CN115303695A - Shuttle vehicle control device and control method thereof - Google Patents
Shuttle vehicle control device and control method thereof Download PDFInfo
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- CN115303695A CN115303695A CN202211076426.6A CN202211076426A CN115303695A CN 115303695 A CN115303695 A CN 115303695A CN 202211076426 A CN202211076426 A CN 202211076426A CN 115303695 A CN115303695 A CN 115303695A
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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
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a shuttle control device and a control method thereof. The control device includes: the system comprises a main controller, a servo motor system, a peripheral sensor, an optical code reading positioner and a plurality of sub-controllers, wherein the servo motor system, the peripheral sensor, the optical code reading positioner and the sub-controllers are connected with the main controller; the servo motor system comprises a servo motor driver and a servo motor; the peripheral sensor comprises an inclination angle sensor and an anti-collision laser sensor, the main controller is connected with the inclination angle sensor, and the sub-controllers are connected with the anti-collision laser sensor. According to the shuttle vehicle, the state of the shuttle vehicle is determined and the safety inspection is carried out according to the indication of the WCS or each sensor, so that the running safety of the shuttle vehicle is improved.
Description
Technical Field
The invention relates to the field of shuttle control, in particular to a shuttle control device and a shuttle control method.
Background
The shuttle car is an intelligent robot, can be programmed to realize tasks such as getting goods, transporting, placing, can communicate with an upper computer or a WMS system, and can realize functions such as automatic identification, access and the like by combining identification technologies such as RFID and bar codes. The shuttle car mainly has two forms in the storage logistics equipment: the shuttle type warehouse-in and warehouse-out system and the shuttle type warehouse-in system transport goods to a designated place or a connection device by a trolley running on a fixed track in a reciprocating or loop-back mode. The intelligent sensing system is equipped, the original point position can be automatically memorized, and the system can automatically decelerate.
The existing shuttle car control device is characterized in that one controller is connected with all peripheral circuit structures to control all the peripheral circuit structures to realize operations such as lifting, reversing, walking and the like, and the shuttle car needs to process a lot of services, so that if the controller processes one of the functional operations, other functional operations can only be queued for waiting, the service processing capacity of the shuttle car is weak, and the processing efficiency is low. Based on this, the invention provides a shuttle control device and a shuttle control method capable of improving the shuttle processing efficiency.
Disclosure of Invention
The invention provides a shuttle vehicle control device, comprising: the system comprises a main controller, a servo motor system, a peripheral sensor, an optical code reading positioner and a plurality of sub-controllers, wherein the servo motor system, the peripheral sensor, the optical code reading positioner and the sub-controllers are connected with the main controller; the servo motor system comprises a servo motor driver and a servo motor; the periphery sensor comprises an inclination angle sensor and an anti-collision laser sensor, the main controller is connected with the inclination angle sensor, and the sub-controllers are connected with the anti-collision laser sensor.
The shuttle vehicle control device is characterized in that the main controller is arranged on the main controller board, the plurality of sub-control boards are arranged, and each sub-control board is provided with one sub-controller.
The shuttle car control device is characterized in that the first sub-controller is connected with the power switch, the buzzer, the LCD display screen, the anti-collision sensor, the rail changing detection switch and the first status indicator lamp.
The shuttle vehicle control device is characterized in that the second sub-controller is connected with the anti-collision laser sensor, the track detection switch, the tray state detection switch and the two second state indicator lamps.
The shuttle vehicle control device is characterized in that the third sub-controller is connected with the anti-collision sensor, the rail change detection switch and the third status indicator lamp.
The shuttle vehicle control device is characterized in that the fourth sub-controller is connected with the anti-collision laser sensor, the rail change detection switch, the tray state detection switch and the fourth state indicator lamp.
