walks to the third storehouse position and the two first sensors are simultaneously switched on again, the controller records the coordinate fed back by the encoder at the moment as a third storehouse position coordinate (X3, Y).
Specifically, before the four-way shuttle car reaches the third depot, the four-way shuttle car actually walks by a distance S '= (X' -X °) -Ae2 in real time.
Correspondingly, after the four-way shuttle reaches the third library position, the controller can calculate the library position spacing L2 between the two library positions according to the third library position coordinate (X3, Y) and the second library position coordinate (X2, Y), namely: l2= X3-X2. Then, the controller analyzes the calculated library position interval L2 based on the standard library interval parameter, determines which class of standard library interval the library position interval L2 belongs to, and calculates an error Δ L2 of the library position interval L2 relative to the standard library interval L0, and the calculation formula is as follows: Δ L2= L2-L0; meanwhile, the controller also calculates an accumulated error Ae3= Ae2+ Delta L2, and the accumulated error Ae3 is a correction parameter of the real-time actual walking distance of the four-way shuttle vehicle before reaching the fourth reservoir position.
And S324, repeating the step S323, and updating the actual walking distance of the four-way shuttle cars in real time until all the four-way shuttle cars pass through all the storage positions and stop.
S330, the controller analyzes the distance relation between the actual walking distance of the four-way shuttle and the coordinate of the deceleration position in real time, and if the absolute value of the actual walking distance is larger than the absolute value of the coordinate of the deceleration position, the controller controls the four-way shuttle to decelerate before the four-way shuttle is put in place.
Specifically, the coordinate of the deceleration position of the four-way shuttle can be recorded as S °, and if | S' | > | S ° |, it indicates that the four-way shuttle has reached the deceleration position or has passed the deceleration position, and the deceleration should be performed. In the embodiment of the present invention, the deceleration may also be performed when | S '| = | S ° | or | S' | ≧ | S ° |, which is not limited in the embodiment of the present invention.
The embodiment of the invention provides a scheme of an optional four-way shuttle control method, which can solve the problem of inaccurate actual moving distance of the four-way shuttle caused by wheel slipping and abrasion in the prior art, effectively eliminate accumulated errors caused by wheel deformation, abrasion, slipping and the like, improve the positioning accuracy of the four-way shuttle and effectively ensure that the four-way shuttle stops on a target storage position.
Example four
Fig. 4 is a schematic structural diagram of a four-way shuttle control device according to a fourth embodiment of the present invention. As shown in fig. 4, the apparatus includes: a parameter acquisition module 410, a walking distance module 420, and a deceleration control module 430.
And a parameter obtaining module 410 for obtaining the moving distance and the accumulated error of the four-way shuttle.
And a walking distance module 420 for determining an actual walking distance according to the moving distance and the accumulated error.
And the deceleration control module 430 is used for controlling the four-way shuttle vehicle to decelerate and stop according to the actual walking distance and the deceleration position.
The four-direction shuttle vehicle control device provided by the embodiment of the invention can solve the problem of inaccurate actual moving distance of the four-direction shuttle vehicle caused by wheel slipping and abrasion in the prior art, effectively eliminates accumulated errors caused by wheel deformation, abrasion, slipping and the like, improves the positioning accuracy of the four-direction shuttle vehicle, and can effectively ensure that the four-direction shuttle vehicle stops on a target storehouse position.
Optionally, the parameter obtaining module 410 further includes:
and the moving distance acquisition module is used for reading the position pulse signal of the encoder on the four-way shuttle and determining the moving distance according to the position pulse signal.
And the accumulated error acquisition module is used for determining the accumulated error according to the arriving storage position of the four-way shuttle.
Optionally, the accumulated error obtaining module further includes:
and the trigger signal acquisition unit is used for acquiring the trigger signals when the four-way shuttle reaches different garage positions by a user.
And the storehouse position coordinate acquisition unit is used for reading a position pulse signal of an encoder of the four-way shuttle when the trigger signal is generated so as to obtain the storehouse position coordinate of the storehouse position.
And the library position space determining unit is used for determining the library position space according to the library position coordinates of the adjacent library positions.
And the standard library interval determining unit is used for determining the standard library interval corresponding to the value of each library bit interval in the preset configuration file.
And the error calculation unit is used for taking the difference value of each library position interval and the standard library interval as the current error of the library position interval.
And the accumulated error calculation unit is used for taking the sum of all the current errors as the accumulated error of the four-way shuttle.
The trigger signal acquisition unit is specifically used for acquiring a trigger signal generated by shielding a photoelectric sensor on the four-way shuttle by a shading sheet on a storage position.
