CN-116620755-B - Shuttle vehicle, control method and device thereof, and scheduling method and device

CN116620755BCN 116620755 BCN116620755 BCN 116620755BCN-116620755-B

Abstract

The application provides a shuttle vehicle, a control method and device thereof, a scheduling method and device thereof and a warehouse control system. The control method comprises the steps of determining a target bin position according to an allocated transportation task, determining an RFID corresponding to the target bin position as a first target tag, determining an RFID adjacent to the first target tag as a second target tag, reading RFID information in the process of executing the transportation task, controlling a shuttle to run in a decelerating mode under the condition that the read RFID information is matched with the information of the second target tag until the read RFID information is matched with the information of the first target tag, aligning the read RFID information with a positioning auxiliary device corresponding to the target bin position through a side positioning device, and controlling the shuttle to stop running after alignment is completed. The method can ensure the accurate alignment of the shuttle to the target warehouse position, and greatly improves the operation efficiency of the warehouse system.

Inventors

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Assignees

广东舜储智能装备有限公司
广东利元亨智能装备股份有限公司

Dates

Publication Date: 20260512
Application Date: 20230511

Claims (9)

1. A method for controlling a shuttle vehicle, comprising: determining a target bin according to the allocated transportation task, determining an RFID corresponding to the target bin as a first target tag, and determining an RFID adjacent to the first target tag as a second target tag; reading RFID information in the process of executing the transportation task; Under the condition that the read RFID information is matched with the information of the second target tag, controlling the shuttle to run in a decelerating mode until the read RFID information is matched with the information of the first target tag, and aligning the read RFID information with a positioning auxiliary device corresponding to the target library position through an alignment positioning device arranged on the side edge of the shuttle, wherein the alignment positioning device comprises a laser emitter and a photoelectric sensor; After alignment is completed, controlling the shuttle to stop running; The pressure sensing device is used for collecting pressure information of a load roller of the shuttle, the pressure information comprises pressure values of a plurality of areas on a straight line where a movable direction of the shuttle is located, and the pressure sensing device is used for executing the transportation task and further comprises: Judging whether cargo deflection occurs according to the change condition of the pressure values of the multiple areas; if yes, determining the cargo offset direction according to the change condition of the pressure information; And controlling the rotation of the load roller according to the cargo offset direction so as to enable the cargo to move in the opposite direction of the cargo offset direction.
2. The method according to claim 1, further comprising, in the process of reading the RFID information: Judging whether the reading is lost or not according to the reading result; if yes, the shuttle is controlled to continue to run according to the current direction until the reading is successful; And if the position of the RFID corresponding to the RFID information in the current direction exceeds the first target tag when the reading is successful, controlling the shuttle to slow down to stop, and switching the running direction to the direction opposite to the current direction to continue running after stopping.
3. The method for controlling a shuttle according to claim 2, wherein the guide rails on which the shuttle runs are provided with limit structures at the head and the tail, the shuttle is provided with an obstacle avoidance device, the obstacle avoidance device is used for detecting the distance between the shuttle and an obstacle in the running direction, and the method for controlling the shuttle further comprises: And if the distance fed back by the obstacle avoidance device is smaller than a distance threshold value, controlling the shuttle to slow down to stop.
4. The method for controlling a shuttle according to claim 2, wherein the determining whether the reading loss occurs according to the reading result comprises: And starting from the last successful reading of the RFID information, if the new RFID information is not read within the time threshold, judging that the reading is lost.
5. A method for scheduling a shuttle vehicle, comprising: When a transport task is received, determining a target library position; for any one of the shuttles in the shuttle list, if the shuttle is idle, determining the estimated execution time of the shuttle according to the current position of the shuttle and the target bin position, and if the shuttle is busy, determining the estimated execution time of the shuttle according to the estimated completion time of the completion of the assigned task of the shuttle, the bin position of the last task in the assigned task and the target bin position; And selecting the shuttle with the smallest estimated execution time as a target shuttle, and issuing the transportation task to the target shuttle.
6. A shuttle comprising one or more processors and a memory having stored therein computer readable instructions which, when executed by the one or more processors, perform the steps of the method of controlling a shuttle as claimed in any one of claims 1 to 4.
7. A control device for a shuttle vehicle, comprising: The first target determining module is used for determining a target bin according to the allocated transportation task, determining RFID corresponding to the target bin as a first target tag, and determining adjacent RFID of the first target tag as a second target tag; the information reading module is used for reading RFID information in the process of executing the transportation task; The system comprises a first speed reduction module, a second speed reduction module, a first speed reduction module and a second speed reduction module, wherein the first speed reduction module is used for controlling the speed reduction operation of a shuttle car under the condition that the read RFID information is matched with the information of the second target label until the read RFID information is matched with the information of the first target label, and aligning with a positioning auxiliary device corresponding to the target bin position through an aligning and positioning device arranged on the side edge of the shuttle car; The system comprises a first deceleration module, a second deceleration module, a pressure sensing device and a cargo shifting direction determining module, wherein the first deceleration module is used for controlling the shuttle to stop running after alignment is completed, the shuttle is provided with the pressure sensing device, the pressure sensing device is used for collecting pressure information of a load roller of the shuttle, the pressure information comprises pressure values of a plurality of areas where the load roller is located on a straight line where a movable direction of the shuttle is located, in the process of executing a transportation task, the second deceleration module further comprises judging whether cargo shifting occurs according to the change condition of the pressure values of the areas, if so, determining the cargo shifting direction according to the change condition of the pressure information, and controlling the load roller to rotate according to the cargo shifting direction so as to enable the cargo to move in the opposite direction of the cargo shifting direction.
8. A warehouse control system, comprising one or more processors, and a memory having stored therein computer readable instructions that, when executed by the one or more processors, perform the steps of the shuttle scheduling method of claim 5.
9. A shuttle scheduling apparatus, comprising: the second target determining module is used for determining a target library position when receiving the transportation task; A prediction module, configured to determine, for any one of the shuttle vehicles in the shuttle vehicle list, an estimated execution time of the shuttle vehicle according to a current position of the shuttle vehicle and the target library location if the shuttle vehicle is an idle vehicle, and determine, for the shuttle vehicle if the shuttle vehicle is a busy vehicle, the estimated execution time of the shuttle vehicle according to an estimated completion time of completing the assigned task of the shuttle vehicle, a library location of a last task in the assigned task, and the target library location; And the task issuing module is used for selecting the shuttle vehicle with the smallest predicted execution time as a target shuttle vehicle and issuing the transportation task to the target shuttle vehicle.

