Method and device for dynamically adjusting speed of RGV shuttle vehicle according to load weight

Abstract

The invention relates to the field of RGV shuttle vehicle control, in particular to a method for dynamically adjusting the speed of an RGV shuttle vehicle according to the load weight. The method comprises the steps that S1, the load weight of the RGV shuttle vehicle is obtained; and S2, on the basis of the load weight, the RGV shuttle vehicle is endowed with the maximum running speed. And S3, based on the maximum running speed, calculating a speed curve of the RGV shuttle vehicle by using a five-section S-shaped speed curve algorithm. The speed curve comprises an acceleration-acceleration stage, a deceleration-acceleration stage, a constant speed stage, an acceleration-deceleration stage and a deceleration-deceleration stage. And S4, the RGV shuttle vehicle is controlled to move through the speed curve. According to the method, the load weight is detected when the operation task is executed every time, the proper maximum running speed is matched for the RGV shuttle vehicle, then the speed curve of the RGV shuttle vehicle is calculated through the five-section S-shaped speed curve algorithm, and therefore the running stability of the RGV shuttle vehicle is improved on the premise that the running efficiency of the RGV shuttle vehicle is maximized.

Description

Technical Field

[0001] The invention relates to the field of RGV shuttle vehicle control, and in particular to a method and a device for dynamically adjusting the speed of an RGV shuttle vehicle according to load weight. Background Art

[0002] RGV shuttle is also called rail-guided vehicle. RGV shuttle can be used in various warehouses with high-density storage. The driving channel can be designed to be arbitrarily long, which can increase the storage capacity of the entire warehouse. In addition, there is no need for forklifts to enter the aisle during operation, which is safer.

[0003] In the prior art, the maximum design load of the RGV shuttle reaches 2t. However, in actual applications, the RGV shuttle will not always run at full load. From the perspective of control, the weight of the loaded goods accounts for a large proportion of the overall weight, and there are great requirements for the speed regulation performance of the shuttle. However, in the prior art, the speed control of the RGV shuttle mostly adopts the trapezoidal acceleration and deceleration method of uniform acceleration, uniform speed, and uniform deceleration, which has poor control effect, resulting in low operating efficiency of the RGV trolley, and even causing cargo overturning, trolley offside and other phenomena. Summary of the invention

[0004] In order to efficiently control the speed of the RGV shuttle and avoid the cargo on the RGV shuttle from tipping over or the RGV shuttle from being offside, the present application provides a method for adjusting the speed of the RGV shuttle according to the load weight.

[0005] The method for adjusting the speed of the RGV shuttle according to the load weight provided by the present invention adopts the following technical solution:

[0006] A method for dynamically adjusting the speed of an RGV shuttle vehicle according to load weight, the method comprising the following steps:

[0007] S1. Obtain the load weight of the RGV shuttle vehicle;

[0008] S2. Assigning a maximum operating speed to the RGV shuttle based on the load weight;

[0009] S3. Based on the maximum operating speed, a speed curve of the RGV shuttle is calculated using a five-segment S-shaped speed curve algorithm;

[0010] The speed curve includes an acceleration phase, a deceleration phase, a constant speed phase, an acceleration / deceleration phase, and a deceleration / deceleration phase; wherein,

[0011] The acceleration phase is an acceleration phase in which the magnitude of acceleration gradually increases;

[0012] The deceleration phase is an acceleration phase in which the acceleration gradually decreases;

[0013] The uniform speed stage is a stage of uniform motion;

[0014] The acceleration and deceleration stage is a deceleration stage in which the acceleration gradually increases;

[0015] The deceleration stage is a deceleration stage in which the acceleration gradually decreases;

[0016] S4. Control the movement of the RGV shuttle vehicle through the speed curve.

[0017] Optionally, the step S1 includes:

[0018] S101, obtaining the load inertia ratio of the RGV shuttle vehicle;

[0019] S102, calculating the load weight by the following formula:

[0020]

[0021] Wherein, dC is the load inertia ratio; M is the load weight; m is the deadweight of the RGV shuttle; r is the wheel radius of the RGV shuttle; i is the reduction ratio of the RGV shuttle reducer; J d The moment of inertia of the RGV shuttle reducer; J m is the rotational inertia of the RGV shuttle motor.

