A method, system and automatic guided transport vehicle for eliminating motion deviation

Abstract

The present invention discloses a method, system and automatic guided transport vehicle for eliminating motion deviation, and relates to the field of computer technology. A specific implementation of the method includes: determining the current remaining motion amount of a motion device when a limit signal is received; the limit signal is identified based on a limit component set on the motion device; judging whether the current remaining motion amount is less than a preset judgment threshold; if not, generating a first motion instruction according to the current remaining motion amount, so that the motion device continues to move according to the first motion instruction; if less than, changing the current remaining motion amount to a deviation correction motion amount, generating a second motion instruction according to the changed current remaining motion amount, so that the motion device stops at a target position according to the second motion instruction; the deviation correction motion amount is the minimum distance between the limit component and the target position. The method can detect whether there is motion deviation in real time according to the setting of the limit component, and effectively eliminate the motion deviation.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method and system for eliminating motion deviation and an automatic guided transport vehicle. Background Art

[0002] When a motion device performs linear or rotational motion, it will produce some small errors. Multiple errors will accumulate and form motion deviations. For example, the entire mechanical structure of the automatic guided vehicle AGV is divided into a chassis structure and a pallet structure. Generally, the chassis structure uses two servo motors to drive the differential gear system, and the pallet structure uses a servo motor. In the process of transporting the shelf, the chassis structure and the pallet structure will have synchronous rotation and the pallet structure will have a separate rotation. Since there is no relative positioning method between the chassis structure and the pallet structure, multiple rotations will cause position deviations between the chassis structure and the pallet structure.

[0003] Among them, the synchronous rotation action refers to the chassis structure and the tray structure moving at the same speed and in opposite directions, and the result of this action is that the tray structure is stationary relative to the ground. For the separate rotation action of the tray structure, it means that the tray structure rotates under the drive of its servo motor, and the chassis structure has no motion operation. For the above-mentioned motion operation, there is the possibility of error, and the positioning method is different, and the possibility of motion deviation is greater. For each rotation of the chassis structure, the chassis structure will rotate according to the QR code sensor, and the tray structure will rotate according to the encoder, and there will be some accumulation of errors. For example, if the synchronous rotation is 90 degrees, for the tray structure, it actually rotates 90.1 degrees, then a motion deviation of 0.1 degrees is generated between the chassis structure and the tray structure.

[0004] The existing method for eliminating motion deviation generally requires manual regular adjustment, which not only has the problem of low operating efficiency, but also may lead to motion errors if the motion deviation is not eliminated in time. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method, system and automatic guided transport vehicle for eliminating motion deviation, which can detect in real time whether there is motion deviation according to the setting of the limit component and effectively eliminate the motion deviation.

[0006] To achieve the above objective, according to one aspect of an embodiment of the present invention, a method for eliminating motion deviation is provided.

[0007] The method for eliminating motion deviation in an embodiment of the present invention includes: determining the current remaining motion of the motion device when a limit signal is received; wherein the limit signal is identified based on a limit component arranged on the motion device; judging whether the current remaining motion is less than a preset judgment threshold; if not, generating a first motion instruction according to the current remaining motion, so that the motion device continues to move according to the first motion instruction; if less than, changing the current remaining motion to a correction motion, and generating a second motion instruction according to the changed current remaining motion, so that the motion device stops at the target position according to the second motion instruction; wherein the correction motion is the minimum distance between the limit component and the target position.

[0008] Optionally, the limiting component on the motion device is a limiting hole, and a limiting signal is generated by a proximity switch and the limiting hole.

[0009] Optionally, in the case of receiving the limit signal, before determining the current remaining motion amount of the motion device, the method further includes:

[0010] According to the received limit signal, the position point of each limit hole is recorded;

[0011] Determine the distance between adjacent limiting holes according to the recorded position points;

[0012] The distance is confirmed to be correct according to the information data of the motion device, and the initial position of the proximity switch is determined according to the motion strategy of the motion device and a third motion instruction is generated, so that the motion device moves according to the third motion instruction.

[0013] Optionally, the motion device is a pallet or chassis of an automatic guided transport vehicle, and the current remaining motion amount is a current remaining rotation angle.

[0014] To achieve the above objective, according to another aspect of an embodiment of the present invention, a system for eliminating motion deviation is provided.

