An RGV rail flatcar full-automatic operation method and system, a terminal and a storage medium

Abstract

The application relates to an RGV track flatcar full-automatic operation method, system, terminal and storage medium, and belongs to the automatic control field; wherein the RGV track flatcar full-automatic operation method comprises the following steps: acquiring working information of a to-be-transported flatcar; the working information comprises a starting point, an end point and goods information of a transportation work of the to-be-transported flatcar; determining regional information according to the working information; the regional information refers to regions where the starting point and the end point are located respectively; obtaining a preset transportation path of the to-be-transported flatcar according to the regional information and a path making rule; and obtaining a real-time transportation path according to warehouse flatcar mobilization information and the preset transportation path. The application has the effect of improving the working efficiency of the flatcar.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic control, and in particular to an RGV track flatcar full-automatic operation method, system, terminal and storage medium. BACKGROUND

[0002] RGV is a track guided vehicle, also known as a track shuttle car; it can be used in warehouses of various high-density storage modes, and the car channel can be designed to be arbitrarily long to improve the storage capacity of the entire warehouse; RGV track flatcars are mostly used for loading and unloading, and are basically manually controlled or linear track point-to-point displacement transportation, which has certain requirements for operators; however, in actual operation, multiple RGV track flatcars may run simultaneously in the warehouse, which requires manual design of the flatcar transportation process and time estimation, affecting work efficiency. SUMMARY

[0003] The present application provides an RGV track flatcar full-automatic operation method, system, terminal and storage medium, which has the characteristics of improving work efficiency.

[0004] The present application aims to provide an RGV track flatcar full-automatic operation method.

[0005] The above application of the present application is achieved by the following technical scheme:

[0006] An RGV track flatcar full-automatic operation method, comprising:

[0007] Obtaining work information of a flatcar to be transported; the work information includes a starting point, an end point and cargo information of a transportation work of the flatcar to be transported;

[0008] Determining area information according to the work information; the area information indicates areas where the starting point and the end point are located, respectively;

[0009] Obtaining a preset transportation path of the flatcar to be transported according to the area information and a path making rule;

[0010] Obtaining a real-time transportation path according to warehouse flatcar mobilization information and the preset transportation path.

[0011] In a preferred example, the present application can be further configured to obtain the preset transportation path of the flatcar to be transported according to the area information and the path making rule, comprising:

[0012] Retrieving a starting point area and an end point area according to the area information;

[0013] Obtaining a first preset path according to the starting point area, the end point area and the path making rule;

[0014] determining first region information through which the first preset path passes according to the first preset path;

[0015] obtaining first obstacle information and first region flatcar running information according to the first region information; the first region flatcar running information comprises running time and running track;

[0016] obtaining the preset transportation path of the flatcar to be transported according to the first preset path, the first obstacle information and the first region flatcar running information.

[0017] In a preferred example, the application can be further configured to: the first preset path is obtained according to the starting point region, the terminal point region and the path making rule, which comprises:

[0018] a straight line path between the starting point and the terminal point is obtained according to the path making rule, the starting point and the terminal point of the transportation work of the flatcar to be transported;

[0019] a starting path segment of the straight line path located in the starting point region is determined according to the starting point region and the straight line path;

[0020] a first sub-path is obtained by adjusting the starting path segment according to the starting point region;

[0021] a terminal path segment of the straight line path located in the terminal point region is determined according to the terminal point region and the straight line path;

[0022] a second sub-path is obtained by adjusting the terminal path segment according to the terminal point region;

[0023] the first preset path is obtained according to the first sub-path, the second sub-path and the straight line path.

[0024] In a preferred example, the application can be further configured to: the preset transportation path of the flatcar to be transported is obtained according to the first preset path, the first obstacle information and the first region flatcar running information, which comprises:

[0025] first path adjustment information is obtained according to the first obstacle information and the first preset path;

[0026] second path adjustment information is obtained according to the first region flatcar running information and the first preset path;

[0027] the preset transportation path of the flatcar to be transported is obtained by adjusting the first preset path according to the first path adjustment information and the second path adjustment information.

[0028] In a preferred example, the application can be further configured to: the first path adjustment information is obtained according to the first obstacle information and the first preset path, which comprises:

[0029] obtain structure information of the flat car to be transported;

[0030] obtain relative position information of the flat car to be transported and the obstacle according to the first obstacle information and the first preset path;

[0031] obtain first path adjustment information according to the relative position information, the structure information and the first obstacle information.

[0032] In a preferred example, the application can be further configured to obtain the second path adjustment information according to the first regional flat car operation information and the first preset path, comprising:

[0033] obtain conflict information according to the first regional flat car operation information and the first preset path;

[0034] obtain the second path adjustment information according to the conflict information and the first preset path.