[0022] Optionally, in step S3, the load weight is divided into multiple weight intervals; each weight interval corresponds to a different maximum operating speed; based on the weight interval in which the load weight is located, the corresponding maximum operating speed is assigned to the RGV shuttle.

[0023] Optionally, there are five weight intervals, namely: 0kg-400kg, 400kg-800kg, 800kg-1200kg, 1200kg-1600kg, 1600kg-2000kg; the weight intervals all include the lower limit but not the upper limit; the maximum operating speeds corresponding to the five weight intervals are: 800mm / s, 700mm / s, 650mm / s, 600mm / s, 500mm / s.

[0024] Optionally, in step S4,

[0025] The relationship between the jerk and time of the RGV shuttle is:

[0026]

[0027] Wherein, J is the jerk of the RGV shuttle; t is time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage;

[0028] The relationship between the acceleration of the RGV shuttle and time is:

[0029]

[0030] Wherein, J is the jerk of the RGV shuttle; a is the acceleration of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage;

[0031] The relationship between the speed and time of the RGV shuttle is:

[0032]

[0033] Wherein, J is the jerk of the RGV shuttle; T is the time interval; t is time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage.

[0034] Based on the above conception, the present invention also provides a device for dynamically adjusting the speed of the RGV shuttle according to the load weight. The speed of the RGV shuttle is adjusted by the above method. The device includes a position detection module, a load detection module, a data processing module, a control module and an execution module; wherein the position detection module is communicatively connected to the data processing module for detecting the real-time position of the RGV shuttle; the load module is communicatively connected to the data processing module for detecting the load weight of the RGV shuttle; the data processing module is communicatively connected to the control module for deriving the maximum operating speed according to the load weight, calculating the movement path of the RGV shuttle according to the real-time position, and calculating the speed curve of the RGV shuttle according to the movement path and the load weight using the five-segment S-shaped speed curve algorithm; the control module is communicatively connected to the execution module for controlling the execution module according to the speed curve, thereby controlling the movement of the RGV shuttle

[0035] Optionally, the load detection module includes a pressure sensor; the pressure sensor is arranged on the lifting mechanism of the RGV shuttle vehicle, and is used to obtain the load weight of the RGV shuttle vehicle in real time.

[0036] Optionally, the load detection module is communicatively connected to the RGV shuttle vehicle, and is used to read the load-inertia ratio of the RGV shuttle vehicle, so as to calculate the load weight of the RGV shuttle vehicle according to the load-inertia ratio.

[0037] Optionally, the position detection module includes an encoder or a proximity switch; the encoder is arranged on the wheel of the RGV shuttle vehicle, and the real-time position of the RGV shuttle vehicle is determined by the movement of the wheel of the RGV shuttle vehicle; the proximity switch is arranged on the body of the RGV shuttle vehicle, and is used to detect the real-time position of the RGV shuttle vehicle.

[0038] Optionally, the communication connection includes serial communication and / or Ethernet communication.

[0039] As described above, the method of dynamically adjusting the speed of the RGV shuttle according to the load weight of the present invention has at least the following beneficial effects:

[0040] The present invention adopts different maximum operating speeds according to the different load weights of the RGV shuttle. The greater the load weight of the RGV shuttle, the greater the overall weight of the RGV shuttle, the greater the friction between the wheels and the guide rails, the greater the starting torque of the RGV shuttle, the greater the vibration during the movement, and the smaller the maximum operating speed allowed by the RGV shuttle. Therefore, by detecting the load weight each time the operation task is performed and matching the RGV shuttle with a suitable maximum operating speed, the stability of the RGV shuttle operation is improved under the premise of maximizing the operating efficiency of the RGV shuttle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart corresponding to the method of dynamically adjusting the speed of the RGV shuttle according to the load weight.