[0015] The system for eliminating motion deviation according to an embodiment of the present invention comprises:

[0016] A remaining motion amount determination module, used to determine the current remaining motion amount of the motion device when receiving a limit signal; wherein the limit signal is identified based on a limit component provided on the motion device;

[0017] A judgment module, used to judge whether the current remaining exercise amount is less than a preset judgment threshold;

[0018] An instruction generation module is used to generate a first motion instruction according to the current remaining motion amount when the judgment module judges that the current remaining motion amount is not less than a preset judgment threshold, so that the motion device continues to move according to the first motion instruction; and when the judgment module judges that the current remaining motion amount is less than the preset judgment threshold, change the current remaining motion amount to a correction motion amount, and generate a second motion instruction according to the changed current remaining motion amount, so that the motion device stops at the target position according to the second motion instruction; wherein the correction motion amount is the minimum distance between the limit component and the target position.

[0019] Optionally, the limiting component on the motion device is a limiting hole, and a limiting signal is generated by a proximity switch and the limiting hole.

[0020] Optionally, the instruction generation module is also used to record the position point of each limit hole according to the received limit signal; determine the distance between adjacent limit holes according to the recorded position point; confirm that the distance is correct according to the information data of the motion device, and generate a third motion instruction after determining the initial position of the proximity switch according to the motion strategy of the motion device, so that the motion device moves according to the third motion instruction.

[0021] Optionally, the motion device is a pallet or chassis of an automatic guided transport vehicle, and the current remaining motion amount is a current remaining rotation angle.

[0022] To achieve the above objective, according to another aspect of an embodiment of the present invention, an automatic guided vehicle for eliminating motion deviation is provided.

[0023] The automatic guided transport vehicle for eliminating motion deviation according to an embodiment of the present invention comprises a pallet structure and a chassis structure, wherein the pallet structure is provided with at least two limit holes, wherein the at least two limit holes are located on a concentric circle, and the center of the concentric circle coincides with the center of the pallet structure; a proximity switch is fixed on the chassis structure, wherein the proximity switch is used to detect the position of the limit holes, and the initial position of the proximity switch is located directly below the middle position of adjacent limit holes on the concentric circle.

[0024] To achieve the above objective, according to another aspect of an embodiment of the present invention, an electronic device is provided.

[0025] The electronic device of an embodiment of the present invention includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement any of the above-mentioned methods for eliminating motion deviations.

[0026] To achieve the above object, according to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, any of the above methods for eliminating motion deviation is implemented.

[0027] One embodiment of the above invention has the following advantages or beneficial effects: each time a limit signal is received, the current remaining motion of the moving device is determined. Since the position of the limit component is determined according to the motion strategy of the moving device, and the limit signal is identified based on the limit component set on the moving device, it can be known whether the moving device needs to be forced to stop based on the remaining motion. Because the correction motion is the minimum distance between the limit component and the target position, if forced stopping is required, the current remaining motion is changed to the correction motion, and the moving device can stop accurately at the target position after moving the correction motion. Not only can the motion deviation generated during the movement be eliminated, but it is also easy to implement.

[0028] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific implementation examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention.

[0030] Figure 1 is a schematic diagram of the main process of a method for eliminating motion deviation according to an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of a method for initializing the position of a motion device according to an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of a partial structure of an automatic guided transport vehicle for eliminating motion deviation according to an embodiment of the present invention;

[0033] Figure 4 is a schematic top view of a tray structure provided with eight limiting holes according to an embodiment of the present invention;

[0034] Figure 5 is a schematic diagram of a limit switch initialization process of an automatic guided transport vehicle for eliminating motion deviation according to an embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of a process of eliminating motion deviation of an automatic guided transport vehicle according to an embodiment of the present invention;

[0036] Figure 7 is a schematic diagram of main modules of a system for eliminating motion deviation according to an embodiment of the present invention;

[0037] Figure 8is an exemplary system architecture diagram to which embodiments of the present invention may be applied;

[0038] Fig. 9 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0040] Figure 1 is a schematic diagram of the main process of the method for eliminating motion deviation according to an embodiment of the present invention, such as Figure 1 As shown, the method for eliminating motion deviation in an embodiment of the present invention mainly includes:

[0041] Step S101: upon receiving a limit signal, determining the current remaining motion of the motion device. The limit signal is identified based on a limit component provided on the motion device. The motion position of the motion device can be determined in real time by the position of the limit component provided on the motion device.