[0035] In a preferred example, the application can be further configured to obtain the real-time transportation path according to the warehouse flat car mobilization information and the preset transportation path, comprising:

[0036] obtain adjustment information according to the warehouse flat car mobilization information;

[0037] obtain the real-time transportation path according to the preset transportation path and the adjustment information.

[0038] The second application purpose is to provide an RGV track flat car full-automatic operation system.

[0039] The above second application purpose of the application is achieved by the following technical scheme:

[0040] An RGV track flat car full-automatic operation system, comprising:

[0041] An acquisition module is configured to acquire working information of a flat car to be transported; the working information comprises a starting point, an end point and cargo information of a transportation work of the flat car to be transported;

[0042] A determination module is configured to determine regional information according to the working information; the regional information indicates regions where the starting point and the end point are located, respectively;

[0043] A formulation module is configured to obtain a preset transportation path of the flat car to be transported according to the regional information and path formulation rules;

[0044] An adjustment module is configured to obtain a real-time transportation path according to warehouse flat car mobilization information and the preset transportation path.

[0045] The third application purpose is to provide a terminal.

[0046] The third application purpose of the present application is achieved by the following technical solution.

[0047] A terminal comprises a memory and a processor, and the memory stores computer program instructions of the above-mentioned RGV track flat car full-automatic operation method which can be loaded and executed by the processor.

[0048] The fourth application purpose of the present application is to provide a computer medium which can store corresponding programs.

[0049] The fourth application purpose of the present application is achieved by the following technical solution.

[0050] A computer readable storage medium stores computer programs of any of the above-mentioned RGV track flat car full-automatic operation methods which can be loaded and executed by a processor.

[0051] In summary, the present application includes at least one of the following beneficial technical effects:

[0052] By determining the starting point and the ending point of the transportation work in the working information of the flat car, then determining the straight line path between the two points with the shortest straight line, and then analyzing whether the obstacles and the flat car in each region on the straight line path will affect the straight line path, and then adjusting the straight line path according to the analysis information, the preset transportation path of the flat car to be transported is finally obtained; then the preset transportation path is adjusted in real time according to the real-time mobilization information of the warehouse flat car to obtain the real-time transportation path; in this way, the working efficiency of the flat car can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a flowchart of an RGV track flat car full-automatic operation method in the embodiments of the present application.

[0054] Figure 2 is a structural schematic diagram of an RGV track flat car full-automatic operation system in the embodiments of the present application.

[0055] Explanation of reference signs: 1, acquisition module; 2, determination module; 3, formulation module; 4, adjustment module. DETAILED DESCRIPTION

[0056] This specific embodiment is only an explanation of the present application, and is not a limitation of the present application. Those skilled in the art can make non-creative modifications to the present embodiment according to needs after reading the present specification, but as long as the present application is within the scope of the claims, it is protected by the patent law.

[0057] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0058] The embodiments of the present application are further described below with reference to the drawings in the specification.

[0059] The present application provides a full-automatic operation method of an RGV track flatcar, and the main process of the method is described as follows.

[0060] As shown in Figure 1

[0061] Step S101: obtaining working information of a to-be-transported flatcar; the working information includes a starting point, an end point, and cargo information of a transportation working of the to-be-transported flatcar.

[0062] In the embodiments of the present application, the to-be-transported flatcar performs a cargo transportation working in a warehouse, and after receiving the transportation working information sent by the system, the starting point, the end point, and the cargo information of the transportation working can be obtained from the message sent by the system; thus, it is known that the to-be-transported flatcar should start loading cargo from the starting point, then move according to a certain route, and transport the cargo to the end point; thus, the to-be-transported flatcar completes its own transportation working.

[0063] Step S102: determining area information according to the working information; the area information indicates areas where the starting point and the end point are located respectively.

[0064] It can be understood that in step S101, the working information includes the starting point and the end point; in the embodiments of the present application, the transportation space in the warehouse is divided into multiple areas in advance, including different areas such as a parking area, a public track, and a turntable; thus, after the starting point and the end point are known, the area where the starting point is located and the area where the end point is located can be further determined.

[0065] Step S103: obtaining a preset transportation path of the to-be-transported flatcar according to the area information and a path making rule.

[0066] ​Specifically, the starting point region and the ending point region are retrieved according to the region information; the first preset path is obtained according to the starting point region, the ending point region and a path planning rule; the first region information through which the first preset path passes is determined according to the first preset path; the first obstacle information and the first region flat car running information are obtained according to the first region information; the first region flat car running information includes running time and running track; and the preset transportation path of the flat car to be transported is obtained according to the first preset path, the first obstacle information and the first region flat car running information.