[0042] Figure 2 It is an image used to reflect the corresponding relationship between speed, acceleration, jerk and time in the five-segment S-shaped velocity curve algorithm. DETAILED DESCRIPTION

[0043] The following is an explanation of the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are intended to describe specific embodiments, rather than to limit the scope of protection of the present invention. The test methods for which specific conditions are not specified in the following examples are usually carried out under conventional conditions or according to the conditions recommended by the manufacturers.

[0044] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0045] Please refer to Figure 1 The present invention discloses a method for dynamically adjusting the speed of an RGV shuttle vehicle according to the load weight, the method comprising:

[0046] S1. Obtain the load weight of the RGV shuttle.

[0047] The RGV shuttle has a lifting mechanism for carrying loads, so the load weight can be obtained in real time by directly setting a pressure sensor on the lifting mechanism of the RGV shuttle. This acquisition method is relatively simple, but it requires mechanical structural modification of the RGV shuttle to install the pressure sensor.

[0048] In a preferred embodiment of the present invention, step S1 comprises:

[0049] S101. Obtain the load inertia ratio of the RGV shuttle vehicle.

[0050] The load inertia ratio refers to the ratio of the load inertia of the RGV shuttle to the rotational inertia of the RGV shuttle motor. It is one of the parameters of the RGV shuttle motor and varies depending on the motor model.

[0051] S102: Calculate the load weight of the RGV shuttle vehicle according to the load inertia ratio.

[0052] The relationship between load inertia ratio and load weight is as follows:

[0053]

[0054] Wherein, dC is the load inertia ratio; M is the load weight; m is the deadweight of the RGV shuttle; r is the wheel radius of the RGV shuttle; i is the reduction ratio of the RGV shuttle reducer; J d The moment of inertia of the RGV shuttle reducer; J m is the rotational inertia of the RGV shuttle motor.

[0055] Furthermore, the RGV shuttle is equipped with a driver that can monitor the load-inertia ratio and other parameters of the motor. The driver has a PLC function, and the driver can be used as an Ethecat (Ethernet Control Automation Technology) slave station, and communicate with the host computer PLC in real time through Ethecat to feed back parameter data to the host computer. Therefore, the load-inertia ratio can be read from the driver or from the host computer of the driver.

[0056] Through steps S101 and S102, the load weight of the RGV shuttle can be calculated after reading the load-inertia ratio, and there is no need to modify the mechanical structure of the RGV shuttle, which is simpler and easier.

[0057] S3. Based on the load weight, assign a maximum operating speed to the RGV shuttle.

[0058] Each load weight corresponds to a maximum operating speed. The RGV shuttle moves based on the maximum operating speed, which can maximize the operating efficiency of the RGV shuttle while avoiding the phenomenon of cargo overturning and offside.

[0059] The maximum operating speed needs to be determined through experiments or based on the experience of the RGV shuttle in actual use. Different maximum operating speeds should be used for different load weights.

[0060] In addition, since the lifting mechanism of the RGV shuttle takes 3s to 4s to load and unload goods, the time for the motor driving the lifting mechanism to lift the load is about 2s. Therefore, it is necessary to obtain the load weight during the working time of the motor driving the lifting mechanism, and match the appropriate maximum operating speed before the RGV shuttle moves. During actual operation, the load weight signal obtained when the motor driving the lifting mechanism is working is unstable, and the time to match the maximum operating speed for the RGV shuttle is also limited, so it is difficult to adjust the speed of the RGV shuttle in real time. In order to match the appropriate maximum operating speed for the RGV shuttle, the load weight should be processed in intervals.

[0061] Therefore, in step S3, the load weight is divided into a plurality of weight intervals. Each weight interval corresponds to a different maximum operating speed. Based on the weight interval in which the load weight is located, the corresponding maximum operating speed is assigned to the RGV shuttle.

[0062] In a preferred embodiment of the present invention, for an RGV shuttle with a maximum load weight of 2000kg, there are five weight intervals, namely: 0kg-400kg, 400kg-800kg, 800kg-1200kg, 1200kg-1600kg, 1600kg-2000kg. The weight intervals all include the lower limit but not the upper limit. The maximum operating speeds corresponding to the five weight intervals are: 800mm / s, 700mm / s, 650mm / s, 600mm / s, 500mm / s.