The invention also provides a shuttle vehicle control method, which comprises the following steps:
s1, receiving an instruction sent by a WCS or each sensor by a shuttle vehicle main controller;
s2, judging the indication type, if the indication type is a lifting instruction issued by the WCS, then S3, if the indication type is a walking instruction issued by the WCS, then S4, and if the indication type is a detection instruction sent by the sensor, then S5 is executed;
s3, determining the lifting state of the shuttle car to be adjusted from a lifting instruction issued by the WCS, determining the absolute position of the current lifting mechanism from a formation sensor by a main controller of the shuttle car, sending a command to a servo motor of the lifting mechanism, dynamically correcting the number of lifting servo pulses of the shuttle car according to the absolute stroke height so as to achieve the lifting state of the shuttle car to be adjusted, reporting a successful response to the WCS, and returning to continuously receive an instruction issued by the WCS;
s4, determining a position needing to be traveled from a traveling instruction issued by the WCS, calculating an optimal path distance by the shuttle vehicle main controller according to the traveling position, calculating the number of pulses of the servo motor according to the optimal path distance, issuing the number of the pulses of the servo motor to the servo driver, driving the servo motor to move to the traveling position, reporting a response to the WCS, and returning to continuously receive an instruction issued by the WCS;
and S5, acquiring sensor detection data from the detection instruction sent by the sensor, and determining the safe running state of the shuttle vehicle according to the sensor detection data.
The shuttle vehicle control method includes that after the shuttle vehicle is powered on, the states of the sensors are automatically detected, after the self-detection is normal, the shuttle vehicle enters a standby state, waiting for receiving an indication, and reporting error information and waiting for system processing if the self-detection is abnormal.
The shuttle vehicle control method can be awakened by the instruction of the WCS in the standby state to lift the roof tray or move the vehicle, and can also receive the indication sent by the sensor during the moving process of the vehicle, wherein the indication comprises the vehicle body state information uploaded by the tilt angle sensor and the distance information uploaded by the anti-collision sensor and away from the front obstacle.
The shuttle vehicle control method comprises the steps that the sensors mounted on the shuttle vehicle comprise a laser ranging sensor for collision avoidance detection and a positioning code reading sensor.
The invention has the following beneficial effects:
(1) According to the invention, the main control board and the plurality of sub-control boards are arranged in the shuttle car, the sensors are respectively arranged on the main control board and the sub-control boards, different control boards are used for connecting different sensors, so that different functions of the shuttle car can be independently controlled, and the control efficiency of the shuttle car is improved.
(2) According to the shuttle vehicle, the state of the shuttle vehicle is determined and the safety inspection is carried out according to the indication of the WCS or each sensor, so that the running safety of the shuttle vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic view of a shuttle control device according to a first embodiment of the present invention;
FIG. 2 is a diagram showing the connection relationship between circuit boards;
fig. 3 is a flowchart of a shuttle control method according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are 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 some, not all, embodiments of the present invention. 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.
Example one
As shown in fig. 1-2, a shuttle control device according to a first embodiment of the present invention includes: the system comprises a main controller, a servo motor system, a peripheral sensor, an optical code reading positioner and a plurality of sub-controllers, wherein the servo motor system, the peripheral sensor, the optical code reading positioner and the sub-controllers are connected with the main controller; the servo motor system comprises a servo motor driver and a servo motor for controlling lifting and reversing; the peripheral sensor comprises an inclination angle sensor and an anti-collision laser sensor, the main controller is connected with the inclination angle sensor, and the sub-controllers are connected with the anti-collision laser sensor.
The main controller is arranged on a main controller board and connected with the servo motor system, the peripheral sensors, the optical code reading positioner and the sub-controllers; the main controller is also connected with the remote controller module, the WIFI module and the battery. Specifically, the main controller is connected with each peripheral sensor and the sub-controllers, and controls the servo motor system to perform corresponding actions according to the storage control device or a remote control command, specifically including lifting, lowering, reversing, walking and the like.
Specifically, a master controller M1 and a slave controller M2 are integrated in a master controller board, the master controller M1 is connected with the slave controller M2, and is connected with each slave controller board through the slave controller M2, and the master controller M1 includes a remote controller interface, an optical code reading locator interface, a battery LCD interface, and a WIFI interface; the remote controller interface is connected with the remote controller module, adopts low-frequency electromagnetic waves and is connected with the remote controller, and the remote controller sends instructions to the shuttle car through the low-frequency electromagnetic waves when the shuttle car is abnormal or other times are needed, so that manual control is realized; the interface of the optical code reading positioner is connected with the optical code reading positioner, the shuttle car reads the positioning codes in real time in the walking process, and the code values and the corresponding deviation values are sent to the main controller after the effective positioning codes are read. The main controller accurately calculates the current accurate position of the shuttle car according to the data; the battery LCD interface is connected with a battery and an LED display screen, the battery adopts a high-density lithium battery, and can provide larger electric quantity when the size is the same, and the LCD display screen adopts a 4.3-inch liquid crystal screen and is used for displaying the measured values of all sensors of the shuttle car, the car body state and the like; WIFI interface connection WIFI module for the communication between main control unit and the storage control device system is connected, preferably adopts the high-power module of dual antenna, in order to guarantee in abominable warehouse environment, also can more guarantee the stability of networking. In addition, the main controller also comprises an interface for connecting the TF card, the FLASH memory and the like.