[0042] In another embodiment of the present invention, the motion device is a pallet or chassis of an automatic guided transport vehicle, and the current remaining motion amount is the current remaining rotation angle.

[0043] Step S102: Determine whether the current remaining motion is less than a preset judgment threshold. If not, proceed to step S103; if less, proceed to step S104. The limit component on the motion device is a limit hole, and a limit signal is generated by the proximity switch and the limit hole.

[0044] And, the preset judgment threshold can be set according to the motion strategy of the motion device. Through the setting of the position of the limit component and the motion strategy, it is determined that when the current remaining motion is less than the preset judgment threshold, the motion device needs to be forcibly stopped so that the motion device stops at its target position. At this time, it is not necessary to care whether there is a motion error in the motion device. If there is an error, it can also be guaranteed that the motion device stops at the target position accurately. If the current remaining motion is not less than the preset judgment threshold, due to the setting of the position of the limit component, it can be known that the motion device needs to move until it is determined that the current remaining motion is less than the preset judgment threshold when receiving the limit signal.

[0045] Step S103: Generate a first motion instruction according to the current remaining motion amount, so that the motion device continues to move according to the first motion instruction.

[0046] Step S104: the current remaining motion is changed to the deviation correction motion, and a second motion instruction is generated according to the changed current remaining motion, so that the motion device stops at the target position according to the second motion instruction. The deviation correction motion is the minimum distance between the limit assembly and the target position. Receiving the limit signal and judging the current remaining motion are both for determining whether the motion device is about to reach the target position. If it is determined that the motion device is about to reach the target position, the motion device only needs to move the deviation correction motion and then can accurately stay at the target position.

[0047] Each time a limit signal is received, the current remaining motion of the moving device must be determined. Since the position of the limit component is determined according to the motion strategy of the moving device, it is possible to determine whether the moving device needs to be forced to stop based on the remaining motion. By using this forced stop method, the motion deviation generated during the movement process can be eliminated. For example, the rotation strategies of the pallet structure of the moving device AGV include: turn left 90 degrees, turn left 180 degrees, turn left 270 degrees, turn left 360 degrees, turn right 90 degrees, turn right 180 degrees, turn right 270 degrees, and turn right 360 degrees. Assume that the AGV is equipped with 8 limit assemblies (located on a concentric circle, the center of the concentric circle coincides with the center of the pallet structure). If the coordinate system is defined on the plane where the pallet structure is located, the angles between the 8 limit assemblies and the positive direction of the X-axis are 5 degrees, 85 degrees, 95 degrees, 175 degrees, 185 degrees, 265 degrees, 275 degrees, and 355 degrees, respectively, that is, the minimum angle between the 8 limit assemblies and the X and Y axes of the coordinate system is 5 degrees (this angle can be adjusted during mechanical design). The initial position of the proximity switch is located between the two closest limit assemblies, and the initial position of the proximity switch is located directly below the middle position of the adjacent limit holes on the concentric circles.

[0048] For the above example, if the pallet structure needs to rotate 90 degrees, the limit signal should be received twice through the limit device during the rotation process (if not, it means that there is a problem with the limit signal recognition or the rotation operation is wrong). When the proximity switch detects the limit point for the first time and generates a limit signal, it means that the pallet structure has rotated 5 degrees. When the limit point is detected for the second time and the limit signal is generated, the remaining rotation angle is normally 5 degrees (correction movement amount). However, due to errors in the intermediate movement, it is judged that the current remaining rotation angle is 5.3 degrees when the limit signal is received for the second time. If it rotates according to the 5.3 degrees, it will cause rotation deviation. According to the historical error of the motion device, the preset judgment threshold is set to 6 degrees (the maximum rotation error of the motion device is 1 degree). If the current remaining rotation angle of 5.3 degrees is less than the judgment threshold of 6 degrees, the current remaining rotation angle is directly changed to 5 degrees (correction movement amount), so the motion device can accurately stop at the target position, thereby eliminating the rotation deviation.

[0049] To ensure accurate implementation of the method for eliminating motion deviation in an embodiment of the present invention, the motion device generally needs to be initialized before normal use so that the motion device can accurately stop at the initial position, and then the target position of the motion device is determined based on the initial position and the amount of motion to be moved. Figure 2 is a schematic diagram of a method for initializing the position of a motion device according to an embodiment of the present invention. Figure 2 As shown, the method for initializing the position of a motion device according to an embodiment of the present invention includes:

[0050] Step S201: Record the position point of each limit hole according to the received limit signal.

