A control method and control system for a shuttle vehicle traveling on a circular track

Abstract

The present invention discloses a control method for a shuttle traveling on a circular track, which is used to control the speed curve of the shuttle traveling on the circular track; the method enables the shuttle to achieve smooth and continuous travel speed control in a circular or curved track system, so that the speed of the device is reduced to a safe threshold before entering a curve, and the acceleration and deceleration are automatically calculated according to the working conditions after exiting the curve, thereby alleviating damage to the device and the track structure caused by improper speed control when the device passes through the curve, or reducing the efficiency of the device due to premature deceleration before entering the curve.

Description

Technical Field

[0001] The present invention relates to the technical field of storage shelves, in particular to the technical field of control of shuttle vehicles in circular tracks of storage shelves. Background Art

[0002] With the continuous development of logistics technology, traditional straight or curved conveyor line solutions are gradually unable to meet the extreme requirements of warehousing systems for efficiency and space utilization, and circular shuttle equipment has gradually entered the logistics field.

[0003] A circular shuttle system is one where the shuttle travels on a circular track. The shuttle's route on this circular track includes both straight and curved routes. At the intersection of a straight line and a curve, the shuttle cannot stop and must continue through the intersection. Before the shuttle begins to turn from a straight line, it should decelerate to avoid derailment caused by centrifugal force. However, premature deceleration reduces the shuttle's efficiency on the straight route. How to smoothly reduce the shuttle's speed to a safe threshold before entering a curve, and automatically calculate acceleration and deceleration based on operating conditions after exiting the curve to improve the shuttle's operating efficiency are technical challenges that urgently need to be addressed when operating on circular tracks. Summary of the Invention

[0004] Purpose of the invention: The present invention mainly solves the problem of achieving smooth and continuous travel speed control of a shuttle vehicle in a circular or curved track system, so that the speed of the equipment is reduced to a safe threshold before entering a curve, and the acceleration and deceleration are automatically calculated according to the working conditions after exiting the curve, thereby alleviating damage to the equipment and track structure caused by improper speed control when the equipment passes through a curve, or reducing equipment efficiency due to premature deceleration before entering a curve.

[0005] To solve the above problems, the present invention can adopt the following technical solutions:

[0006] A method for controlling a shuttle vehicle traveling on a circular track is provided, for controlling a speed curve of the shuttle vehicle traveling on the circular track; the circular track is provided with a plurality of curves as a transition section from a straight track to another straight track; a perimeter of the circular track is defined as an operating area, and the operating area is divided into a plurality of subareas, wherein the exit of a curve is the starting point of a subarea, the exit of the next curve is the end point of the subarea and the starting point of the next subarea; the entrance of the next curve is the midpoint of the subarea; each subarea includes a straight track section and a curve section;

[0007] When the shuttle does not need to run across zones, it calculates the current position and parking position. , set the device to run at minimum speed Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial Calculate the speed reference curve; is the current distance to be walked, is the initial velocity at the beginning of the curve, is the final speed when the curve stops;

[0008] When the device needs to run across partitions, calculate the difference between the midpoint of the current partition and the current position and assign it to , minimum operating speed of the equipment Assign to , cornering speed Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the given speed curve of the device in the straight line segment of this partition; when the device reaches the midpoint of this partition, the device speed is , switch the speed setting from speed polynomial to constant speed After the bend; when the device exits the end of this zone, determine whether the zone it is in is the zone where the target position is located. If not, repeat the above steps. When the zone after exiting the bend is the same as the zone where the target position is located, Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the difference between the starting point and target position of the current partition of the device and assign it to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the speed given curve;

[0009] The speed curve polynomial for:

[0010] When the required walking distance is greater than the total distance required for acceleration and deceleration, that is, hour

[0011] ;

[0012] When the required walking distance is less than or equal to the required acceleration and deceleration distance, that is hour,

[0013] .

[0014] Furthermore, the shuttle car always turns at a constant speed when traveling on a curve. The circular track includes four straight tracks and four curves, with a curve set at each of the four corners of the circular track as a transition section from one straight track to another; the operating area of ​​the circular track is divided into four zones.