[0067] It can be understood that after the starting point region and the ending point region are determined, the first preset path can be obtained according to a path planning rule; the first preset path here is a straight line path constructed according to the principle that the straight line between two points is the shortest; the region information through which the straight line path passes can be known, and then the obstacles in these regions and the running information of the flat car to be transported are determined according to the region information; finally, the preset transportation path is obtained by comprehensively adjusting the straight line path by comprehensively considering the transportation conflicts possibly caused by the obstacles and the flat car to be transported; at this time, the flat car to be transported can execute the transportation work according to the preset transportation path.

[0068] The first preset path is obtained according to the starting point region, the ending point region and a path planning rule, including: a straight line path between the starting point and the ending point is obtained according to the path planning rule, the starting point and the ending point of the transportation work of the flat car to be transported; a starting path segment in which the straight line path is located in the starting point region is determined according to the starting point region and the straight line path; a first sub-path is obtained by adjusting the starting path segment according to the starting point region; an ending path segment in which the straight line path is located in the ending point region is determined according to the ending point region and the straight line path; a second sub-path is obtained by adjusting the ending path segment according to the ending point region; and the first preset path is obtained according to the first sub-path, the second sub-path and the straight line path.

[0069] First, the straight line path is planned, and then two sub-paths in the starting point region and the ending point region in which the straight line path is located are adjusted respectively; by analyzing the starting point region and the ending point region, it is determined that the flat car to be transported can run smoothly on the two sub-paths respectively located in the starting point region and the ending point region, and will not be affected by the obstacles and the flat car in the starting point region and the ending point region.

[0070] The first path adjustment information is obtained according to the first obstacle information and the first preset path, and the second path adjustment information is obtained according to the first regional flat car running information and the first preset path; and the preset transportation path of the flat car to be transported is obtained by adjusting the first preset path according to the first path adjustment information and the second path adjustment information.

[0071] After the first obstacle information is obtained, it can be determined that the obstacle will affect the transportation work of the flat car to be transported, that is, there will be an obstacle on the transportation route of the flat car to be transported, so it is necessary to adjust the path for the first time according to the obstacle; after the first regional flat car running information is obtained, it can be determined that the flat cars in the regions will affect the transportation work of the flat car to be transported; similarly, the path is adjusted for the second time.

[0072] The first path adjustment information is obtained according to the first obstacle information and the first preset path, and the second path adjustment information is obtained according to the first regional flat car running information and the first preset path; and the preset transportation path of the flat car to be transported is obtained by adjusting the first preset path according to the first path adjustment information and the second path adjustment information.

[0073] It can be understood that after it is determined that the obstacle will affect the transportation of the flat car, the obstacle and the flat car need to be further analyzed to determine the adjustment information of the path; first, the structure information of the flat car is called, and the shape and size of the flat car can be determined according to the structure information of the flat car; and the shape and size of the obstacle can be obtained through the first obstacle information; then the collision critical position of the flat car and the obstacle can be determined through the first preset path; and the relative position information of the two can be determined; after the relative position information of the two is determined, the displacement adjustment of the flat car can be determined according to the shape and size of the two, and the transportation speed of the flat car in the transportation work is obtained to obtain the displacement adjustment information of the flat car; that is, the path adjustment information.

[0074] The first path adjustment information is obtained according to the first obstacle information and the first preset path, and the second path adjustment information is obtained according to the first regional flat car running information and the first preset path; and the preset transportation path of the flat car to be transported is obtained by adjusting the first preset path according to the first path adjustment information and the second path adjustment information.

[0075] It can be understood that according to the flat car running information of the first region, the running time and the running path of the flat car in the region can be known; then the conflict information can be obtained in combination with the first preset path; the conflict information refers to the relevant information of the region flat car intersecting with the first preset path; in combination with the transport speed of the flat car in the transport work, the region flat car that will not affect the flat car transport work can be screened out; and then the flat car transport path is adjusted according to the remaining region flat car.

[0076] Step S104: obtaining a real-time transport path according to the warehouse flat car mobilization information and the preset transport path.

[0077] Specifically, adjustment information is obtained according to the warehouse flat car mobilization information; and the real-time transport path is obtained according to the preset transport path and the adjustment information.

[0078] It can be understood that the transport path of the flat car can be determined through step S103; here, the path determination mode is to adjust the predetermined transport path according to the information of the obstacles and the region flat car obtained in advance, so as to avoid the obstacles and the region flat car; but in the actual transport process, there are often temporary transport work or emergency transport work in the warehouse, and the flat car needs to be arranged for emergency transport; then in this case, the transport path needs to be adjusted in real time.