[0051] Step S202: Determine the distance between adjacent limit holes according to the recorded position points. Through steps S201 and S202, it can be determined whether each limit hole can be detected, thereby ensuring that the remaining movement amount determined after receiving the limit signal is accurate.

[0052] Step S203: confirm that the distance is correct according to the information data of the motion device (whether each limit hole can be detected normally), and determine the initial position of the proximity switch according to the motion strategy of the motion device and generate a third motion instruction, so that the motion device moves according to the third motion instruction. The motion device moves according to the third motion instruction so that the proximity switch can stay at its accurate initial position.

[0053] Among them, the proximity switch is a position switch that can be operated without direct mechanical contact with the moving parts. When the object approaches the sensing surface of the switch to the action distance, the switch can be operated without mechanical contact or any pressure, thereby driving a DC appliance or providing a control instruction to a computer (PLC) device. The proximity switch is a switch-type sensor (i.e., a contactless switch). It has the characteristics of a travel switch and a micro switch, and has sensing performance, reliable operation, stable performance, fast frequency response, long application life, strong anti-interference ability, and waterproof, shockproof, corrosion-resistant and other characteristics. In an embodiment of the present invention, the proximity switch can be an inductive proximity switch. The proximity switch is also called a contactless proximity switch and is an ideal electronic switch quantity sensor. When the metal detection body approaches the sensing area of ​​the switch, the switch can quickly issue electrical instructions without contact, pressure, or sparks, accurately reflecting the position and stroke of the moving mechanism.

[0054] Figure 3 Schematic diagram of a partial structure of an automatic guided transport vehicle for eliminating motion deviation according to an embodiment of the present invention.

[0055] The automatic guided transport vehicle for eliminating motion deviation according to the embodiment of the present invention comprises a tray structure 1 and a chassis structure, such as Figure 3 As shown, at least two limit holes 2 are provided on the pallet structure 1, and the at least two limit holes are located on a concentric circle, and the center of the concentric circle coincides with the center of the pallet structure. A proximity switch 3 is fixed on the chassis structure, and the proximity switch 3 is used to detect the position of the limit hole 2, and the initial position of the proximity switch 3 is located directly below the middle position of the adjacent limit holes 2 on the concentric circle. In the embodiment of the present invention, the proximity switch 3 is set on the column 4 of the chassis structure, in order to fully reflect the structure of the automatic guided transport vehicle for eliminating motion deviation, Figure 3 It is a schematic diagram of the partial structure of the automatic guided transport vehicle, which shows the limit holes 2 arranged on the pallet structure 1 and the proximity switches 3 arranged on the chassis structure.

[0056] The initial position of the proximity switch 3 is set directly below the middle position of the adjacent limit holes 2 on the concentric circle in order to better judge whether the pallet structure needs to be forced to stop when the limit signal is recognized by the proximity switch and the limit hole. If the initial position of the proximity switch 3 is not directly below the middle position of the adjacent limit holes 2 on the concentric circle, it is difficult to summarize the rules and algorithms for judging whether to force stop, which is not convenient for implementation and application.

[0057] Each time a limit signal is received, the current remaining rotation angle of the pallet structure is determined. Since the position of the limit hole is determined according to the motion strategy of the pallet structure, and the limit signal is identified based on the limit hole set on the pallet structure, it can be known whether the pallet structure needs to be forced to stop based on the remaining rotation angle. Because the deviation correction rotation angle is the minimum distance between the limit hole and the target position, if forced stopping is required, the current remaining rotation angle is changed to the deviation correction rotation angle, and the pallet structure can stop accurately at the target position after rotating by the deviation correction rotation angle. Not only can the motion deviation generated during the rotation process be eliminated, but it is also easy to implement.

