CN115180327B - Four-way shuttle control method and device, electronic equipment and storage medium - Google Patents
Four-way shuttle control method and device, electronic equipment and storage medium Download PDFInfo
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- CN115180327B CN115180327B CN202210891144.5A CN202210891144A CN115180327B CN 115180327 B CN115180327 B CN 115180327B CN 202210891144 A CN202210891144 A CN 202210891144A CN 115180327 B CN115180327 B CN 115180327B
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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
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Abstract
The invention discloses a four-way shuttle control method, a device, electronic equipment and a storage medium. The method comprises the following steps: and acquiring 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 speed-down position. The control method for the four-way shuttle provided by the embodiment of the invention can effectively eliminate accumulated errors caused by deformation, abrasion, slipping and the like of the wheels, improves the positioning accuracy of the four-way shuttle and can effectively ensure that the four-way shuttle is stopped on a target garage.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and apparatus for controlling a four-way shuttle, an electronic device, and a storage medium.
Background
The four-way shuttle is a storage robot capable of shuttling in four directions (front, back, left and right) in a plane, and is mainly distinguished from the conventional two-way shuttle (forward and backward). Four-way shuttles generally have two sets of trains, one set of which is responsible for walking in the X direction and the other set of which is responsible for walking in the Y direction. The trolley runs on the track and encounters the turning part, and the turning part is completed by replacing the wheel train. Thus, the direction of the cargo unit is unchanged throughout the working time. Most of the trolleys are completed by elevators outside the roadway if the level is to be changed. After the trolley automatically drives into the elevator, the elevator is lifted to the required floor, and the floor change is completed.
The four-way shuttle moves on the goods shelf rail, is mainly supported by wheels, and calculates the moving distance according to the diameters of the wheels, namely, the distance of one-circle rotation of the wheels and the movement of the four-way shuttle is 2 pi r, and r is the theoretical value of the radius of the wheels. However, in the practical application process, the actual moving distance of the four-way shuttle is simply judged by using a theoretical calculation value under the influence of wheel slipping and accumulated errors, and when the moving distance is far, the defect that one garage position is less moved occurs.
For example, when the four-way shuttle is in wheel slip during the acceleration stage, the situation that the wheels rotate in acceleration and the whole four-way shuttle cannot reach the wheel speed immediately occurs, so that the actual moving distance of the four-way shuttle is smaller than the rotating distance of the wheels; when the four-way shuttle is in a deceleration stage, the wheels slip, the actual speed of the four-way shuttle is larger than the speed of the wheels, and the actual moving distance of the four-way shuttle is larger than the rotating distance of the wheels. When the wheels are made of nonmetal materials and bear the weight of the four-way shuttle, the wheels can be compressed and deformed, the distance r' from the actual contact point with the track to the circle center of the wheels can be smaller than the theoretical value r of the radius of the wheels, certain compression and deformation can be generated when goods are loaded, and after the wheels are used for a long time, the actual diameters can be influenced, so that the actual moving distance of each circle of the wheels is different from the theoretical distance. Then the disadvantage of the four-way shuttle being run one less bin when the distance of movement is far, resulting in a final stop at the wrong bin. Therefore, how to accurately obtain the actual walking distance of the four-way shuttle is still a problem to be solved in the prior art.
Disclosure of Invention
The invention provides a control method, a device, electronic equipment and a storage medium for a four-way shuttle, which are used for effectively eliminating accumulated errors caused by wheel deformation, abrasion, slipping and the like, improving the positioning accuracy of the four-way shuttle and effectively ensuring that the four-way shuttle is stopped on a target garage.
According to an aspect of the present invention, there is provided a four-way shuttle control method, the method including:
acquiring the moving distance and 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 to slow down and stop according to the actual walking distance and the speed reduction position.