The servo motor system comprises a servo motor driver and a servo motor, the servo motor driver is connected with the main controller and the servo motor, the servo motor comprises a lifting reversing motor and a walking motor, and the servo motor driver controls the walking, lifting and reversing of the servo motor according to instructions of the main controller; the lifting reversing motor and the walking motor are respectively connected with corresponding servo motor drivers, the lifting reversing motor is controlled through the servo motor driver I, lifting of the top tray of the shuttle car and reversing of wheels around the shuttle car (namely, the left wheel and the right wheel of the shuttle car are retracted, the front wheel and the rear wheel are lowered, or the front wheel and the rear wheel are retracted, the left wheel and the right wheel are lowered) are achieved, the walking motor is controlled through the servo motor driver II, and advancing of the shuttle car is achieved.
The periphery sensor comprises a tilt angle sensor and a collision avoidance laser sensor. Preferably, four tilt sensors are arranged on the vehicle body and fixed at four corners of the vehicle body to measure the state of the vehicle body; set up crashproof laser sensor respectively in four directions of automobile body, also can set up crashproof laser sensor in the car four corners as required in addition, start the crashproof sensor of advancing direction at the in-process of advancing to whether there is the barrier in measurement automobile body the place ahead.
The sub-controllers are arranged on the sub-control boards, preferably, the invention is provided with a plurality of sub-control boards, and each sub-control board is provided with one sub-controller. In the embodiment, four sub control boards and four corner interface boards are set, the four sub control boards are respectively arranged on one side surface of the vehicle body, all sensor information of each side surface of the vehicle body is uniformly collected and sent to the main controller, and the four corner interface boards are arranged at four corners of the vehicle body and used for derailment detection; and an optical code reading positioner is arranged at the bottom of the shuttle car body and used for reading the positioning codes in real time in the running process of the shuttle car, and sending the code values and the corresponding deviation values to the main controller after the effective positioning codes are read. And the main controller accurately calculates the current accurate position of the shuttle vehicle according to the data. The first sub-controller is connected with the power switch, the buzzer, the LCD display screen, the anti-collision sensor, the rail-changing detection switch and the first state indicator lamp. The second sub-controller is connected with the anti-collision laser sensor, the track detection switch, the tray state detection switch and the two second state indicating lamps. The third sub-controller is connected with the anti-collision sensor, the rail change detection switch and a third state indicator lamp; the fourth sub-controller is connected with an anti-collision laser sensor, a rail changing detection switch, a tray state detection switch and a fourth state indicator lamp.
Specifically, slave controller M2 connects four slave control boards and a peripheral circuit, where a slave control board is connected to a master controller board through two network cables, one controls laser + photoelectric, the other controls LCD status indicator lamp + derailment detection switch + buzzer, a second slave control board is connected to a master controller board through two network cables, one controls laser + photoelectric + sensor, the other controls LCD status indicator lamp, a third slave control board is connected to a master controller board through one network cable, controls laser + photoelectric, a fourth slave control board is connected to a master controller board through two network cables, one controls laser + photoelectric + sensor, and the other controls LCD status indicator lamp. The second branch control board and the fourth branch control board are respectively connected with two corner interface boards, the flat cables of the two corner interface boards connected with the second branch control board are connected to the fourth branch control board, one corner interface board is a first branch control board and a second branch control board and is provided with a laser, a state indicator lamp and a derailment detection switch respectively, the other corner interface board is a third branch control board and a second branch control board and is provided with a laser, a state indicator lamp and a derailment detection switch respectively, the flat cables of the two corner interface boards connected with the fourth branch control board are connected to the fourth branch control board, one corner interface board is a first branch control board and a fourth branch control board and is provided with a laser, a state indicator lamp and a derailment detection switch respectively, and the other corner interface board is a third branch control board and a fourth branch control board and is provided with a laser, a state indicator lamp and a derailment detection switch respectively.