[0058] Figure 4 FIG. 1 is a top view of a tray structure provided with 8 limiting holes according to an embodiment of the present invention. Figure 4 As shown, the tray structure 40 of the embodiment of the present invention is provided with 8 limiting holes, which are respectively limiting hole 41, limiting hole 42, limiting hole 43, limiting hole 44, limiting hole 45, limiting hole 46, limiting hole 47, and limiting hole 48. The limiting holes 41, limiting holes 42, limiting holes 43, limiting holes 44, limiting holes 45, limiting holes 46, limiting holes 47, and limiting holes 48 are located on a concentric circle, that is, the distances to the center of the tray structure 40 are equal, wherein the tray structure can perform rotational motion based on its center. If a coordinate system is defined on the plane where the tray structure is located, the minimum degrees of the angles between the 8 limiting components and the X and Y axes of the coordinate system are equal. And, the initial position of the proximity switch arranged on the chassis structure is located directly below the middle position of the upper limit hole 42 and the limiting hole 43 (or the limiting hole 44 and the limiting hole 45, etc.) of the concentric circle.

[0059] If the rotation strategy of the pallet structure of the motion device AGV includes: turn left 90 degrees, turn left 180 degrees, turn left 270 degrees, turn left 360 degrees, turn right 90 degrees, turn right 180 degrees, turn right 270 degrees, turn right 360 degrees. No matter how the pallet structure rotates, the proximity switch can only stay directly below the middle position of the limit hole 42 and the limit hole 43, or directly below the middle position of the limit hole 44 and the limit hole 45, or directly below the middle position of the limit hole 46 and the limit hole 47, or directly below the middle position of the limit hole 48 and the limit hole 41. Among them, the angle between the limit hole 42 and the limit hole 43 (correction movement amount), and the angle between the limit hole 43 and the limit hole 44 can be set according to the actual error of the device. The structure is simple and can effectively eliminate the motion deviation caused by the rotation movement of the pallet structure.

[0060] In actual operation (relative rotational movement between the pallet and the chassis), if the existing rotation strategy is that the angle of rotation of the pallet or chassis is an integer multiple of 90 degrees, then when the rotation stops, the proximity switch should stay in the middle of two adjacent limit holes, which can ensure that there is no position deviation between the chassis and the pallet. Before the rotation, the proximity switch installed on the chassis is located in the middle of two adjacent limit holes. When the limit signal is received for the first time, the remaining angle should be 85 degrees, 175 degrees or 265 degrees, etc. At this time, no limit planning is required, and normal rotation is sufficient. When the limit signal is received for the second time, it is determined whether the current remaining rotation angle is close to 5 degrees (achieved by presetting the judgment threshold). If so, it means that it should stop at the position after rotating 5 degrees and change the remaining rotation angle to 5 degrees; otherwise, it continues to rotate normally, and when the limit signal is received again, it is still determined whether the current remaining rotation angle is close to 5 degrees.

[0061] Figure 5 is a schematic diagram of a limit switch initialization process of an automatic guided transport vehicle for eliminating motion deviation according to an embodiment of the present invention; Figure 6 Schematic diagram of a process of eliminating motion deviation of an automatic guided transport vehicle according to an embodiment of the present invention.

[0062] The AGV chassis structure rotates based on the downward QR code information, and the pallet structure rotates based on the encoder sensor. When the chassis structure rotates, the wheels slide on the ground, so the encoder is not accurate. Another reason for the output error is that both the chassis and the pallet will produce errors when they are moving. For example, when the motor stops moving at 0.4 degrees, it may only move 0.3 degrees when it is completely still.

[0063] Generally, in the actual use of AGV, whether it is synchronous rotation or pallet rotation, the actions decomposed into the pallet structure include: turn left 90 degrees, turn left 180 degrees, turn left 270 degrees, turn left 360 degrees, turn right 90 degrees, turn right 180 degrees, turn right 270 degrees, and turn right 360 degrees. For the above situation, 8 limit components are set on the AGV (located on a concentric circle, and the center of the concentric circle coincides with the center of the pallet structure). If the coordinate system is defined on the plane where the pallet structure is located, the angles between the 8 limit components and the positive direction of the X-axis are 5 degrees, 85 degrees, 95 degrees, 175 degrees, 185 degrees, 265 degrees, 275 degrees, and 355 degrees, respectively. That is, the minimum degree of the angle between the 8 limit components and the X and Y axes of the coordinate system is 5 degrees. For the above example, Figure 5 and Figure 6 Further fully explained.