Optionally, the standard library interval determining unit further includes:
and the candidate standard library interval reading unit is used for reading at least one candidate standard library interval configured in the preset configuration file.
And the first standard library spacing judgment unit is used for determining that the standard library spacing to be selected is the standard library spacing if the value of the library bit spacing is within the threshold range of the standard library spacing to be selected.
And the second standard library interval judgment unit is used for generating prompt information if the values of the library intervals are not within the threshold range of the standard library intervals to be selected, and sending the prompt information to the upper computer to remind a user to check the running state of the four-way shuttle car.
Optionally, the device further includes a parameter clearing module, configured to determine that the moving distance and the accumulated error are cleared when the four-way shuttle reaches the initial position.
Optionally, the deceleration control module 430 further includes:
and the movement direction acquisition module is used for acquiring the movement direction of the four-way shuttle.
And the first motion direction judgment module is used for controlling the four-way shuttle to decelerate and stop the garage if the actual walking distance is greater than the deceleration position when the motion direction is forward motion.
And the first motion direction judgment module is used for controlling the four-way shuttle to decelerate and stop the garage if the actual walking distance is less than the deceleration position when the motion direction is reverse motion.
The four-way shuttle control device provided by the embodiment of the invention can execute the four-way shuttle control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. Processor 11 performs the various methods and processes described above, such as a four-way shuttle control method.
In some embodiments, the four-way shuttle control method may be implemented as a computer program tangibly embodied in a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the four-way shuttle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the four-way shuttle control method by any other suitable means (e.g., by way of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A four-way shuttle control method is characterized by comprising the following steps:
acquiring the moving distance and the accumulated error of the four-way shuttle;
determining an actual walking distance according to the moving distance and the accumulated error;
and controlling the four-way shuttle vehicle to decelerate and stop according to the actual walking distance and the deceleration position.
2. The method of claim 1, wherein the obtaining of the moving distance and the accumulated error of the four-way shuttle comprises:
reading a position pulse signal of an encoder on the four-way shuttle vehicle, and determining the moving distance according to the position pulse signal;
and determining an accumulated error according to the arriving library position of the four-way shuttle.
3. The method of claim 2, wherein determining the accumulated error based on the bin positions of arrivals of the four-way shuttle comprises:
acquiring trigger signals when the four-way shuttle vehicle reaches different warehouse positions, and reading position pulse signals of an encoder of the four-way shuttle vehicle when the trigger signals are generated to obtain the warehouse position coordinates of the warehouse positions;
determining a library position space according to the library position coordinates of adjacent library positions;
determining a standard library interval corresponding to the value of each library bit interval in a preset configuration file;
taking the difference value between each library bit interval and the standard library bit interval as the current error of the library bit interval;
and taking the sum of the current errors as the accumulated error of the four-way shuttle vehicle.
4. The method as claimed in claim 3, wherein said acquiring the trigger signal when the four-way shuttle car reaches different said depot comprises:
and acquiring the trigger signal generated when a photoelectric sensor on the four-way shuttle car is shielded by a light shading sheet on the storage position.
5. The method of claim 3, wherein determining a standard bin spacing corresponding to a value of each bin bit spacing in a preset configuration file comprises:
reading at least one to-be-selected standard library interval configured in the preset configuration file;
if the value of the library bit spacing is within the threshold range of the standard library spacing to be selected, determining the standard library spacing to be selected as the standard library spacing;
and if the values of the library intervals are not in the threshold range of the standard library intervals to be selected, generating prompt information, and sending the prompt information to an upper computer to remind a user to check the running state of the four-way shuttle.
6. The method of claim 1, further comprising:
and clearing the moving distance and the accumulated error when the four-way shuttle vehicle is determined to reach the initial position.
7. The method of claim 1, wherein the controlling the four-way shuttle vehicle deceleration parking according to the actual walking distance and the deceleration position comprises:
acquiring the motion direction of the four-way shuttle vehicle;
when the movement direction is positive movement, if the actual walking distance is greater than the deceleration position, controlling the four-way shuttle vehicle to decelerate and stop the garage;
and when the movement direction is reverse movement, if the actual walking distance is smaller than the deceleration position, controlling the four-way shuttle vehicle to decelerate and stop the garage.
8. A four-way shuttle control device, comprising:
the parameter acquisition module is used for acquiring the moving distance and the accumulated error of the four-way shuttle;
the walking distance module is used for determining the actual walking distance according to the moving distance and the accumulated error;
and the deceleration control module is used for controlling the four-way shuttle vehicle to decelerate and stop according to the actual walking distance and the deceleration position.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the four-way shuttle control method of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to perform the four-way shuttle control method of any one of claims 1-7 when executed.
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