A shuttle operation control method and system for changing a target position during operation

Abstract

The application discloses a shuttle operation control method and system for changing a target position in operation, wherein the shuttle receives a target position changing instruction, determines that the changed target position can be reached, and determines a driving distance L to the changed target position; according to shuttle operation parameters and a driving distance S to the target position before the change, a speed curve interval of the shuttle is determined; according to a distance already driven by the shuttle, the driving distance L and a current speed of the shuttle, a shuttle acceleration direction is determined; according to the driving distance L, the current speed of the shuttle, the shuttle acceleration direction, the shuttle operation parameters, a speed curve of the shuttle after the target position is changed is determined, and the shuttle is controlled according to the determined speed curve. In the case that the target position is determined, the target position in the walking process of the shuttle can be changed, and the speed of the shuttle in walking can be changed according to the changed target position, so that the task execution efficiency of multiple shuttles is improved.

Description

Technical Field

[0001] This invention relates to shuttle operation control, specifically to a shuttle operation control method and system for changing the target position during operation. Background Technology

[0002] In the logistics and warehousing industry, traditional shuttles could only execute new location task commands after receiving and completing the task from the starting point to the destination. They could not change their target location midway. However, in real-world scenarios, scheduling systems often coordinate multiple shuttles on the same floor of an automated warehouse. If a shuttle's task path is too long, it can cause other shuttles to wait for obstacle avoidance, resulting in reduced operational efficiency. Summary of the Invention

[0003] Purpose of the invention: To address the above-mentioned shortcomings, the present invention provides a method and system for controlling the shuttle to change its target location when replanning its route during the operation of a shuttle mission, thus avoiding excessively long mission paths.

[0004] Technical solution: To solve the above problems, the present invention adopts a shuttle operation control method for changing the target position during operation, including the following steps:

[0005] (1) Receive the instruction to change the target location, determine that the changed target location is reachable, and determine the driving distance L to reach the changed target location;

[0006] (2) Determine the speed curve range of the shuttle based on the shuttle's operating parameters and the travel distance S to the target location before the change;

[0007] (3) Determine whether to change the direction of the shuttle's acceleration based on the distance already traveled, the travel distance L, and the current speed of the shuttle;

[0008] (4) Based on the travel distance L, the current speed of the shuttle, the direction of the shuttle's acceleration, and the operating parameters of the shuttle, determine the speed curve of the shuttle after changing the target position, and control the operation of the shuttle based on the determined speed curve.

[0009] Furthermore, the speed curve range of the shuttle includes an acceleration segment, a high-speed segment, and a deceleration segment; in the acceleration segment, the shuttle accelerates; in the high-speed segment, the shuttle moves at a constant speed at its maximum speed; in the deceleration segment, the shuttle decelerates; if the travel distance S is greater than the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes an acceleration segment, a high-speed segment, and a deceleration segment; if the travel distance S is less than or equal to the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes an acceleration segment and a deceleration segment.

[0010] Furthermore, the formulas for calculating the rated acceleration distance S1 and the rated deceleration distance S2 are as follows:

[0011]

[0012] Where f is a constant, V max V represents the maximum speed of the shuttle, Acc represents the maximum acceleration when the direction of the shuttle's velocity is the same as the direction of its acceleration, Dec represents the maximum acceleration when the direction of the shuttle's velocity is opposite to the direction of its acceleration, and V represents the maximum acceleration. first V represents the starting speed of the shuttle when it is in motion. When the shuttle starts from a standstill, V first =0.

[0013] Furthermore, for shuttles whose speed curve includes high-speed sections, if the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, then the shuttle is currently in the deceleration section, and the direction of the shuttle's acceleration is opposite to the direction of its speed. If the travel distance L is less than the travel distance S minus the distance Y1 already traveled by the shuttle, then the shuttle cannot directly reach the changed target position. It maintains the current direction of its acceleration, decelerates to zero, then returns to accelerate and decelerates to the changed target position. If the travel distance L is greater than the travel distance S minus the distance Y1 already traveled by the shuttle, the direction of the shuttle's acceleration is changed, and the shuttle accelerates with the current speed as the initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0014] Furthermore, when the shuttle's current speed equals its maximum speed, the shuttle is currently in the high-speed segment or at the point where acceleration and deceleration switch off, and its acceleration is 0. If the travel distance L is less than the rated deceleration distance S2, the shuttle cannot directly reach the changed target position. Instead, the direction of the shuttle's acceleration is opposite to the direction of its speed. After the shuttle decelerates to zero, it returns to accelerate and then decelerates to the changed target position. If the travel distance L equals the rated deceleration distance S2, the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the rated deceleration distance S2, the shuttle maintains its current speed for a distance of (L-S2), then the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position.