According to another aspect of the present invention, there is provided a four-way shuttle control device including:
the parameter acquisition module is used for acquiring the moving distance and accumulated error of the four-way shuttle;
the walking distance module is used for determining an 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 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 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 according to any one 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, the actual walking distance is determined according to the moving distance and the accumulated error by acquiring the moving distance and the accumulated error of the four-way shuttle, and the four-way shuttle is controlled to be decelerated and stopped 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 stopped on a target position.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a four-way shuttle control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a four-way shuttle control method according to a second embodiment of the present invention;
fig. 3 is an exemplary diagram of a method of controlling deceleration of a four-way shuttle according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a four-way shuttle control device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for implementing the four-way shuttle control method according to the embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 1
Fig. 1 is a flowchart of a four-way shuttle control method according to an embodiment of the present invention, where the method may be implemented by a four-way shuttle control device, and the four-way shuttle control device may be implemented in hardware and/or software, and the four-way shuttle control device may be configured in a control terminal of a stereoscopic warehouse. As shown in fig. 1, the method includes:
s110, acquiring the moving distance of the four-way shuttle and accumulating errors.
The four-way shuttle is an intelligent robot capable of running on a rail of a stereoscopic warehouse in a shuttling mode and carrying goods, a plurality of four-way shuttles can be arranged in one stereoscopic warehouse, the four-way shuttle can be a feed box type shuttle or a tray type shuttle, and the specific type and the number of the four-way shuttles are not limited in the embodiment of the invention. The moving distance is calculated by the current position coordinate of the four-way shuttle fed back in real time by the encoder, and the distance is not necessarily the distance that the four-way shuttle actually moves, for example, the moving distance may be calculated according to the initial position coordinate and the current position coordinate of the four-way shuttle. The accumulated error may be an error accumulated value between every two adjacent warehouse positions passing through in the process that the four-way shuttle walks from the initial position to the current position, and represents the error between the moving distance and the actual walking distance.
In the embodiment of the invention, the current position coordinates of the four-way shuttle are acquired through the encoder, the encoder sends the acquired current position coordinates 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.
S120, determining an actual walking distance according to the moving distance and the accumulated error.
The actual walking distance is the calculated distance of the four-way shuttle car, the actual walking distance can be calculated by 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 car passes through a warehouse. For example, the controller may add/subtract the moving distance to/from the accumulated error according to the actual situation to obtain the actual walking distance.
In the embodiment of the invention, when the four-way shuttle passes a certain bin position, the encoder acquires the coordinates of the four-way shuttle passing the certain bin position through the sensor, and sends the coordinates to the controller, the controller calculates to obtain the accumulated error, and after the error is confirmed, the controller determines the actual walking distance through the moving distance of the four-way shuttle and the accumulated error.
S130, controlling the four-way shuttle to slow down and stop according to the actual walking distance and the speed-down position.
The speed reduction position is a position where the four-way shuttle needs to be reduced when passing through the position, the speed reduction position can be represented by coordinates, the controller can monitor the actual walking distance and the speed reduction position of the four-way shuttle in real time, the four-way shuttle is controlled to be decelerated and stopped according to the magnitude relation between the actual walking distance and the speed reduction position, and the speed reduction 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 slow down and stop according to the magnitude relation between the actual walking distance and the speed-down 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 actual walking distance is determined according to the moving distance and the accumulated error, the four-way shuttle is controlled to be decelerated and stopped according to the actual walking distance and the deceleration position, 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 stopped on a target warehouse.
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 present embodiment and the above embodiments. As shown in fig. 2, the method includes:
s210, reading a position pulse signal of an encoder on the four-way shuttle, and determining the moving distance according to the position pulse signal.
The encoder can be used for acquiring the current coordinates of the four-way shuttle, can directly utilize the encoder carried by the driving motor on the four-way shuttle, can be additionally configured on the four-way shuttle, and can be specifically set according to production requirements. The position pulse signal can be used for calculating a pulse signal of the moving distance, when the encoder works, pulses are output during rotation, and the current position can be obtained by counting the pulses. In the embodiment of the invention, when the four-way shuttle starts to walk, the encoder starts to work, the position pulse signal generated by the encoder is acquired, and then the moving distance of the four-way shuttle is confirmed through the position pulse signal.
S220, determining accumulated errors according to the arrived library bits of the four-way shuttle.