Example two
As shown in fig. 3, a second embodiment of the present invention provides a shuttle vehicle control method, including:
310, receiving an instruction sent by the WCS or each sensor by the shuttle car main controller;
in the embodiment of the application, after the shuttle car is powered on, the states of the sensors are automatically detected, after the self-detection is normal, the shuttle car enters a standby state to wait for receiving an indication, and if the self-detection is abnormal, error information is reported to wait for a system to process. The device can be awakened by an instruction of the WCS in a standby state to lift a roof tray or move a vehicle, and can also receive instructions sent by the sensor in the moving process of the vehicle, wherein the instructions comprise vehicle body state information uploaded by the tilt angle sensor, distance information between the vehicle and a front obstacle uploaded by the anti-collision sensor and the like.
Step 320, judging the indication type, if the indication type is a lifting instruction issued by the WCS, executing step 330, if the indication type is a walking instruction issued by the WCS, executing step 340, and if the indication type is a detection instruction sent by the sensor, executing step 350;
specifically, the type judgment of the indication by the shuttle vehicle is determined according to a specific identification bit of the uploaded indication data, for example, the first four bytes in the instruction issued by the WCS represent an instruction type identification bit, and the shuttle vehicle can determine the instruction type issued by the WCS according to the identification bit; for another example, since the numbers of the sensors installed in the shuttle car at the time of shipment are previously set and stored, what type of sensor and which sensor are to be used can be determined based on the specific identification bits (i.e., numbers) of the received data.
Step 330, determining the lifting state of the shuttle vehicle to be adjusted from a lifting instruction issued by the WCS, determining the absolute position of the current lifting mechanism from a formation sensor by a shuttle vehicle main controller, sending a command to a servo motor of the lifting mechanism, dynamically correcting the number of lifting servo pulses of the shuttle vehicle according to the stroke absolute height so as to achieve the lifting state of the shuttle vehicle to be adjusted, reporting a successful response to the WCS, and returning to continuously receive an instruction issued by the WCS;
the lifting mechanism of the shuttle vehicle is divided into three positions, namely a high position, a low position and a medium position, which respectively correspond to three states of lifting, putting down and reversing of the shuttle vehicle, the lifting mechanism determines the absolute position of the current lifting mechanism according to the height of the stroke sensor, and the positions of lifting, putting down and reversing are fixed values quantized to the stroke sensor.
For example, taking lifting as an example, if the number of pulses corresponding to 1mm of the lifting mechanism is a, the mechanical gear ratio is G, the encoder division value is E, the absolute height of the stroke of lifting is HU, the absolute height of the stroke of reversing is HL, and the number of lifting servo pulses of the shuttle car is C, then:
A＝1/(HU-HL)*G*E
C＝A*(HU-HC)
when the lifting mechanism moves, a program can dynamically correct the number of lifting servo pulses of the shuttle car according to the absolute height of the stroke, so that a dynamic smooth curve is formed, and the lifting mechanism is finally stopped within the range that the target absolute height is within 1mm of error.
Step 340, determining a position needing to be traveled from a traveling instruction issued by the WCS, calculating an optimal path distance by the shuttle vehicle main controller according to the traveling position, calculating the number of servo motor pulses according to the optimal path distance, issuing the number of the servo motor pulses to the servo driver, driving the servo motor to move to the traveling position, reporting a response to the WCS, and returning to continue receiving an instruction issued by the WCS;
in the embodiment of the present application, the method for calculating the optimal path distance is described in detail in the patent application with the patent application number CN202010598412.5 previously applied by the applicant, and is not described herein again.
Calculating the pulse number of the servo motor according to the optimal path distance, and specifically comprises the following steps:
the movement of the shuttle vehicle is carried out according to the distance (unit mm), firstly, the motor pulse number A corresponding to 1mm of shuttle vehicle walking is known, A = 1/(ind) _ G < E >, wherein d is the diameter of the shuttle vehicle wheel, ind is the calculated circumference of the driving wheel, G is the mechanical gear ratio, E is the encoder division value, namely, 1mm corresponds to the servo pulse = the unit distance (mm)/the circumference of the driving wheel;
and calculating the number of servo pulses C to be moved by the shuttle car according to the optimal path distance and the unit motor pulse number, wherein C = A × S, and S is the optimal path distance, namely the total number of servo pulses C = the optimal path distance S × 1mm corresponds to the servo pulses A.