[0079] Specifically, flat car information in a preset range is obtained; collision time is judged according to the transport speed of the current flat car to be transported; the transport speed of the flat car in the preset range is obtained; the collision possibility is determined according to the transport speed; if the collision possibility is greater than a preset probability value, the flat car to be transported is controlled to turn in a direction away from the transport direction of the flat car in the preset range, and the flat car to be transported is controlled to reduce its own transport speed.

[0080] It can be understood that if an emergency transport flat car appears, when it is determined that the possibility of collision with the flat car may occur, corresponding measures need to be taken to ensure that the two will not collide.

[0081] It should be noted that in the embodiments of the present application, in order to realize the above process, the state data of the vehicle itself can be collected in real time by various sensors such as vehicle positioning sensors and vehicle speed sensors.

[0082] In the embodiments of the present application, when the state of the vehicle itself is monitored through the above-mentioned sensors, the relevant data of the vehicle can be detected in real time; through the analysis of the relevant data, the fault detection of the vehicle can be realized, and the vehicle can also be effectively prevented from being unable to complete the transport work due to its own fault reasons, or causing certain influence on other flat cars in the transport process.

[0083] Specifically, vehicle speed information is acquired; an average value of vehicle speed of each period is calculated; a difference value of the average value of vehicle speed of the period and the average value of vehicle speed of the previous period is calculated; the difference value of the average value is compared with a preset difference threshold value, and if the average value difference is greater than the preset difference threshold value, an alarm information is output.

[0084] It can be understood that by monitoring the vehicle speed, the average value of vehicle speed of each period is compared, and if the average value of vehicle speed of the current period is greater or smaller than the average value of vehicle speed of the previous period, it indicates that the vehicle has a certain problem and needs to be checked in time.

[0085] The application also provides an RGV track flat car full-automatic operation system, as shown in the accompanying drawings. Figure 2 The RGV track flat car full-automatic operation system comprises an acquisition module 1 configured to acquire working information of a flat car to be transported; the working information comprises a starting point, an end point and cargo information of a transportation working of the flat car to be transported; a determination module 2 configured to determine regional information according to the working information; the regional information indicates regions where the starting point and the end point are located respectively; a formulation module 3 configured to obtain a preset transportation path of the flat car to be transported according to the regional information and a path formulation rule; and an adjustment module 4 configured to obtain a real-time transportation path according to warehouse flat car mobilization information and the preset transportation path.

[0086] In order to better execute the program of the above method, the application further provides a terminal, which comprises a memory and a processor.

[0087] The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory can comprise a storage program area and a storage data area, wherein the storage program area can store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the above-mentioned RGV track flat car full-automatic operation method, etc.; and the storage data area can store data involved in the above-mentioned RGV track flat car full-automatic operation method, etc.

[0088] The processor can comprise one or more processing cores. The processor executes various functions and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. The processor can be at least one of an application specific integrated circuit, a digital signal processor, a digital signal processing device, a programmable logic device, a field programmable gate array, a central processing unit, a controller, a microcontroller and a microprocessor. It can be understood that for different devices, the electronic devices used to implement the functions of the above-mentioned processor can also be other devices, and the embodiments of the application are not limited specifically.

[0089] The application further provides a computer readable storage medium, for example, a U disk, a mobile hard disk, a read only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes. The computer readable storage medium stores a computer program capable of being loaded by a processor and executing the full-automatic operation method of the RGV track flat car.

[0090] The above description is merely preferred embodiments of the present application and a description of the technical principles applied. Those skilled in the art should understand that the disclosed range in the present application is not limited to the technical solutions formed by the specific combinations of the technical features described above, and should also cover other technical solutions formed by any combinations of the technical features described above or equivalent features without departing from the disclosed concept. For example, the technical solutions formed by the mutual replacement of the features described above and the technical features disclosed in the present application (but not limited to) having similar functions.