The warehouse is a space capable of storing articles in a stereoscopic warehouse, a plurality of layers are arranged in one stereoscopic warehouse, each layer is provided with a plurality of warehouse positions, and the number of the warehouse positions can be set according to actual needs. In this embodiment, whether the four-way shuttle reaches a certain storage position or not may be determined by the sensor, specifically, two first sensors may be installed on a first side wall of the four-way shuttle, the two first sensors are arranged at intervals along a first traveling direction (such as an X direction), and two second sensors are installed on a second side wall of the four-way shuttle, the two second sensors are arranged at intervals along a second traveling direction (such as a Y direction). The distance between the two first sensors and the two second sensors is required to be slightly smaller than the length of the shading sheet arranged at the garage position, so that the two first sensors or the two second sensors can be simultaneously connected by signals after the four-way shuttle arrives at the garage position.
In the embodiment of the invention, the calculation method of the accumulated error generated in the process of starting from the initial position to walking to the target garage position by the four-way shuttle comprises the following steps: error accumulation values of the bin spacing between every two adjacent bin positions passing through in the walking process; that is, an error generated during the traveling of the four-way shuttle is represented by an "error value of the bank interval between the front and rear adjacent bank bits passed through".
Therefore, in the process of the four-way shuttle traveling to the target storage position, the controller can monitor which storage position the four-way shuttle reaches in real time, if the storage position reached by the four-way shuttle does not meet the calculation error condition, the error of the displacement of the four-way shuttle traveling to the storage position is recorded as 0, if the storage position reached by the four-way shuttle meets the calculation error condition, the calculation is carried out according to the actual situation, and finally, all the errors are added, so that the accumulated error of the four-way shuttle reaching the target storage position can be determined.
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 passes a certain bin position, the encoder acquires the coordinates of the four-way shuttle passing the certain bin position through the sensor, and sends the coordinates to the controller, the controller calculates to obtain the accumulated error, and after the error is confirmed, the controller determines the actual walking distance through the moving distance of the four-way shuttle and the accumulated error. When the accumulated error is not updated before the four-way shuttle vehicle walks to the next storage position, the actual walking distance is calculated according to the calculated accumulated error.
S240, acquiring the movement direction of the four-way shuttle.
The movement direction of the four-way shuttle can be divided into forward direction or reverse direction, for example, forward movement or reverse movement in the X/Y direction, and the movement direction of the four-way shuttle can be set in advance by the controller or can be set manually, which is not limited in this embodiment.
In the embodiment of the invention, the controller can acquire the movement direction of the four-way shuttle through the movement task set at the control terminal, and can confirm the movement direction according to the actual walking direction of the four-way shuttle, which is not limited in the embodiment of the invention.
S250, when the movement direction is forward movement, if the actual walking distance is greater than the speed reduction position, controlling the four-way shuttle to reduce speed and stop; when the movement direction is reverse movement, if the actual walking distance is smaller than the speed reduction position, the four-way shuttle is controlled to reduce speed and stop.
In the embodiment of the invention, when the four-way shuttle vehicle positively moves in the X/Y direction, and the actual walking distance is greater than the speed reduction position, the four-way shuttle vehicle is indicated to pass through the speed reduction position, and the speed can be reduced at the moment; when the four-way shuttle vehicle moves reversely in the X/Y direction, the actual walking distance is smaller than the deceleration position, the situation that the four-way shuttle vehicle passes through the deceleration position is indicated, and therefore, the time for controlling the four-way shuttle vehicle to decelerate and stop the warehouse is judged according to the actual walking direction of the four-way shuttle vehicle.
And S260, determining that the four-way shuttle vehicle reaches an initial position, and clearing the moving distance and accumulated errors.
The initial position may be a starting position of the four-way shuttle when the first work starts, or may be a starting position of the following work.
In the embodiment of the present invention, when the four-way shuttle reaches the initial position, the movement distance and the accumulated error of the four-way shuttle need to be cleared, so as to prevent the working error caused by the fact that the data is not cleared when the four-way shuttle starts working, and it is understood that this step may also be performed before S210.
According to the embodiment of the invention, through further refining of the embodiment, when the motion direction of the four-way shuttle is forward motion, if the actual walking distance is greater than the deceleration position, the four-way shuttle is controlled to decelerate and stop; when the motion direction is reverse motion, if the actual walking distance is smaller than the deceleration position, the four-way shuttle is controlled to decelerate and stop, and when the four-way shuttle is determined to reach the initial position, the moving distance and the accumulated error are cleared, so that the four-way shuttle can be decelerated and stopped more accurately when passing through the deceleration position, and the data are cleared timely when the four-way shuttle works, 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 stop on the target position.