[0063] S4. Based on the maximum operating speed, the speed curve of the RGV shuttle is calculated using the five-segment S-shaped speed curve algorithm. The speed curve includes an acceleration phase, a deceleration phase, a uniform speed phase, an acceleration and deceleration phase, and a deceleration and deceleration phase. Among them, the acceleration phase is an acceleration phase with gradually increasing acceleration. The deceleration phase is an acceleration phase with gradually decreasing acceleration. The uniform speed phase is a phase of uniform motion. The acceleration and deceleration phase is a deceleration phase with gradually increasing acceleration. The deceleration and deceleration phase is a deceleration phase with gradually decreasing acceleration.

[0064] In the existing trapezoidal acceleration and deceleration operation mode, the impact of the RGV shuttle during the start and stop process will cause damage to the motor and the brake device. Therefore, the present invention abandons the trapezoidal acceleration and deceleration operation mode and instead adopts a five-segment S-shaped speed curve algorithm to control the speed of the RGV shuttle.

[0065] For details, please refer to Figure 2 , Figure 2The upper part is the vt diagram, the middle part is the at diagram, and the lower part is the Jt diagram. In the diagram, the time from 0 to t1 is T1, which represents the acceleration stage. The time from t1 to t2 is T2, which represents the deceleration stage. The time from t2 to t3 is T3, which represents the uniform speed stage. The time from T3 to t4 is T4, which represents the acceleration and deceleration stage. The time from T4 to t5 is T5, which represents the deceleration and deceleration stage. max is the maximum operating speed, a max is the maximum value of acceleration and J is the jerk.

[0066] from Figure 2 It can be seen that when the five-segment S-shaped speed curve algorithm is used, the speed change process of the RGV shuttle is smooth, the acceleration changes slowly, there is no problem of sudden acceleration, and the speed curve is a continuous curve, which can effectively reduce the impact generated during the start and stop process of the RGV shuttle and improve the stability of the RGV shuttle operation.

[0067] In the acceleration curve, the acceleration changes linearly, reaching the maximum at time t1, decreasing to zero at time t2, decreasing to the minimum at time t4, and increasing to zero at time t5.

[0068] In the jerk curve, the absolute value of the jerk J is a constant. J reaches the maximum value j at the beginning, and suddenly changes to the negative maximum value -J at time t1, and the deceleration stage is just the opposite.

[0069] When J is constant, in order to make the acceleration at the start and end points zero during the acceleration and deceleration stages, the time of the acceleration process must be equal to the time of the deceleration process, that is, T1 = T2. Similarly, T4 = T5. Let T1 = T2 = T4 = T5 = T. If the values ​​of T and T3 are determined, the formula for acceleration and velocity can be determined by the relationship between velocity and acceleration.

[0070] The relationship between the jerk of the RGV shuttle and time is:

[0071]

[0072] Where, J is the jerk of the RGV shuttle; t is time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage;

[0073] The relationship between the acceleration of the RGV shuttle and time is:

[0074]

[0075] Wherein, J is the jerk of the RGV shuttle; a is the acceleration of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage; T3 is the duration of the uniform motion of the RGV shuttle.

[0076] The relationship between the speed of the RGV shuttle and time is:

[0077]

[0078] Where J is the jerk of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage

[0079] As an example, let T = 1s, T3 = 4s, then the total duration of the RGV shuttle movement is 8s. And when t = 2T, the speed reaches v max Substituting T and T3 into equation 3, we can get v max =JT 2 ,Right now

[0080] Therefore, we only need to determine the two variables T and T3 to get the maximum running speed v max The relationship between J and jerk J. J increases with v max changes, so when v max When v increases, the jerk J increases, the RGV shuttle speed changes quickly, and the stability decreases; when v max When it decreases, the jerk rate J decreases, the RGV shuttle speed changes slowly, and the stability is improved. Then, by selecting the appropriate maximum operating speed, the RGV shuttle can run smoothly through the five-segment S-shaped speed curve algorithm, avoiding damage to the motor and brake device caused by the unstable operation of the RGV shuttle, as well as the overturning of the cargo and the offside of the RGV shuttle.