[0064] like Figure 5 As shown, the limit switch initialization process of the automatic guided transport vehicle for eliminating motion deviation in the embodiment of the present invention includes:

[0065] Step S501: Confirm that the limit signal is detected. If the limit signal is not detected, it means that the device for detecting the signal is faulty, and an error may be reported. Alternatively, if the low-speed rotating tray structure has rotated to an angle greater than the maximum angle between the limit holes, but the limit signal is not detected, an error may be reported, i.e., an error mark ERROR is recorded.

[0066] Step S502: Update the initial point S0, and record the angle that has been rotated at this time as Sp = 0. This process is to mark the position where the limit signal is currently detected as the initial point S0, regardless of whether the limit signal has been detected before, and the subsequent confirmation of the angle that has been rotated is from this moment, so when updating the initial point S0, it is necessary to update the angle Sp that has been rotated at this time to 0.

[0067] Step S503: When the limit signal is detected again, the angle rotated relative to the initial point S0 is determined. After the initial point S0 is updated, when the limit signal is detected again, the angle rotated from the time when the initial point S0 is updated to the current time is determined. If the angle rotated relative to the initial point S0 is greater than 80 degrees (the maximum angle between the two limit holes is 80 degrees), it means that the middle limit hole is not recognized, and the error mark ERROR is recorded at this time.

[0068] Step S504: Determine whether the angle rotated relative to the initial point S0 is greater than 60 degrees. If so, execute step S505; otherwise, execute step S502. If the angle rotated relative to the initial point S0 is greater than 60 degrees (this value can be set according to the actual application scenario, such as 40 degrees, 34 degrees, etc.), it means that the angle between the limit holes where the limit signal is continuously detected is not 10 degrees (if it is 10 degrees, the maximum angle rotated within the time period when the limit signal is continuously detected is 10 degrees), then the motion device can be forced to stop, and the proximity switch stops between the two 10-degree positioning holes.

[0069] Step S505: the remaining rotation angle is changed to 5 degrees, and the tray structure is forcibly stopped based on the changed remaining rotation angle.

[0070] like Figure 6 As shown, the process of eliminating motion deviation of the automatic guided transport vehicle in the embodiment of the present invention mainly includes:

[0071] Step S601: receiving an operation instruction for executing rotation. After receiving the operation instruction for executing rotation, the tray structure starts to rotate.

[0072] Step S602: Perform real-time speed planning based on the current remaining rotation angle. The method of performing speed planning based on the current remaining rotation angle can be implemented according to the solution of planning rotation speed in the prior art. If it is a constant speed rotation, there is no need to adjust the rotation speed.

[0073] Step S603: When a limit signal is detected, determine whether the remaining rotation angle is less than 45 degrees. If it is, execute step S604; otherwise, execute step S602. For example, if a 90-degree rotation is required, two points will be detected during the rotation process. When the first point is detected, the remaining rotation angle is 85 degrees. If 85 degrees is greater than 45 degrees, speed planning will continue. When the second point is detected, the remaining rotation angle will be close to 5 degrees, which is generally less than 45 degrees (it can also be set to 30 degrees, etc.), and correction is now ready. The purpose of this judgment process is to determine whether the point where the limit signal is currently detected is the point where the rotation is ready to stop.

[0074] Step S604: Change the remaining rotation angle to 5 degrees. In the embodiment of the present invention, the deviation correction movement amount is 5 degrees. Because the target position is located between the two closest limiting holes, the minimum angle between the target position and the limiting holes is 5 degrees.

[0075] Step S605: Execute the parking control logic. After the remaining rotation angle is changed to 5 degrees, a stop instruction is generated according to the changed remaining rotation angle, and the motion device can be stopped at the target position through the stop instruction.

[0076] Figure 7 Schematic diagram of main modules of a system for eliminating motion deviation according to an embodiment of the present invention. Figure 7 As shown, the system 700 for eliminating motion deviation according to the embodiment of the present invention includes a remaining motion amount determination module 701 , a judgment module 702 and an instruction generation module 703 .

[0077] The remaining motion determination module 701 is used to determine the current remaining motion of the motion device when a limit signal is received; wherein the limit signal is identified based on a limit component set on the motion device. The limit component on the motion device is a limit hole, and the limit signal is generated by a proximity switch and the limit hole. The motion device is a tray or chassis of an automatic guided transport vehicle, and the current remaining motion is the current remaining rotation angle.

[0078] The judgment module 702 is used to judge whether the current remaining exercise amount is less than a preset judgment threshold.