Further, on the basis of the embodiment of the present invention, determining the accumulated error according to the bin position reached by the four-way shuttle vehicle includes:
acquiring trigger signals when the four-way shuttle car reaches different library positions, and reading position pulse signals generated by an encoder of the four-way shuttle car when the trigger signals are generated to obtain library position coordinates of the library positions; determining a library position distance according to the library position coordinates of the adjacent library positions; determining standard library intervals corresponding to the values of the library bit intervals in a preset configuration file; taking the difference value between each library space and the standard library space as the current error of the library space; and taking the sum of the current errors as the accumulated error of the four-way shuttle.
The triggering signal is information obtained for determining whether the four-way shuttle vehicle reaches different storage positions, and the triggering signal can be information generated when a photoelectric sensor on the four-way shuttle vehicle is shielded by a light shielding sheet on the storage positions. The bin coordinates are the coordinates of the bins, and can be determined according to the position pulse signals generated by the encoder when the trigger signals are generated, and the bin spacing is the distance between adjacent bins.
The preset configuration file is a file for recording standard library intervals, the preset configuration file can be arranged in the controller according to the requirement, standard library intervals for determining the library interval types are arranged in the preset configuration file, the standard library interval L0 is set according to the production requirement, and three types are respectively: 520mm/692mm/896mm.
In the embodiment of the invention, when a four-way shuttle passes a certain bin, a photoelectric sensor generates a trigger signal due to shielding by a shielding film, a controller acquires the trigger signal, reads a position pulse signal of an encoder of the four-way shuttle, calculates bin coordinates of the bin according to the position pulse signal, can determine the distance between adjacent bins according to the bin coordinates of the adjacent bins, determines standard bin distance types corresponding to the bin distances from a pre-configuration file, takes the difference value between the bin distances and the standard bin distances as the current error of the bin distances, and finally takes the sum of the current error as the accumulated error.
Further, on the basis of the embodiment of the present invention, the acquisition of the trigger signal when the four-way shuttle arrives at different storage positions includes:
and collecting a trigger signal generated by shielding the photoelectric sensor on the four-way shuttle by the light shielding sheet on the garage position.
The photoelectric sensors and the light shielding sheets can be arranged according to the actual structure of the four-way shuttle, but the distance between the two photoelectric sensors is required to be slightly smaller than the length of the light shielding sheets arranged at the garage. For example, when the four-way shuttle obstructs the gobo on the garage, the photoelectric sensor on the four-way shuttle may generate a signal that the controller may use as a trigger signal when the four-way shuttle reaches the garage.
Further, on the basis of the embodiment of the present invention, determining, in a preset configuration file, a standard library pitch corresponding to a value of each library bit pitch includes:
reading at least one standard library interval to be selected configured in a preset configuration file; if the value of the library bit interval is within the threshold range of the standard library interval to be selected, determining the standard library interval to be selected as the standard library interval; 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 an upper computer to remind a user to check the running state of the four-way shuttle.
The standard library pitch to be selected is the standard library pitch to be selected. The threshold range of the standard library pitch is configured in a preset configuration file, and may be set according to practical situations, 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 operation of the four-way shuttle is abnormal, reminding the user of checking, and after the user checks to remove the abnormality, the four-way shuttle can continue to operate, and the prompt information can be in the form of sound, characters, indicator lights and the like, so that the embodiment is not limited.
The upper computer is a computer that a user can directly issue a control command, and the specific structure of the upper computer is not limited in this embodiment.
In the embodiment of the invention, when the library bit interval calculated by the controller falls within the threshold range of a certain standard library interval, the controller judges that the library bit interval L belongs to the standard library interval. For example, when the four-way shuttle passes a certain library position, the controller calculates the library position distance L at the moment through the library position coordinates, if l=530 mm, the library position distance L falls into the range of 520±40mm, then the controller can determine that the library position distance L belongs to the 520mm standard library distance, and the corresponding error Δl=10mm; if the calculated bin spacing is not within the set standard bin spacing range, the fault is possibly indicated, the controller does not calculate the error at the moment, the work of the four-way shuttle is stopped first, the controller uploads prompt information to the upper computer, and an operator is required to check whether the wheels are seriously worn or whether other problems such as interference exist on the track or not.