[0015] Corresponding to the above control method, the present invention further provides a control system for a shuttle traveling on a circular track, which is used to control the speed curve connection of a shuttle traveling on the circular track; the circular track is provided with a plurality of curves as a transition section from a straight track to another straight track; a circle along the circular track is defined as an operating area, and the operating area is divided into a plurality of subareas, wherein the exit of a curve is the starting point of a subarea, the exit of the next curve after the curve is the end point of the subarea and the starting point of the next subarea; the entrance of the next curve after the curve is the midpoint of the subarea; each subarea includes a straight track section and a curve section;

[0016] Also includes:

[0017] Speed ​​curve calculation module, when the shuttle does not need to run across partitions, calculates the speed curve based on the current position and parking position , set the device to run at minimum speed Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial Calculate the speed reference curve; is the current distance to be walked, is the initial velocity at the beginning of the curve, is the final speed when the curve stops;

[0018] When the device needs to run across partitions, calculate the difference between the midpoint of the current partition and the current position and assign it to , minimum operating speed of the equipment Assign to , cornering speed Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the given speed curve of the device in the straight line segment of this partition; when the device reaches the midpoint of this partition, the device speed is , switch the speed setting from speed polynomial to constant speed After the bend; when the device exits the end of this zone, determine whether the zone it is in is the zone where the target position is located. If not, repeat the above steps. When the zone after exiting the bend is the same as the zone where the target position is located, Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the difference between the starting point and target position of the current partition of the device and assign it to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the speed given curve;

[0019] The speed curve polynomial for:

[0020] When the required walking distance is greater than the total distance required for acceleration and deceleration, that is, hour

[0021] ;

[0022] When the required walking distance is less than or equal to the required acceleration and deceleration distance, that is hour,

[0023] .

[0024] Furthermore, the shuttle car always turns at a constant speed when traveling on a curve.

[0025] Furthermore, the circular track includes four straight tracks and four curves, and a curve is provided at each of the four corners of the circular track as a transition section from one straight track to another straight track; the operating area of ​​the circular track is divided into four partitions.

[0026] Beneficial effects: Compared with the existing technology, the present invention enables the shuttle car to achieve smooth and continuous travel speed control in a circular track. Specifically, the speed of the shuttle car is smoothly reduced to a safety threshold before entering a curve, and the required speed is automatically calculated according to the working conditions after exiting the curve, thereby improving the shuttle car's operating efficiency.

[0027] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for controlling a shuttle vehicle traveling on a circular track when executing the computer program.

[0028] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for controlling a shuttle vehicle traveling on a circular track are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the shuttle vehicle in the present invention running on the circular track.

[0030] Figure 2 It is a schematic diagram of the ring track partition in the present invention.

[0031] Figure 3 Schematic diagram of the shuttle trajectory of a specific application case of the control method in the embodiment.

[0032] Figure 4 It is the given speed curve of the AB interval in the embodiment.

[0033] Figure 5 This is a given curve of CD interval speed in the embodiment. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0035] The invention provides a method for controlling a shuttle vehicle traveling on a circular track, which is used for controlling a speed curve of the shuttle vehicle traveling on the circular track.

[0036] In this example, see Figure 1 As shown in FIG, the circular track in this embodiment is a nearly square track with four curved corners, including four straight rails and four curved rails. The long and short sides are straight rails. A curved rail is set at each of the four corners of the circular track as a transition section from one straight rail to another. The running track of the shuttle is shown in FIG. Figure 1 According to the mechanical load design requirements, the shuttle car should not pass through the curve at a speed greater than , ( <= ). Vturn: Maximum speed allowed for cornering; : Maximum rated operating speed of the device.

[0037] Recombination Figure 2 As shown in the figure, the operating area is divided into four zones along the entire circumference of the circular track. The exit of a curve is the starting point of a zone, the exit of the next curve is the end point of the zone and the starting point of the next zone; the entrance of the next curve is the midpoint of the zone. Each zone consists of a straight section and a curved section.