[0079] The instruction generation module 703 is used to generate a first motion instruction according to the current remaining motion amount when the judgment module judges that the current remaining motion amount is not less than the preset judgment threshold, so that the motion device continues to move according to the first motion instruction; and, when the judgment module judges that the current remaining motion amount is less than the preset judgment threshold, the current remaining motion amount is changed to the deviation correction motion amount, and a second motion instruction is generated according to the changed current remaining motion amount, so that the motion device stops at the target position according to the second motion instruction. The deviation correction motion amount is the minimum distance between the limit assembly and the target position. The instruction generation module is also used to record the position point of each limit hole according to the received limit signal; determine the distance between adjacent limit holes according to the recorded position points; confirm that the distance is correct according to the information data of the motion device, and generate a third motion instruction after determining the initial position of the proximity switch according to the motion strategy of the motion device, so that the motion device moves according to the third motion instruction.

[0080] For the embodiment of the present invention, each time a limit signal is received, the current remaining motion of the motion device is determined. Since the position of the limit component is determined according to the motion strategy of the motion device, and the limit signal is identified based on the limit component set on the motion device, it can be known whether the motion device needs to be forced to stop based on the remaining motion. Because the correction motion is the minimum distance between the limit component and the target position, if forced stopping is required, the current remaining motion is changed to the correction motion, and the motion device can stop accurately at the target position after moving the correction motion. Not only can the motion deviation generated during the movement be eliminated, but it is also easy to implement.

[0081] Figure 8 An exemplary system architecture 800 is shown to which the method for eliminating motion deviation or the system for eliminating motion deviation according to the embodiment of the present invention can be applied.

[0082] like Figure 8 As shown, system architecture 800 may include terminal devices 801, 802, 803, a network 804, and a server 805. Network 804 is used to provide a medium for communication links between terminal devices 801, 802, 803 and server 805. Network 804 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0083] Users can use terminal devices 801, 802, and 803 to interact with server 805 through network 804 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 801, 802, and 803, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc. (only examples).

[0084] The terminal devices 801 , 802 , and 803 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, desktop computers, and the like.

[0085] The server 805 may be a server that provides various services, such as a backend management server (only an example) that provides support for shopping websites browsed by users using the terminal devices 801, 802, and 803. The backend management server may analyze and process the received data such as product information query requests, and feed back the processing results to the terminal device.

[0086] It should be noted that the method for eliminating motion deviation provided in the embodiment of the present invention is generally executed by the server 805 , and accordingly, the system for eliminating motion deviation is generally disposed in the server 805 .

[0087] It should be understood that Figure 8 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0088] Reference below Fig. 9 , which shows a schematic diagram of the structure of a computer system 900 of a terminal device suitable for implementing an embodiment of the present invention. Fig. 9 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0089] like Fig. 9 As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage part 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the system 900 are also stored. The CPU 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0090] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed, so that a computer program read therefrom is installed into the storage section 908 as needed.

[0091] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 909, and / or installed from the removable medium 911. When the computer program is executed by the central processing unit (CPU) 901, the above-mentioned functions defined in the system of the present invention are executed.

[0092] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0093] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0094] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be set in a processor, for example, it may be described as: a processor includes a module for obtaining a remaining motion determination module, a judgment module, and an instruction generation module. The names of these modules do not constitute a limitation on the modules themselves in certain cases. For example, the remaining motion determination module may also be described as "a module for determining the current remaining motion of the motion device when a limit signal is received".

[0095] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: determining the current remaining motion of the motion device when receiving a limit signal; wherein the limit signal is identified based on the limit component set on the motion device; judging whether the current remaining motion is less than a preset judgment threshold; if not less than, generating a first motion instruction according to the current remaining motion, so that the motion device continues to move according to the first motion instruction; if less than, changing the current remaining motion to the deviation correction motion, and generating a second motion instruction according to the changed current remaining motion, so that the motion device stops at the target position according to the second motion instruction; wherein the deviation correction motion is the minimum distance between the limit component and the target position.

[0096] For the embodiment of the present invention, each time a limit signal is received, the current remaining motion of the motion device is determined. Since the position of the limit component is determined according to the motion strategy of the motion device, and the limit signal is identified based on the limit component set on the motion device, it can be known whether the motion device needs to be forced to stop based on the remaining motion. Because the correction motion is the minimum distance between the limit component and the target position, if forced stopping is required, the current remaining motion is changed to the correction motion, and the motion device can stop accurately at the target position after moving the correction motion. Not only can the motion deviation generated during the movement be eliminated, but it is also easy to implement.