[0015] Furthermore, if the distance Y1 already traveled by the shuttle is less than the travel distance S minus the rated deceleration distance S2, and the current speed of the shuttle is less than the maximum speed of the shuttle, then the shuttle is currently in the acceleration phase. If the travel distance L is less than the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, then the shuttle cannot directly reach the changed target position. The direction of the shuttle's acceleration is opposite to the direction of its speed. After the shuttle decelerates to zero, it returns to accelerate and then decelerates to the changed target position. If the travel distance L is equal to the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, the direction of the shuttle's acceleration is the same as the direction of its speed, and the shuttle accelerates from its current speed as its initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0016] Furthermore, for shuttles whose speed curve range does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, and the distance Y1 already traveled by the shuttle is less than... The shuttle is currently in the acceleration phase. If the travel distance L is less than the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the shuttle cannot directly reach the changed target position. The direction of the shuttle's acceleration is reversed from its speed, and after decelerating to zero, the shuttle returns to accelerate and then decelerates to the changed target position. If the travel distance L is equal to the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the direction of the shuttle's acceleration is reversed from its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the direction of the shuttle's acceleration is ensured to be the same as its speed, and the shuttle accelerates from its current speed as its initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0017] Furthermore, for shuttles whose speed curve range does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than... The shuttle is currently in the deceleration phase, and the direction of its acceleration is opposite to the direction of its speed. If the travel distance L is less than the distance traveled S minus the distance Y1 already traveled, the shuttle cannot directly reach the changed target position. It maintains the current direction of acceleration, decelerates to zero, then returns to accelerate and decelerates again to the changed target position. If the travel distance L is greater than the distance traveled S minus the distance Y1 already traveled, the direction of acceleration is changed, and the shuttle accelerates with the current speed as the initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle operation is controlled according to the determined speed curve.

[0018] The present invention also employs a shuttle operation control system that changes the target position during operation, comprising:

[0019] The instruction receiving module is used to receive instructions to change the target location and determine whether the changed target location is reachable.

[0020] The parameter determination module is used to determine the travel distance L to reach the changed target location; based on the shuttle's operating parameters and the travel distance S to reach the target location before the change, the speed curve range of the shuttle is determined.

[0021] The judgment module is used to determine whether to change the direction of the shuttle's acceleration based on the distance already traveled, the travel distance L, and the current speed of the shuttle.

[0022] The control module is used to determine the speed curve of the shuttle after changing the target position based on the travel distance L, the current speed of the shuttle, the direction of the shuttle's acceleration, and the shuttle's operating parameters, and to control the operation of the shuttle according to the determined speed curve.

[0023] Beneficial effects: Compared with the prior art, the significant advantage of this invention is that, given a predetermined target position, the target position of the shuttle car can be changed during its movement, and the speed of the moving shuttle car can be adjusted according to the changed target position, thereby improving the task execution efficiency of multiple shuttle cars. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the control method for changing the target position during the operation of the shuttle in this invention.

[0025] Figure 2 This is a schematic diagram of the speed curve adjustment process after the shuttle changes the target position in this invention.

[0026] Figure 3 This is a schematic diagram of the speed curves of the shuttle before and after changing the target position in this invention. Detailed Implementation

[0027] like Figure 1As shown in this embodiment, a shuttle operation control method for changing the target position during operation includes the following steps:

[0028] (1) The shuttle receives the walking task issued by the superior system and starts walking towards the target location. During the walking process, it receives a command to change the target location. The shuttle compares the target location to the legal range and determines whether the target location can be changed. If it cannot be changed, it reports to the superior system that it cannot be changed. If it can be changed, it determines the driving distance L to reach the changed target location.

[0029] (2) Determine the speed curve range of the shuttle based on the shuttle's operating parameters and the travel distance S to the target location before the change. The speed curve range of the shuttle includes an acceleration section, a high-speed section, and a deceleration section. In the acceleration section, the shuttle accelerates. In the high-speed section, the shuttle moves at a constant speed at its maximum speed. In the deceleration section, the shuttle decelerates. If the travel distance S is greater than the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes an acceleration section, a high-speed section, and a deceleration section. If the travel distance S is less than or equal to the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes an acceleration section and a deceleration section.