According to the embodiment of the invention, the actual walking distance is determined according to the moving distance and the accumulated error, the four-way shuttle is controlled to be decelerated and stopped according to the actual walking distance and the deceleration position, 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 stopped on a target warehouse.
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, where the present embodiment is a scheme implemented by the foregoing embodiment, and takes walking of the four-way shuttle along a first walking direction (such as an X direction) as an example. As shown in fig. 3, the method includes:
and S310, when the four-way shuttle is in the initial position, the controller clears all the last recorded library position coordinates, accumulated errors and corrected moving distance.
Wherein, the coordinates of the four-way shuttle initial position can be set as (X0, Y).
In this embodiment, the WCS system (Warehouse Control System ) may be used to transmit the moving distance S, the decelerating distance Δs, and related commands of the four-way shuttle at the initial position from the target warehouse position to the controller, where the decelerating distance Δs may be a fixed value set in the debugging stage.
And S320, starting the four-way shuttle and walking along the first walking direction, wherein in the walking process, the encoder feeds back the current position coordinates of the four-way shuttle in real time, and the controller calculates the actual walking distance of the four-way shuttle in real time.
The current sitting of the four-way shuttle is marked as X ', the actual walking distance of the four-way shuttle is marked as S ' = (X ' -X0) -Ae, where Ae is the accumulated error, and ae=0 at the beginning.
Accordingly, S320 may further include:
s321, the four-way shuttle vehicle walks to the first garage position, 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 garage position and two first sensors are simultaneously connected in a signal mode, the controller records the coordinate fed back by the encoder at the moment as the first garage position coordinate (X1, Y).
Specifically, when the four-way shuttle passes through the first storage position, the condition of calculating the error is not met, and the accumulated error is not generated at the moment, so that the controller sets the accumulated error ae1=0 in the process that the four-way shuttle walks to the first storage position, namely, the controller indicates that: in the process that the four-way shuttle walks to the first garage position, the real-time actual walking distance S '=the position distance (X' -X0) fed back by the encoder in real time.
And S322, the four-way shuttle vehicle continues to walk along the first walking direction and walks towards the second storage 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 storage position and the two first sensors are simultaneously turned on again, the controller records the coordinates fed back by the encoder at the moment as second storage position coordinates (X2 and Y).
Specifically, before the four-way shuttle does not reach the second storage position, the accumulated error at this stage is still recorded as 0 because the condition of calculating the accumulated error is not satisfied, so that the real-time actual walking distance S '=the position distance (X' -X0) fed back by the encoder in real time during the process that the four-way shuttle walks to the second storage position.
Correspondingly, after the four-way shuttle reaches the second bin, the controller can calculate the bin space L1 between the two bins according to the second bin coordinates (X2, Y) and the first bin coordinates (X1, Y), and the calculation formula is as follows: l1=x2—x1. Then, the controller analyzes the calculated library bit distance L1 based on the standard library distance parameter, judges which standard library distance the library bit distance L1 belongs to, and calculates the error delta L1 of the library bit distance L1 relative to the standard library distance L0, wherein the calculation formula is as follows: Δl1=l1-L0; meanwhile, the controller also calculates the cumulative error ae2=ae1+Δl1. Of course, after the second bin is reached, the actual walking distance S '=x' -X0-Ae2.
And S323, the four-way shuttle vehicle continues to walk along the first walking direction and walks towards the third storage 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 third storage position and the two first sensors are simultaneously turned on again, the controller records the coordinates fed back by the encoder at the moment as the coordinates (X3 and Y) of the third storage position.
Specifically, before the four-way shuttle does not reach the third storage position, the four-way shuttle actually walks by a distance S '= (X' -X °) -Ae2 in real time.