The calculated number of servo pulses C is then sent to the servo driver, which drives the motor to start rotating and the shuttle car to start moving.
Step 350, acquiring sensor detection data from a detection instruction sent by a sensor, and determining the safe running state of the shuttle car according to the sensor detection data;
in the embodiment of the application, the sensors installed on the shuttle car include, but are not limited to, a laser ranging sensor for collision avoidance detection, a positioning code reading sensor and the like; the method comprises the steps of recording parameter attributes of each sensor in a shuttle car, extracting parameters reflecting the type of the sensor from detection instructions of the sensors on the shuttle car, setting an A mark as a laser ranging sensor (for example, the A1 mark is an upper left corner sensor, the A2 mark is an upper right corner sensor, the A3 mark is a lower left corner sensor and the A4 mark is a lower right corner sensor), setting a B mark as a positioning code reading sensor, and sending the detection instructions to a main controller of the shuttle car by the sensors to carry the marks so as to inform the main controller of the detection instructions sent by the sensors.
For a detection instruction sent by a laser ranging sensor for anti-collision detection, acquiring sensor detection data from the detection instruction, performing anti-collision detection, and guaranteeing safe operation of the shuttle vehicle according to an anti-collision detection result;
(1) carry out anticollision and detect, specifically include:
s11, obtaining a sensor measuring distance fed back to a shuttle vehicle main controller by a laser ranging sensor from a detection instruction;
the shuttle vehicle is provided with laser ranging sensors on four surfaces, when the shuttle vehicle executes a moving task, the ranging sensors in the moving direction are started, and the shuttle vehicle can acquire distance data of laser ranging in a high frequency manner; when an obstacle exists in front of the main controller, the laser sensor feeds back to the main controller to measure the distance SS (unit cm);
s12, calculating delay displacement caused by delay according to the current speed measurement and the delay time, and calculating the distance of the obstacle according to the distance measured by the sensor and the delay displacement;
because communication is delayed, the shuttle car moves again, SO in consideration of delay, delay displacement SD caused by delay is calculated according to current vehicle speed VC and delay time TD, the delay displacement SD = VC TD, SD is sensor communication delay distance, VC is current vehicle speed of the car, TD is sensor communication delay time, namely sensor communication delay distance = (current vehicle speed of the car = sensor communication delay time), obstacle distance SO = SS + SD, namely measured obstacle distance = sensor measurement distance-sensor communication delay distance.
S13, calculating the remaining distance to the target position, comparing the distance between the obstacle and the remaining distance, if the distance between the obstacle is less than or equal to the remaining distance between the shuttle and the target position, determining that the obstacle is in the end point range of the trolley, and triggering an obstacle avoidance mechanism, otherwise, continuing to keep the shuttle moving forwards;
the main controller program can calculate the remaining distance ST from the shuttle to the target position; comparing, if the distance SO of the obstacle is less than or equal to the residual distance ST from the shuttle to the target position, determining that the obstacle is in the end point range of the trolley, and triggering an obstacle avoidance mechanism; an obstacle avoidance mechanism: setting the current speed of the shuttle car as VL, and if the distance between the obstacles is less than the parking distance SP, setting the speed of the shuttle car as 0 to stop the shuttle car;
triggering an obstacle avoidance mechanism: and setting the current speed of the shuttle as VL, and setting the speed of the shuttle as 0 to stop if the obstacle distance is less than the stopping distance SP. Specifically, if SO is less than or equal to SP, the vehicle speed of the trolley is set to be 0, and if SO is less than or equal to ST, the vehicle speed of the trolley is set to be VL.
(2) And (3) positioning code reading detection, which specifically comprises the following steps:
s21, installing a plurality of positioning codes in a shuttle vehicle running track in advance, wherein each positioning code corresponds to a position coordinate, and a position coordinate graph formed by the position coordinates of the plurality of positioning codes is stored in a shuttle vehicle main controller;
s22, continuously scanning the positioning code reading sensor in the operation process, and sending a detection instruction to the main controller when the positioning code is scanned;
s23, the shuttle vehicle main controller acquires a position coordinate code value and a corresponding deviation value fed back to the shuttle vehicle main controller by the positioning code reading sensor from the detection instruction;
and S24, determining a code reading position from the stored position coordinate graph according to the position coordinates of the sensor, accurately calculating the current accurate position of the shuttle according to the code reading position and the corresponding deviation value, and determining whether the shuttle deviates from the running track.