[0030] The formulas for calculating the rated acceleration distance S1 and the rated deceleration distance S2 are as follows:

[0031]

[0032] Where f is a constant, V max V represents the maximum speed of the shuttle, Acc represents the maximum acceleration when the direction of the shuttle's velocity is the same as the direction of its acceleration, Dec represents the maximum acceleration when the direction of the shuttle's velocity is opposite to the direction of its acceleration, and V represents the maximum acceleration. first V represents the starting speed of the shuttle when it is in motion. When the shuttle starts from a standstill, V first =0.

[0033] (3) Figure 2 As shown, based on the distance already traveled by the shuttle, the travel distance L, and the current speed of the shuttle, it is determined whether to change the direction of the shuttle's acceleration; based on the travel distance L, the current speed of the shuttle, the direction of the shuttle's acceleration, and the operating parameters of the shuttle, the speed curve of the shuttle after changing the target position is determined, and the operation of the shuttle is controlled according to the determined speed curve.

[0034] For shuttles whose speed curve includes high-speed sections, if the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, the shuttle is currently in the deceleration section, and the direction of the shuttle's acceleration is opposite to the direction of its speed. If the travel distance L is less than the travel distance S minus the distance Y1 already traveled by the shuttle, the shuttle cannot directly reach the changed target position. It maintains the current direction of its acceleration, decelerates to zero, then returns to accelerate and decelerates to the changed target position. If the travel distance L is greater than the travel distance S minus the distance Y1 already traveled by the shuttle, the direction of the shuttle's acceleration is changed, and the shuttle accelerates with the current speed as the initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0035] For shuttles whose speed curve does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, and the distance Y1 already traveled by the shuttle is less than... The shuttle is currently in the acceleration phase. If the travel distance L is less than the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the shuttle cannot directly reach the changed target position. The direction of the shuttle's acceleration is reversed from its speed, and after decelerating to zero, the shuttle returns to accelerate and then decelerates to the changed target position. If the travel distance L is equal to the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the direction of the shuttle's acceleration is reversed from its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the distance the shuttle travels at its current speed decelerates to zero with maximum acceleration Dec, the direction of the shuttle's acceleration is ensured to be the same as its speed, and the shuttle accelerates from its current speed as its initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0036] For shuttles whose speed curve range does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than... The shuttle is currently in the deceleration phase, and the direction of its acceleration is opposite to the direction of its speed. If the travel distance L is less than the distance traveled S minus the distance Y1 already traveled, the shuttle cannot directly reach the changed target position. It maintains the current direction of acceleration, decelerates to zero, then returns to accelerate and decelerates again to the changed target position. If the travel distance L is greater than the distance traveled S minus the distance Y1 already traveled, the direction of acceleration is changed, and the shuttle accelerates with the current speed as the initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle operation is controlled according to the determined speed curve.

[0037] For shuttles regardless of whether the speed curve includes the high-speed section:

[0038] When the shuttle's current speed equals its maximum speed, the shuttle is currently in the high-speed section or at the point where acceleration and deceleration switch off, and its acceleration is 0. If the travel distance L is less than the rated deceleration distance S2, the shuttle cannot directly reach the changed target position. Instead, the direction of the shuttle's acceleration is opposite to the direction of its speed. After the shuttle decelerates to zero, it returns to accelerate and then decelerates to the changed target position. If the travel distance L equals the rated deceleration distance S2, the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the rated deceleration distance S2, the shuttle maintains its current speed for a distance of (L-S2), then the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position.

[0039] When the distance Y1 already traveled by the shuttle is less than the travel distance S minus the rated deceleration distance S2, and the current speed of the shuttle is less than the maximum speed of the shuttle, the shuttle is currently in the acceleration phase. If the travel distance L is less than the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, the shuttle cannot directly reach the changed target position. The direction of the shuttle's acceleration is opposite to the direction of its speed. After the shuttle decelerates to zero, it returns to accelerate and then decelerates to the changed target position. If the travel distance L is equal to the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, the direction of the shuttle's acceleration is opposite to the direction of its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the distance at which the shuttle decelerates to zero at its current speed with maximum acceleration Dec, the direction of the shuttle's acceleration is the same as the direction of its speed, and the shuttle accelerates from its current speed as its initial speed. The speed curve of the shuttle after changing the target position is determined, and the shuttle's operation is controlled according to the determined speed curve.