Correspondingly, after the four-way shuttle reaches the third bin, the controller may calculate the bin spacing L2 between the two bins according to the third bin coordinate (X3, Y) and the second bin coordinate (X2, Y), that is: l2=x3—x2. Then, the controller analyzes the calculated library bit distance L2 based on the standard library distance parameter, judges which type of standard library distance the library bit distance L2 belongs to, and calculates an error delta L2 of the library bit distance L2 relative to the standard library distance L0, wherein the calculation formula is as follows: Δl2=l2-L0; meanwhile, the controller also calculates an accumulated error Ae3=Ae2+ΔL2, wherein the accumulated error Ae3 is a correction parameter of the real-time actual walking distance before the four-way shuttle reaches the fourth bin position.
S324, repeating the step S323, and updating the actual walking distance of the four-way shuttle in real time until all the four-way shuttle passes through all the storage positions and stops.
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 in place.
Specifically, the deceleration position of the four-way shuttle may be marked as S °, and if |s' | > |s° |, it means that the four-way shuttle has reached the deceleration position or has passed the deceleration position, and at this time, deceleration should be performed. In the embodiment of the present invention, the deceleration may be performed when |s '|= |s° | or |s' |is not limited thereto.
The embodiment of the invention provides an alternative 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 eliminates accumulated errors caused by wheel deformation, abrasion, slipping and the like, improves the positioning accuracy of the four-way shuttle, and can effectively ensure that the four-way shuttle is stopped at a target garage position.
Example IV
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: the parameter acquisition module 410, the walking distance module 420, and the deceleration control module 430.
The parameter obtaining module 410 is configured to obtain a movement distance of the four-way shuttle and an accumulated error.
The walking distance module 420 is used for determining the actual walking distance according to the moving distance and the accumulated error.
The deceleration control module 430 is used for controlling the four-way shuttle to decelerate and stop according to the actual walking distance and the deceleration position.
The four-way shuttle control device provided by the embodiment of the invention 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 eliminates accumulated errors caused by wheel deformation, abrasion, slipping and the like, improves the positioning accuracy of the four-way shuttle, and can effectively ensure that the four-way shuttle is stopped at a target garage position.
Optionally, the parameter obtaining module 410 further includes:
the moving distance acquisition module is used for reading the position pulse signals of the encoder on the four-way shuttle and determining the moving distance according to the position pulse signals.
And the accumulated error acquisition module is used for determining the accumulated error according to the library position reached by the four-way shuttle.
Optionally, the accumulated error acquiring module further includes:
the trigger signal acquisition unit is used for acquiring trigger signals when the four-way shuttle vehicle reaches different storage positions.
The base position coordinate acquisition unit is used for reading the position pulse signal of the encoder of the four-way shuttle when the trigger signal is generated so as to obtain the base position coordinate of the base position.
And the base bit interval determining unit is used for determining the base bit interval according to the base bit coordinates of the adjacent base bits.
The standard library interval determining unit is used for determining standard library intervals corresponding to the values of the library bit intervals in a preset configuration file.
And the error calculation unit is used for taking the difference value between each library bit interval and the standard library interval as the current error of the library bit interval.
And the accumulated error calculation unit is used for taking the sum of the current errors as the accumulated error of the four-way shuttle.
The trigger signal acquisition unit is specifically used for acquiring trigger signals generated by shielding of photoelectric sensors on the four-way shuttle by the light shielding sheets on the garage positions.
Optionally, the standard library pitch determination unit further includes:
the standard library interval reading unit is used for reading at least one standard library interval to be selected configured in the preset configuration file.
The first standard library space judgment unit is used for determining the standard library space to be the standard library space if the value of the library bit space is within the threshold range of the standard library space to be selected.
The second standard library interval judging unit is used for generating prompt information if the values of the library intervals are not in the threshold range of the standard library interval 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.
Optionally, the device further comprises a parameter clearing module, configured to determine that the four-way shuttle reaches the initial position, and clear the movement distance and the accumulated error.
Optionally, the deceleration control module 430 further includes:
the movement direction acquisition module is used for acquiring the movement direction of the four-way shuttle.
And the first movement direction judging module is used for controlling the four-way shuttle to slow down and stop when the movement direction is forward movement and the actual walking distance is greater than the speed reduction position.
And the first movement direction judging module is used for controlling the four-way shuttle to slow down and stop when the movement direction is reverse movement and the actual walking distance is smaller than the speed reduction position.