[0097] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for eliminating motion deviation, characterized in that: include: In the case of receiving a limit signal, determining the current remaining movement amount of the motion device; wherein the limit signal is identified based on a limit component provided on the motion device; the limit component on the motion device is a limit hole, the motion device comprises a tray structure and a chassis structure, at least two limit holes are provided on the tray structure, and the at least two limit holes are located on a circumference that is equidistant from the center of the tray structure; a proximity switch is fixed on the chassis structure, the proximity switch is used to detect the position of the limit hole, and the initial position of the proximity switch is located directly below the middle position of adjacent limit holes; Determining whether the current remaining exercise amount is less than a preset determination threshold; If it is not less than, a first motion instruction is generated according to the current remaining motion amount, so that the motion device continues to move according to the first motion instruction; if it is less than, the current remaining motion amount is changed to the correction motion amount, and a second motion instruction is generated according to the changed current remaining motion amount, so that the motion device stops at the target position according to the second motion instruction; wherein the correction motion amount is the minimum distance between the limit component and the target position.

2. The method according to claim 1, characterized in that A limit signal is generated through the proximity switch and the limit hole.

3. The method according to claim 2, characterized in that In the case where the limit signal is received, before determining the current remaining motion amount of the motion device, the method further includes: According to the received limit signal, the position point of each limit hole is recorded; Determine the distance between adjacent limiting holes according to the recorded position points; The distance is confirmed to be correct according to the information data of the motion device, and the initial position of the proximity switch is determined according to the motion strategy of the motion device and a third motion instruction is generated, so that the motion device moves according to the third motion instruction.

4. The method according to claim 1, characterized in that: The motion device is a pallet or chassis of an automatic guided transport vehicle, and the current remaining motion amount is a current remaining rotation angle.

5. A system for eliminating motion deviation, characterized in that: include: A remaining motion amount determination module, for determining the current remaining motion amount of the motion device in the case of receiving a limit signal; wherein the limit signal is identified based on a limit component provided on the motion device; the limit component on the motion device is a limit hole, the motion device comprises a tray structure and a chassis structure, at least two limit holes are provided on the tray structure, and the at least two limit holes are located on a circumference that is equidistant from the center of the tray structure; a proximity switch is fixed on the chassis structure, the proximity switch is used to detect the position of the limit hole, and the initial position of the proximity switch is located directly below the middle position of adjacent limit holes; A judgment module, used to judge whether the current remaining exercise amount is less than a preset judgment threshold; an instruction generating module, configured to generate a first motion instruction according to the current remaining motion amount when the judging module judges that the current remaining motion amount is not less than a preset judging threshold value, so that the motion device continues to move according to the first motion instruction; and, when the judging module judges that the current remaining motion amount is less than the preset judging threshold value, change the current remaining motion amount to a deviation correction motion amount, and generate a second motion instruction according to the changed current remaining motion amount, so that the motion device stops at a target position according to the second motion instruction; The deviation-correcting movement amount is the minimum distance between the limit assembly and the target position.

6. The system according to claim 5, characterized in that A limit signal is generated through the proximity switch and the limit hole.

7. The system according to claim 6, characterized in that The instruction generation module is also used to record the position point of each limit hole according to the received limit signal; determine the distance between adjacent limit holes according to the recorded position point; confirm that the distance is correct according to the information data of the motion device, and generate a third motion instruction after determining the initial position of the proximity switch according to the motion strategy of the motion device, so that the motion device moves according to the third motion instruction.

8. The system according to claim 5, characterized in that The motion device is a pallet or chassis of an automatic guided transport vehicle, and the current remaining motion amount is a current remaining rotation angle.

9. An automatic guided transport vehicle for eliminating motion deviation, comprising a tray structure and a chassis structure, characterized in that: At least two limiting holes are provided on the tray structure, and the at least two limiting holes are located on a concentric circle, and the center of the concentric circle coincides with the center of the tray structure; A proximity switch is fixed on the chassis structure, and the proximity switch is used to detect the position of the limit hole, and the initial position of the proximity switch is located directly below the middle position of the adjacent limit holes on the concentric circle.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 4.

11. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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