[0040] like Figure 3 As shown, in this embodiment, the shuttle starts with an initial speed of 0.5 m / s, goes through an acceleration phase and a high-speed phase, and receives a command to change the target position when it reaches the deceleration phase. The current speed is set as the initial speed of the shuttle after the change, the speed and distance parameters are updated, and the shuttle accelerates again to the changed target position.

Claims

1. A method for controlling the operation of a shuttle car that changes its target position during operation, characterized in that, Includes the following steps: (1) Receive the instruction to change the target location, determine that the changed target location is reachable, and determine the driving distance L to reach the changed target location; (2) Determine the speed curve range of the shuttle based on the shuttle's operating parameters and the travel distance S to the target location before the change; (3) Determine whether to change the direction of the shuttle's acceleration based on the distance already traveled, the travel distance L, and the current speed of the shuttle; when the distance already traveled Y1 is less than the travel distance S minus the rated deceleration distance S2, and the current speed of the shuttle is less than the maximum speed of the shuttle, then the shuttle is currently in the acceleration phase. If the travel distance L is less than the shuttle's current speed and maximum acceleration If the shuttle car decelerates to zero, it will not be able to reach the changed target position directly. This will cause the direction of the shuttle car's acceleration to be opposite to the direction of the shuttle car's speed. After the shuttle car decelerates to zero, it will return to accelerate and then decelerate again to reach the changed target position. If the travel distance L is equal to the shuttle's current speed multiplied by its maximum acceleration The distance traveled to zero is used to make the shuttle's acceleration direction opposite to its velocity direction, allowing the shuttle to decelerate and move to the changed target position; if the travel distance L is greater than the shuttle's current velocity, it will accelerate at maximum speed. The distance at which the shuttle decelerates to zero ensures that the direction of the shuttle's acceleration is the same as the direction of the shuttle's velocity, and the shuttle accelerates from the current speed as the initial speed. (4) Based on the travel distance L, the current speed of the shuttle, the direction of the shuttle's acceleration, and the operating parameters of the shuttle, determine the speed curve of the shuttle after changing the target position, and control the operation of the shuttle based on the determined speed curve.

2. The shuttle operation control method according to claim 1, characterized in that, Step (1) includes feeding back to the control system that the target location cannot be changed if the target location cannot be reached.

3. The shuttle operation control method according to claim 1, characterized in that, The speed curve range of the shuttle includes an acceleration section, a high-speed section, and a deceleration section. In the acceleration section, the shuttle accelerates. In the high-speed section, the shuttle moves at a constant speed at its maximum speed. In the deceleration section, the shuttle decelerates. If the travel distance S is greater than the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes the acceleration section, the high-speed section, and the deceleration section. If the travel distance S is less than or equal to the sum of the shuttle's rated acceleration distance S1 and rated deceleration distance S2, then the speed curve range of the shuttle includes the acceleration section and the deceleration section.

4. The shuttle operation control method according to claim 3, characterized in that, The formulas for calculating the rated acceleration distance S1 and the rated deceleration distance S2 are as follows: 、 in, It is a constant. The maximum speed at which the shuttle travels. This represents the maximum acceleration when the direction of the shuttle's velocity is the same as the direction of its acceleration. This is the maximum acceleration when the direction of the shuttle's velocity is opposite to the direction of its acceleration. This refers to the starting speed of the shuttle when it is in motion, and the starting speed when the shuttle starts from a standstill. =0.

5. The shuttle operation control method according to claim 4, characterized in that, For shuttles whose speed curve includes high-speed sections, if the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, then the shuttle is currently in the deceleration section, and the direction of the shuttle's acceleration is opposite to the direction of its speed. If the travel distance L is less than the travel distance S minus the travel distance Y1 already traveled, then the shuttle cannot directly reach the changed target position. It maintains the current direction of its acceleration, decelerates to zero, then returns to accelerate and decelerates again to the changed target position. If the travel distance L is greater than the travel distance S minus the travel distance Y1 already traveled, the direction of the shuttle's acceleration is changed, and the shuttle accelerates with the current speed as the initial speed. Determine the speed curve of the shuttle after it changes its target position, and control the operation of the shuttle based on the determined speed curve.