[0081] S5. Control the movement of the RGV shuttle through the speed curve.

[0082] In summary, the method of dynamically adjusting the speed of the RGV shuttle according to the load weight of the present invention first obtains the load weight of the RGV shuttle in real time, then matches the maximum operating speed for the RGV shuttle according to the load weight, and then inputs the maximum operating speed as a parameter into the five-segment S-shaped speed curve algorithm to obtain the speed curve of the RGV shuttle movement.

[0083] Compared with the prior art, the method of dynamically adjusting the speed of the RGV shuttle according to the load weight of the present invention has the following advantages:

[0084] The present invention adopts different maximum operating speeds according to the different load weights of the RGV shuttle. The greater the load weight of the RGV shuttle, the greater the overall weight of the RGV shuttle, the greater the friction between the wheels and the guide rails, the greater the starting torque of the RGV shuttle, the greater the vibration during the movement, and the smaller the maximum operating speed allowed by the RGV shuttle. Therefore, by detecting the load weight each time the operation task is performed and matching the RGV shuttle with a suitable maximum operating speed, the stability of the RGV shuttle operation is improved under the premise of maximizing the operating efficiency of the RGV shuttle.

[0085] The present invention also discloses a device for dynamically adjusting the speed of an RGV shuttle according to the load weight. The speed of the RGV shuttle is adjusted by the above method. The device includes a position detection module, a load detection module, a data processing module, a control module and an execution module.

[0086] The position detection module is connected to the data processing module for detecting the real-time position of the RGV shuttle. The position detection module can use an encoder or a proximity switch. The encoder is set on the wheel of the RGV shuttle, and the real-time position of the RGV shuttle is determined by the movement of the wheel of the RGV shuttle. The proximity switch is set on the body of the RGV shuttle to detect the real-time position of the RGV shuttle. By detecting the real-time position of the RGV shuttle, the data processing module can plan the route of the RGV shuttle according to the target position of the RGV shuttle movement.

[0087] The load module is in communication connection with the data processing module and is used to detect the load weight of the RGV shuttle vehicle.

[0088] Specifically, the load module may include a pressure sensor. The pressure sensor is arranged on the lifting mechanism of the RGV shuttle vehicle, and when the lifting mechanism is loading and unloading goods, the load weight of the RGV shuttle vehicle can be obtained in real time.

[0089] The load module can also be connected to the RGV shuttle for communication, and is used to read the load-inertia ratio of the RGV shuttle, and then calculate the load weight of the RGV shuttle based on the load-inertia ratio. The method of calculating the load weight by the load-inertia ratio has been recorded in the aforementioned method and will not be repeated here.

[0090] The data processing module is in communication with the control module and is used to calculate the maximum operating speed according to the load weight, the motion path of the RGV shuttle according to the real-time position, and the speed curve of the RGV shuttle according to the motion path and the load weight using a five-segment S-shaped speed curve algorithm. The data processing module can be set up separately or integrated in the control system of the RGV shuttle.

[0091] The control module is in communication with the execution module and is used to control the execution module according to the speed curve, thereby controlling the movement of the RGV shuttle.

[0092] The communication connection between the above components can be serial communication and / or Ethernet communication, and can be wired communication or wireless communication.

[0093] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for dynamically adjusting the speed of an RGV shuttle vehicle according to the load weight, characterized in that: The method comprises the following steps: S1. Obtain the load weight of the RGV shuttle vehicle; S2. Assigning a maximum operating speed to the RGV shuttle based on the load weight; S3. Based on the maximum operating speed, a speed curve of the RGV shuttle is calculated using a five-segment S-shaped speed curve algorithm; The speed curve includes an acceleration phase, a deceleration phase, a constant speed phase, an acceleration / deceleration phase, and a deceleration / deceleration phase; wherein, The acceleration phase is an acceleration phase in which the magnitude of acceleration gradually increases; The deceleration phase is an acceleration phase in which the acceleration gradually decreases; The uniform speed stage is a stage of uniform motion; The acceleration and deceleration stage is a deceleration stage in which the acceleration gradually increases; The deceleration stage is a deceleration stage in which the acceleration gradually decreases; S4. Control the movement of the RGV shuttle vehicle through the speed curve.