In addition, the indication received by the main controller of the shuttle car also comprises the indication of a remote controller, and the remote controller sends an instruction to the shuttle car through low-frequency electromagnetic waves when the shuttle car is abnormal or other times are needed, so that manual control is realized.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (10)
1. A shuttle control device, comprising: the system comprises a main controller, a servo motor system, a peripheral sensor, an optical code reading positioner and a plurality of sub-controllers, wherein the servo motor system, the peripheral sensor, the optical code reading positioner and the sub-controllers are connected with the main controller; the servo motor system comprises a servo motor driver and a servo motor; the peripheral sensor comprises an inclination angle sensor and an anti-collision laser sensor, the main controller is connected with the inclination angle sensor, and the sub-controllers are connected with the anti-collision laser sensor.
2. A shuttle control device as claimed in claim 1, wherein the main controller is provided on a main controller board, and a plurality of sub-controllers are provided, one on each sub-controller.
3. The shuttle vehicle control device according to claim 2, wherein the first sub-controller is connected to the power switch, the buzzer, the LCD display screen, the anti-collision sensor, the rail change detection switch and the first status indicator lamp.
4. A shuttle control device as claimed in claim 2, wherein the second sub-controller is connected to the pre-crash laser sensor, the track detection switch, the pallet status detection switch and the two second status indicator lights.
5. A shuttle control as claimed in claim 2, wherein the third sub-controller is connected to the crash sensors, the switch for detecting rail change and the third status indicator light.
6. The shuttle vehicle control device according to claim 2, wherein the fourth sub-controller is connected to the pre-crash laser sensor, the track change detection switch, the tray status detection switch and the fourth status indicator light.
7. A shuttle control method, comprising:
s1, receiving an instruction sent by a WCS or each sensor by a shuttle vehicle main controller;
s2, judging the indication type, if the indication type is a lifting instruction issued by the WCS, then S3, if the indication type is a walking instruction issued by the WCS, then S4, and if the indication type is a detection instruction sent by the sensor, then S5 is executed;
s3, determining the lifting state of the shuttle car to be adjusted from a lifting instruction issued by the WCS, determining the absolute position of the current lifting mechanism from a formation sensor by a main controller of the shuttle car, sending a command to a servo motor of the lifting mechanism, dynamically correcting the number of lifting servo pulses of the shuttle car according to the absolute stroke height so as to achieve the lifting state of the shuttle car to be adjusted, reporting a successful response to the WCS, and returning to continuously receive an instruction issued by the WCS;
s4, determining a position needing to be traveled from a traveling instruction issued by the WCS, calculating an optimal path distance by the shuttle vehicle main controller according to the traveling position, calculating the number of pulses of the servo motor according to the optimal path distance, issuing the number of the pulses of the servo motor to the servo driver, driving the servo motor to move to the traveling position, reporting a response to the WCS, and returning to continuously receive an instruction issued by the WCS;
and S5, acquiring sensor detection data from the detection instruction sent by the sensor, and determining the safe running state of the shuttle car according to the sensor detection data.
8. The shuttle vehicle control method according to claim 7, wherein after the shuttle vehicle is powered on, the states of the sensors are automatically detected, after the self-test is normal, the shuttle vehicle enters a standby state, an indication is waited to be received, and if the self-test is abnormal, error information is reported, and the shuttle vehicle waits for the system to process.
9. The shuttle vehicle control method according to claim 8, wherein the shuttle vehicle control method is awakened by the instruction of the WCS in the standby state, performs lifting and lowering of the roof tray or traveling of the vehicle, and receives indications sent by the sensors during traveling of the vehicle, including vehicle body state information uploaded by the tilt sensor and distance information from the front obstacle uploaded by the collision avoidance sensor.
10. A shuttle control method as claimed in claim 8, wherein the shuttle mounted sensors include laser ranging sensors and position reading sensors for collision avoidance detection.
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| CN202211076426.6A CN115303695A (en) | 2022-09-05 | 2022-09-05 | Shuttle vehicle control device and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117719832A (en) * | 2024-02-18 | 2024-03-19 | 成都思越智能装备股份有限公司 | RGV dolly of safe high-efficient transportation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117719832A (en) * | 2024-02-18 | 2024-03-19 | 成都思越智能装备股份有限公司 | RGV dolly of safe high-efficient transportation |
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