Description

Shuttle vehicle, control method and device thereof, and scheduling method and device Technical Field The application relates to the technical field of intelligent storage, in particular to a shuttle vehicle, a control method and device thereof, a scheduling method and device thereof and a storage control system. Background In modern warehouse logistics warehouse, the warehouse-in and warehouse-out work can be carried out through cooperation of a shuttle car, a lifter and the like. And the shuttle car can feed back the position information of the shuttle car in real time. The mode adopted by the shuttle car for detecting the position of the shuttle car is generally laser ranging and positioning. However, since the laser emission angle of the laser range finder is easily affected by the flatness of the guide rail, if the positioning accuracy is required to be ensured, the levelness of the guide rail is required to be ensured, and the like, the requirement of the shuttle on the environment is high, and the adjustment is required to be repeated in the debugging process, the whole process is complicated and the accuracy is not high, so that the shuttle is difficult to move to a target warehouse position stably and accurately, and the normal operation of the warehouse system is further affected. Disclosure of Invention The application aims to at least solve one of the technical defects, in particular to the technical defect that the shuttle is difficult to move to the target garage stably and accurately at high speed in the prior art. In a first aspect, the present application provides a method for controlling a shuttle, including: Determining a target bin according to the allocated transportation task, determining an RFID corresponding to the target bin as a first target tag, and determining an RFID adjacent to the first target tag as a second target tag; Reading RFID information in the process of executing the transportation task; Under the condition that the read RFID information is matched with the information of the second target tag, controlling the shuttle to run in a decelerating mode until the read RFID information is matched with the information of the first target tag, and aligning the read RFID information with a positioning auxiliary device corresponding to the target library position through an alignment positioning device; And after the alignment is completed, controlling the shuttle to stop running. In one embodiment, in the process of reading the RFID information, the method further includes: Judging whether the reading is lost or not according to the reading result; if yes, the shuttle is controlled to continue to run according to the current direction until the reading is successful; if the position of the RFID corresponding to the RFID information in the current direction exceeds the first target tag when the reading is successful, controlling the shuttle to slow down to stop, and switching the running direction to the direction opposite to the current direction to continue running after stopping. In one embodiment, the guide rail head and tail that the shuttle moved all set up limit structure, and the shuttle has set up and has kept away the barrier device, keeps away the barrier device and is used for detecting the distance of the barrier on shuttle and the direction of operation, and the control method of shuttle still includes: And if the distance fed back by the obstacle avoidance device is smaller than the distance threshold value, controlling the shuttle to slow down to stop. In one embodiment, determining whether a read miss occurs according to the read result includes: And starting from the last successful reading of the RFID information, if no new RFID information is read within the time threshold, judging that the reading is lost. In one embodiment, controlling the deceleration operation of the shuttle comprises: And controlling the shuttle to perform uniform deceleration movement from the current speed. In one embodiment, the shuttle has set up pressure sensing device, and pressure sensing device is used for gathering the pressure information of the load roller of shuttle, in the in-process of carrying out transportation task, still includes: Judging whether cargo deviation occurs according to the change condition of the pressure information; if yes, determining the cargo offset direction according to the change condition of the pressure information; according to the cargo offset direction, the load roller is controlled to rotate so as to enable the cargo to move in the opposite direction of the cargo offset direction. In a second aspect, an embodiment of the present application provides a method for scheduling a shuttle, including: When a transport task is received, determining a target library position; For any one of the shuttles in the shuttle list, if the shuttle is an idle vehicle, determining the estimated execution time of the shuttle according to the current position of th