[0038] When the shuttle does not need to run across zones, it calculates the current position and parking position. , set the device to run at minimum speed Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial Calculate the speed reference curve; is the current distance to be walked, is the initial velocity at the beginning of the curve, is the final speed when the curve stops;

[0039] When the device needs to run across partitions, calculate the difference between the midpoint of the current partition and the current position and assign it to , minimum operating speed of the equipment Assign to , cornering speed Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the given speed curve of the device in the straight line segment of this partition; when the device reaches the midpoint of this partition, the device speed is , switch the speed setting from speed polynomial to constant speed After the bend; when the device exits the end of this zone, determine whether the zone it is in is the zone where the target position is located. If not, repeat the above steps. When the zone after exiting the bend is the same as the zone where the target position is located, Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the difference between the starting point and target position of the current partition of the device and assign it to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the speed given curve;

[0040] The speed curve polynomial for:

[0041] When the required walking distance is greater than the total distance required for acceleration and deceleration, that is, hour

[0042] ;

[0043] When the required walking distance is less than or equal to the required acceleration and deceleration distance, that is hour,

[0044] .

[0045] in, : Rated maximum operating speed,

[0046] : Initial velocity at the beginning of the curve,

[0047] : Final speed when the curve stops,

[0048] a: Equipment acceleration and deceleration,

[0049] : From speed arrive The required acceleration distance is 1.5 times the distance required for the uniform acceleration model, that is,

[0050] ,

[0051] :from To speed The required deceleration distance is 1.5 times the distance required for the uniform deceleration model, that is,

[0052] ,

[0053] : The current distance to be walked,

[0054] ΔS: distance traveled,

[0055] :when When the speed arrive Acceleration distance, calculated according to the uniform acceleration model, ,

[0056] :when When the speed arrive The deceleration distance is calculated according to the uniform deceleration model.

[0057] ,

[0058] :when When , the maximum speed that can be reached under the current acceleration distance,

[0059] , calculated according to the uniform acceleration mode, take 0.8 times.

[0060] Based on the above control method, a specific application case is used to illustrate.

[0061] like Figure 3 Assume the device is currently stopped at point A and needs to be positioned to point D, passing through curve 1. Points B and C are the starting points of curve 1. Assume the position data of points A, B, C, and D are as follows: A (100m), B (108m), C (110m), D (150m).

[0062] It is known that the maximum speed of the equipment is =3m / s, rated speed of equipment when turning =1m / s, equipment acceleration and deceleration a=1m / s², equipment initial startup speed 0.05m / s, final speed of equipment stop 0.05m / s.

[0063] From the above formula, we can know that

[0064] (m), from 0.05m / s Accelerate to =3m / s required distance.

[0065] 6 (m), from =3m / s decelerate to =1m / s required distance.

[0066] (m), from =1m / s Accelerate to =3m / s required distance.

[0067] (m), from =3m / s decelerate to =0.05m / s required distance.

[0068] Therefore, =8m < ( + ), =40m > ( + ), the device first accelerates in the AB range, and then decelerates to After passing the BC curve area at a constant speed, it accelerates and runs for 6 meters to a speed of Then, it starts to run at a constant speed for 27.25 meters, and then slows down to run at a speed of 6.75 meters. , the device stops after reaching the given target position.

[0069] AB interval speed curve is given, please refer to Figure 4 , substitute the AB interval speed curve into the following formula:

[0070] .

[0071] in, = 0.05 m / s,

[0072] = 1 m / s,

[0073] a=1 m / s²,

[0074] = =8m,

[0075] m,

[0076] m,

[0077] m / s.

[0078] The CD interval speed curve is given, please refer to Figure 5 , substitute the CD interval speed curve into the following formula:

[0079] ;

[0080] in, 1 m / s,

[0081] 0.05 m / s,

[0082] a=1 m / s²,

[0083] = =40m,

[0084] m,

[0085] m,

[0086] m / s.

[0087] Although the present invention has been illustrated and described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made to the present invention without departing from the scope of the present invention as defined by the claims.