2. The method according to claim 1, characterized in that The step S1 comprises: S101, obtaining the load inertia ratio of the RGV shuttle vehicle; S102, calculating the load weight by the following formula: Wherein, dC is the load inertia ratio; M is the load weight; m is the deadweight of the RGV shuttle; r is the wheel radius of the RGV shuttle; i is the reduction ratio of the RGV shuttle reducer; J d The moment of inertia of the RGV shuttle reducer; J m is the rotational inertia of the RGV shuttle motor.

3. The method according to claim 1, characterized in that In the step S3, Dividing the load weight into a plurality of weight intervals; each of the weight intervals corresponds to a different maximum operating speed; Based on the weight interval in which the load weight lies, the corresponding maximum operating speed is assigned to the RGV shuttle.

4. The method according to claim 3, characterized in that There are five weight intervals, which are: 0kg~400kg, 400kg~800kg, 800kg~1200kg, 1200kg~1600kg, 1600kg~2000kg; the weight ranges mentioned above include the lower limit but exclude the upper limit; The maximum operating speeds corresponding to the five weight intervals are: 800mm / s, 700mm / s, 650mm / s, 600mm / s, 500mm / s.

5. The method according to claim 1, characterized in that In the step S4, The relationship between the jerk and time of the RGV shuttle is: Wherein, J is the jerk of the RGV shuttle; t is time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage; The relationship between the acceleration of the RGV shuttle and time is: Wherein, J is the jerk of the RGV shuttle; a is the acceleration of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration stage; t1~t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage; T3 is the duration of the uniform speed movement of the RGV shuttle; The relationship between the speed and time of the RGV shuttle is: Wherein, J is the jerk of the RGV shuttle; T is the time interval; t is the time, 0 to t1 is the acceleration stage; t1 to t2 is the deceleration stage; t2~t3 is the uniform speed stage; t3~t4 is the acceleration and deceleration stage; t4~t5 is the deceleration and deceleration stage.

6. A device for dynamically adjusting the speed of an RGV shuttle according to the load weight, wherein the speed of the RGV shuttle is adjusted by the method according to any one of claims 1 to 5, characterized in that: The device includes a position detection module, a load detection module, a data processing module, a control module and an execution module; wherein, The position detection module is in communication with the data processing module and is used to detect the real-time position of the RGV shuttle vehicle; The load module is in communication with the data processing module and is used to detect the load weight of the RGV shuttle vehicle; The data processing module is in communication with the control module, and is used to obtain the maximum operating speed according to the load weight, calculate the motion path of the RGV shuttle according to the real-time position, and calculate the speed curve of the RGV shuttle according to the motion path and the load weight using the five-segment S-shaped speed curve algorithm; The control module is in communication with the execution module and is used to control the execution module according to the speed curve, thereby controlling the movement of the RGV shuttle.

7. The device according to claim 6, characterized in that The load detection module includes a pressure sensor; the pressure sensor is arranged on the lifting mechanism of the RGV shuttle vehicle, and is used to obtain the load weight of the RGV shuttle vehicle in real time.

8. The device according to claim 6, characterized in that The load detection module is in communication with the RGV shuttle vehicle and is used to read the load-inertia ratio of the RGV shuttle vehicle so as to calculate the load weight of the RGV shuttle vehicle according to the load-inertia ratio.

9. The device according to claim 6, characterized in that The position detection module includes an encoder or a proximity switch; The encoder is arranged on the wheel of the RGV shuttle, and the real-time position of the RGV shuttle is determined by the movement of the wheel of the RGV shuttle; The proximity switch is arranged on the body of the RGV shuttle vehicle and is used to detect the real-time position of the RGV shuttle vehicle.

10. The device according to claim 6, characterized in that The communication connection includes serial communication and / or Ethernet communication.

Images