Claims

1. A full-automatic operation method of an RGV track flatcar, characterized in that, The application relates to a warehouse flat car transportation method and device. The method comprises the following steps: acquiring work information of a flat car to be transported; the work information comprises a starting point, an end point and cargo information of a transportation work of the flat car to be transported; determining area information according to the work information; the area information indicates areas where the starting point and the end point are located respectively, and the areas corresponding to the area information are functional areas of a warehouse divided in advance; the functional areas are parking areas, public tracks or rotating tables, and the starting point and the end point are located in corresponding functional areas respectively; obtaining a preset transportation path of the flat car to be transported according to the area information and a path planning rule; obtaining a real-time transportation path according to warehouse flat car mobilization information and the preset transportation path; the step of obtaining the preset transportation path of the flat car to be transported according to the area information and the path planning rule comprises the following steps: calling a starting point area and an end point area according to the area information; obtaining a first preset path according to the starting point area, the end point area and the path planning rule; determining first area information passed through by the first preset path according to the first preset path; obtaining first obstacle information and first area flat car running information according to the first area information; the first area flat car running information comprises running time and a running track; obtaining the preset transportation path of the flat car to be transported according to the first preset path, the first obstacle information and the first area flat car running information; the step of obtaining the real-time transportation path according to the warehouse flat car mobilization information and the preset transportation path comprises the following steps: obtaining adjustment information according to the warehouse flat car mobilization information; 2. The full-automatic operation method of the RGV track flatcar according to claim 1, characterized in that, obtaining the real-time transportation path according to the preset transportation path and the adjustment information. the step of obtaining the first preset path according to the starting point area, the end point area and the path planning rule comprises the following steps: obtaining a straight line path between the starting point and the end point according to the path planning rule, the starting point and the end point of the transportation work of the flat car to be transported; determining a starting path segment of the straight line path located in the starting point area according to the starting point area and the straight line path; adjusting the starting path segment to obtain a first sub-path according to the starting point area; determining an end path segment of the straight line path located in the end point area according to the end point area and the straight line path; adjusting the end path segment to obtain a second sub-path according to the end point area; 3. The full-automatic operation method of the RGV track flatcar according to claim 1, characterized in that, obtaining the first preset path according to the first sub-path, the second sub-path and the straight line path. the step of obtaining the preset transportation path of the flat car to be transported according to the first preset path, the first obstacle information and the first area flat car running information comprises the following steps: obtaining first path adjustment information according to the first obstacle information and the first preset path; obtaining second path adjustment information according to the first area flat car running information and the first preset path; 4. The full-automatic operation method of the RGV track flatcar according to claim 3, characterized in that, adjusting the first preset path to obtain the preset transportation path of the flat car to be transported according to the first path adjustment information and the second path adjustment information. the step of obtaining the first path adjustment information according to the first obstacle information and the first preset path comprises the following steps: calling structure information of the flat car to be transported; obtaining relative position information between the flat car to be transported and obstacles according to the first obstacle information and the first preset path; The first path adjustment information is obtained according to the relative position information, the structure information and the first obstacle information.

5. The full-automatic operation method of the RGV track flatcar according to claim 3, characterized in that, The second path adjustment information is obtained according to the first regional flatcar running information and the first preset path. The conflict information is obtained according to the first regional flatcar running information and the first preset path. The second path adjustment information is obtained according to the conflict information and the first preset path.

6. A full-automatic operation system of an RGV track flatcar, characterized in that, The method comprises: The acquisition module (1) is configured to acquire working information of a flatcar to be transported; the working information comprises a starting point, an end point and cargo information of a transportation task of the flatcar to be transported; The determination module (2) is configured to determine regional information according to the working information; the regional information indicates regions where the starting point and the end point are located respectively; the region corresponding to the regional information is a functional region of a warehouse pre-divided, and the functional region is a parking area, a public track or a rotating table; and the starting point and the end point are located in corresponding functional regions respectively; The formulation module (3) is configured to obtain a preset transportation path of the flatcar to be transported according to the regional information and a path formulation rule; The adjustment module (4) is configured to obtain a real-time transportation path according to warehouse flatcar mobilization information and the preset transportation path; In the formulation module (3), the preset transportation path of the flatcar to be transported is obtained according to the regional information and the path formulation rule, which comprises: The starting point region and the end point region are called according to the regional information; A first preset path is obtained according to the starting point region, the end point region and the path formulation rule; First regional information through which the first preset path passes is determined according to the first preset path; First obstacle information and first regional flatcar running information are obtained according to the first regional information; the first regional flatcar running information comprises running time and a running track; The preset transportation path of the flatcar to be transported is obtained according to the first preset path, the first obstacle information and the first regional flatcar running information; In the adjustment module (4), the real-time transportation path is obtained according to the warehouse flatcar mobilization information and the preset transportation path, which comprises: Adjustment information is obtained according to the warehouse flatcar mobilization information; The real-time transportation path is obtained according to the preset transportation path and the adjustment information.

7. A terminal, characterized by comprising: The computer program instructions capable of being loaded and executed by the processor to perform the method of any one of claims 1-5 are stored on the memory.

8. A computer-readable storage medium, characterized in that, The computer program capable of being loaded and executed by the processor to perform the method of any one of claims 1-5 is stored.

Images