Claims

1. A method for controlling a shuttle vehicle traveling on a circular track, for controlling the speed curve connection of a shuttle vehicle traveling on a circular track; the circular track is provided with a plurality of curves as a transition section from one straight track to another straight track; characterized in that: Assume that the operating area is one circumference of the circular track, and divide the operating area into several zones. The exit of a curve is the starting point of a zone, the exit of the next curve is the end point of the zone and the starting point of the next zone; the entrance of the next curve is the midpoint of the zone; each zone includes a straight track section and a curved section. When the shuttle does not need to run across zones, it calculates the current position and parking position. , set the device to run at minimum speed Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial Calculate the speed reference curve; is the current distance to be walked, is the initial velocity at the beginning of the curve, is the final speed when the curve stops; When the device needs to run across partitions, calculate the difference between the midpoint of the current partition and the current position and assign it to , minimum operating speed of the equipment Assign to , cornering speed Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the given speed curve of the device in the straight line segment of this partition; when the device reaches the midpoint of this partition, the device speed is , switch the speed setting from speed polynomial to constant speed After the bend; when the device exits the end of this partition, determine whether the partition it is in is the partition where the target position is located. If not, repeat the above steps; when the partition after exiting the bend is the same as the partition where the target position is located, Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the difference between the starting point and target position of the current partition of the device and assign it to Calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the speed given curve; The speed curve polynomial for: When the required walking distance is greater than the total distance required for acceleration and deceleration, that is, hour ； When the required walking distance is less than or equal to the required acceleration and deceleration distance, that is hour, 。 2. The shuttle control method according to claim 1, characterized in that: The shuttle car always turns at a constant speed when traveling on a curve.

3. The shuttle control method according to claim 1 or 2, characterized in that: The circular track includes four straight tracks and four curves. A curve is provided at each of the four corners of the circular track as a transition section from one straight track to another. The running area of ​​the circular track is divided into four partitions.

4. A control system for a shuttle vehicle traveling on a circular track, used to control the speed curve connection of a shuttle vehicle traveling on a circular track; the circular track is provided with a plurality of curves as a transition section from one straight track to another straight track; characterized in that: Assume that the area around the circular track is the operating area, and divide the operating area into several subareas. The exit of a curve is the starting point of a subarea, and the exit of the next curve after the curve is the end point of the subarea and the starting point of the next subarea. The entrance of the next curve of the curve is the midpoint of the partition; each partition includes a straight track and a curve; Also includes: Speed ​​curve calculation module, when the shuttle does not need to run across partitions, calculates the speed curve based on the current position and parking position , set the device to run at minimum speed Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the device acceleration distance based on the device acceleration and deceleration , deceleration distance ,Will 、 、 、 Substitute the velocity curve polynomial Calculate the speed reference curve; is the current distance to be walked, is the initial velocity at the beginning of the curve, is the final speed when the curve stops; When the device needs to run across partitions, calculate the difference between the midpoint of the current partition and the current position and assign it to , minimum operating speed of the equipment Assign to , cornering speed Assign to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the given speed curve of the device in the straight line segment of this partition; when the device reaches the midpoint of this partition, the device speed is , switch the speed setting from speed polynomial to constant speed After the bend; when the device exits the end of this partition, determine whether the partition it is in is the partition where the target position is located. If not, repeat the above steps; when the partition after exiting the bend is the same as the partition where the target position is located, Assign to , the minimum speed allowed when the equipment stops smoothly Assign to , calculate the difference between the starting point and target position of the current partition of the device and assign it to , calculate the device acceleration distance based on the device acceleration and deceleration 、 ,Will 、 、 、 Substitute the velocity curve polynomial , calculate the speed given curve; The speed curve polynomial for: When the required walking distance is greater than the total distance required for acceleration and deceleration, that is, hour ； When the required walking distance is less than or equal to the required acceleration and deceleration distance, that is hour, 。 5. The shuttle control system according to claim 4, characterized in that: The shuttle car always turns at a constant speed when traveling on a curve.

6. The shuttle control system according to claim 4 or 5, characterized in that: The circular track includes four straight tracks and four curves. A curve is provided at each of the four corners of the circular track as a transition section from one straight track to another. The running area of ​​the circular track is divided into four partitions.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

Images