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 the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 5 shows a schematic diagram of the structure 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, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may 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 bus 14.
Various 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, etc.; 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 specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The 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 on a computer-readable storage medium, such as the 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, the processor 11 may be configured to perform the four-way shuttle control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out 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 implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the 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. The 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 portable 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) through 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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. The client and server are typically 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 hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The four-way shuttle control method is characterized by comprising the following steps of:
acquiring the moving distance of a four-way shuttle, and determining an accumulated error according to the position of a warehouse reached by the four-way shuttle;
determining an actual walking distance according to the moving distance and the accumulated error;
controlling the four-way shuttle to slow down and stop according to the actual walking distance and the deceleration position;
the determining the accumulated error according to the bin position reached by the four-way shuttle comprises the following steps:
Acquiring trigger signals when the four-way shuttle vehicle reaches different library positions, and obtaining library position coordinates of the library positions;
determining a bin space according to the bin coordinates of the adjacent bins;
determining standard library intervals corresponding to the values of the library bit intervals in a preset configuration file;
taking the difference value between each bin space and the standard bin space as the current error of the bin space;
and taking the sum of the current errors as the accumulated error of the four-way shuttle.
2. The method of claim 1, wherein the obtaining the travel distance of the four-way shuttle comprises:
and reading the position pulse signals of the encoder on the four-way shuttle, and determining the moving distance according to the position pulse signals.
3. The method of claim 1, wherein the acquiring the trigger signal when the four-way shuttle arrives at different library positions and obtaining the library position coordinates of the library positions comprises:
and acquiring trigger signals when the four-way shuttle arrives at different library positions, and reading position pulse signals generated by an encoder of the four-way shuttle when the trigger signals are generated to obtain library position coordinates of the library positions.
4. The method of claim 3, wherein the acquiring the trigger signal when the four-way shuttle arrives at different of the library locations comprises:
and collecting the trigger signal generated by the shielding of the photoelectric sensor on the four-way shuttle by the shielding sheet on the garage position.
5. The method of claim 3, wherein determining, in the preset configuration file, a standard library pitch corresponding to the value of each library pitch comprises:
reading at least one standard library interval to be selected configured in the preset configuration file;
if the value of the library bit interval is within the threshold range of the standard library interval to be selected, determining the standard library interval to be selected as the standard library interval;
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 as recited in claim 1, further comprising:
and if the four-way shuttle car reaches the initial position, clearing the moving distance and the accumulated error.
7. The method of claim 1, wherein said controlling the four-way shuttle to slow down to stop based on the actual distance travelled and the deceleration position comprises:
Acquiring the movement direction of the four-way shuttle;
when the movement direction is forward movement, if the actual walking distance is greater than the deceleration position, controlling the four-way shuttle to decelerate and stop;
and when the movement direction is reverse movement, if the actual walking distance is smaller than the deceleration position, controlling the four-way shuttle to decelerate and stop.
8. A four-way shuttle control device, comprising:
the parameter acquisition module is used for acquiring the moving distance and accumulated error of the four-way shuttle;
the walking distance module is used for determining an actual walking distance according to the moving distance and the accumulated error;
the deceleration control module is used for controlling the four-way shuttle to decelerate and stop according to the actual walking distance and the deceleration position;
the parameter acquisition module further comprises: the accumulated error acquisition module is used for determining an accumulated error according to the library position reached by the four-way shuttle;
the accumulated error acquisition module further includes:
the trigger signal acquisition unit is used for acquiring trigger signals when the four-way shuttle vehicle reaches different storage positions;
the library position coordinate acquisition unit is used for obtaining library position coordinates of library positions;
the base position interval determining unit is used for determining the base position interval according to the base position coordinates of the adjacent base positions;
The standard library interval determining unit is used for determining standard library intervals corresponding to the values of the library bit intervals in a preset configuration file;
the error calculation unit is used for taking the difference value between each library bit interval and the standard library interval as the current error of the library bit interval;
and the accumulated error calculation unit is used for taking the sum of the current errors as the accumulated error of the four-way shuttle.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
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, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the four-way shuttle control method according to any one of claims 1-7 when executed.
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