6. The shuttle operation control method according to claim 4, characterized in that, When the shuttle's current speed is equal to its maximum speed, the shuttle is currently in the high-speed section or at the point where the shuttle accelerates and decelerates, and the shuttle's acceleration is 0. If the travel distance L is less than the rated deceleration distance S2, the shuttle cannot directly reach the changed target position, causing the direction of the shuttle's acceleration to be opposite to the direction of the shuttle's speed. After the shuttle decelerates to zero, it returns to accelerate and then decelerates to the changed target position. If the travel distance L is equal to the rated deceleration distance S2, the direction of the shuttle's acceleration is reversed to the direction of its speed, and the shuttle decelerates to the changed target position. If the travel distance L is greater than the rated deceleration distance S2, the shuttle maintains its current speed for a distance of (L-S2), then the direction of the shuttle's acceleration is reversed to the direction of its speed, and the shuttle decelerates to the changed target position.

7. The shuttle operation control method according to claim 4, characterized in that, For a shuttle whose speed curve does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than the travel distance S minus the rated deceleration distance S2, and the distance Y1 already traveled by the shuttle is less than... If so, the shuttle is currently in the acceleration phase; If the travel distance L is less than the shuttle's current speed and maximum acceleration If the shuttle car decelerates to zero, it will not be able to reach the changed target position directly. This will cause the direction of the shuttle car's acceleration to be opposite to the direction of the shuttle car's speed. After the shuttle car decelerates to zero, it will return to accelerate and then decelerate again to reach the changed target position. If the travel distance L is equal to the shuttle's current speed multiplied by its maximum acceleration The distance traveled to zero is used to make the shuttle's acceleration direction opposite to its velocity direction, allowing the shuttle to decelerate and move to the changed target position; if the travel distance L is greater than the shuttle's current velocity, it will accelerate at maximum speed. The distance at which the shuttle decelerates to zero ensures that the direction of the shuttle's acceleration is the same as the direction of the shuttle's velocity, and the shuttle accelerates from the current speed as the initial speed. Determine the speed curve of the shuttle after it changes its target position, and control the operation of the shuttle based on the determined speed curve.

8. The shuttle operation control method according to claim 4, characterized in that, For shuttles whose speed curve range does not include the high-speed section, when the distance Y1 already traveled by the shuttle is greater than... If the current speed is less than the distance traveled (S) minus the distance traveled (Y1), the shuttle cannot directly reach the changed target position. It maintains its current acceleration direction, decelerates to zero, then accelerates back to the changed target position. If the current speed is less than the distance traveled (S) minus the distance traveled (Y1), the shuttle cannot directly reach the changed target position. It maintains its current acceleration direction, decelerates to zero, then accelerates back to the changed target position. If the current speed is greater than the distance traveled (S) minus the distance traveled (Y1), the shuttle changes its acceleration direction and accelerates with the current speed as the initial speed. Determine the speed curve of the shuttle after it changes its target position, and control the operation of the shuttle based on the determined speed curve.

9. A shuttle operation control system for changing target position during operation, characterized in that, include: The instruction receiving module is used to receive instructions to change the target location and determine whether the changed target location is reachable. The parameter determination module is used to determine the travel distance L to reach the changed target location; based on the shuttle's operating parameters and the travel distance S to reach the target location before the change, the speed curve range of the shuttle is determined. The judgment module is used to determine whether to change the direction of the shuttle's acceleration based on the distance already traveled, the travel distance L, and the current speed of the shuttle. When the distance already traveled Y1 is less than the travel distance S minus the rated deceleration distance S2, and the current speed of the shuttle is less than the maximum speed of the shuttle, then the shuttle is currently in the acceleration phase. If the travel distance L is less than the shuttle's current speed and maximum acceleration If the shuttle car decelerates to zero, it will not be able to reach the changed target position directly. This will cause the direction of the shuttle car's acceleration to be opposite to the direction of the shuttle car's speed. After the shuttle car decelerates to zero, it will return to accelerate and then decelerate again to reach the changed target position. If the travel distance L is equal to the shuttle's current speed multiplied by its maximum acceleration The distance traveled to zero is used to make the shuttle's acceleration direction opposite to its velocity direction, allowing the shuttle to decelerate and move to the changed target position; if the travel distance L is greater than the shuttle's current velocity, it will accelerate at maximum speed. The distance at which the shuttle decelerates to zero ensures that the direction of the shuttle's acceleration is the same as the direction of the shuttle's velocity, and the shuttle accelerates from the current speed as the initial speed. The control module is used to determine the speed curve of the shuttle after changing the target position based on the travel distance L, the current speed of the shuttle, the direction of the shuttle's acceleration, and the shuttle's operating parameters, and to control the operation of the shuttle according to the determined speed curve.

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