A control system for transporting heavy objects using an RGV rail cart

Abstract

The application discloses a control system for transporting heavy objects by using an RGV track trolley, relates to the field of track trolley conveying control, and comprises a full-load track and an empty-load track which are spliced at the head and tail, a four-graduation steering platform is arranged at the first splicing position of the full-load track and the empty-load track, and a two-graduation steering platform is arranged at the second splicing position; the four-graduation steering platform is used for steering the RGV track trolley to different areas; the two-graduation steering platform is used for steering the RGV track trolley to an empty-load operation path north area and a full-load operation path north area; a dispatching controller is arranged on the RGV track trolley and used for controlling steering of the RGV track trolley, and the RGV track trolley is controlled to run according to the state of the RGV track trolley and a personnel intrusion image model, so that the working efficiency of the artificial conveying mode can be improved, and the labor intensity of workers can be reduced.

Description

Technical Field

[0001] This application relates to the field of railcar transport control, and in particular to a control system for transporting heavy objects using an RGV railcar. Background Technology

[0002] The main uses of lead ingots include manufacturing batteries, coatings, warheads, welding materials, lead salt chemicals, cable sheaths, bearing materials, caulking materials, and X-ray protection materials. Therefore, lead ingots are of great value to various research. The production of lead ingots mainly includes several processes such as lead ore beneficiation, smelting, refining, and casting. After the lead ingots are cast, the factory uses manual forklifts and trailers to transport the lead ingots to the designated storage location. However, this method of work is inefficient and the labor intensity of workers is high. Summary of the Invention

[0003] The purpose of this application is to provide a control system for transporting heavy objects using an RGV railcar, in order to solve the problems of low work efficiency and high labor intensity of manual transportation.

[0004] To achieve the above objectives, this application provides the following solution:

[0005] In a first aspect, an RGV (Rail Transit Vehicle) railcar transport control system includes: a fully loaded track and an empty track spliced ​​end to end; wherein, a four-part turning platform is provided at the first splicing point of the fully loaded track and the empty track, and a two-part turning platform is provided at the second splicing point; the empty track passes through the southern area of ​​the empty running path and the northern area of ​​the empty running path; the fully loaded track passes through the southern area of ​​the fully loaded running path and the northern area of ​​the fully loaded running path.

[0006] The four-point steering platform is used to turn the RGV railcar to different areas; the different areas include a charging area, a maintenance area, a standby area, and a track area; the track area includes the southern area of ​​the empty running path and the southern area of ​​the fully loaded running path; the RGV railcar is used to transport goods;

[0007] The two-part steering platform is used to turn the RGV railcar to the empty running path north area and the fully loaded running path north area;

[0008] The RGV track vehicle is equipped with a scheduling controller, which controls the steering of the RGV track vehicle and controls its operation based on the RGV track vehicle status and personnel intrusion image models. The RGV track vehicle status includes working status, standby status, low power status, fully powered status, intact status, and fault status. The personnel intrusion image models include personnel intrusion image models entering the south area of ​​the fully loaded operating path, personnel intrusion image models entering the north area of ​​the fully loaded operating path, personnel intrusion image models entering the south area of ​​the empty operating path, personnel intrusion image models entering the north area of ​​the empty operating path, personnel intrusion image models entering the area where the two-point steering platform is located, personnel intrusion image models entering the area where the four-point steering platform is located, personnel intrusion image models entering the charging area, personnel intrusion image models entering the standby area, and personnel intrusion image models entering the maintenance area. The personnel intrusion image models are constructed based on the working area images of each area.

[0009] Optionally, each area is equipped with a pair of photoelectric switches, and the pulse response timing of the photoelectric switches is used to determine whether the RGV track trolley has entered the corresponding area; the areas include the full-load running path south area, the full-load running path north area, the empty running path south area, the empty running path north area, the area where the two-point steering platform is located, the area where the four-point steering platform is located, the charging area, the standby area, and the maintenance area.

[0010] Optionally, the spacing between a pair of photoelectric switches may differ in different regions, and the pulse response timing may differ in different regions.

[0011] Optionally, the scheduling controller specifically includes:

[0012] The working area image extraction module is used to extract working area images of the RGV track vehicle in real time after it starts running. The areas include the south area of ​​the fully loaded running path, the north area of ​​the fully loaded running path, the south area of ​​the empty running path, the north area of ​​the empty running path, the area where the two-point steering platform is located, the area where the four-point steering platform is located, the charging area, the standby area, and the maintenance area. The RGV track vehicle is used to transport goods.

[0013] The first judgment module is used to determine, based on the work area image and the personnel intrusion image model, whether there is personnel intrusion in the current area where the RGV track vehicle is located, and to obtain a first judgment result. The personnel intrusion image model includes personnel intrusion image models for entering the south area of ​​the fully loaded operation path, entering the north area of ​​the fully loaded operation path, entering the south area of ​​the empty operation path, entering the north area of ​​the empty operation path, entering the area where the two-point steering platform is located, entering the area where the four-point steering platform is located, entering the charging area, entering the standby area, and entering the maintenance area. The personnel intrusion image model is constructed based on the work area images of each area.

[0014] An alarm module is used to suspend the operation of the RGV track vehicle and issue a personnel intrusion alarm if the first judgment result is yes;

[0015] The operation control module is used to control the operation of the RGV track vehicle according to its status if the first judgment result is negative; the RGV track vehicle status includes working status, standby status, low power status, fully powered status, intact status, and fault status.

[0016] Optional, also includes:

[0017] The area determination module is used to determine whether the RGV track trolley has entered the corresponding area based on the pulse response timing of the photoelectric switch in each area.

[0018] Optional, a runtime control module, specifically including:

[0019] The second judgment unit is used to determine whether the RGV track trolley is fully charged when the RGV track trolley is in working state and after the RGV track trolley is loaded with items, and to obtain a second judgment result.

[0020] The first scheduling unit is used to schedule the RGV track trolley to enter the fully loaded track via the four-part steering platform if the second judgment result is a fully charged state, and to unload the items on the RGV track trolley into the warehouse.

[0021] The transfer unit is used to turn the unloaded RGV railcar to the empty track via the two-part steering platform, and then to the standby area for loading via the four-part steering platform, and to transfer it in a cycle.

[0022] The second scheduling unit is used to schedule the RGV track trolley to enter the charging area via the four-point steering platform if the second judgment result is a power shortage state.

[0023] The third judgment unit is used to determine whether the RGV track trolley is in a fault state and obtain a third judgment result.

[0024] The fault alarm unit is used to issue a fault alarm if the third judgment result is a fault state, and to guide the RGV rail trolley into the maintenance area via the four-point steering platform.

[0025] The fourth judgment unit is used to determine whether the battery level of the RGV track trolley has reached the lower limit of the battery level if the third judgment result is that the RGV track trolley is in good condition, and to obtain the fourth judgment result.

[0026] The third scheduling unit is used to schedule the RGV railcar to enter the charging area via the four-part steering platform if the fourth judgment result is yes, and dispatch the second RGV railcar to load it, and then send it from the standby area to the fully loaded track via the four-part steering platform.

[0027] The control unit is used to control the RGV track trolley to rotate cyclically if the fourth judgment result is negative.

[0028] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application uses an RGV track trolley to transport goods, which can be lead ingots. Fully loaded and empty tracks are spliced ​​end-to-end. A four-quarter-degree turning platform and a two-quarter-degree-degree turning platform are respectively set at the splicing point. Based on these two turning platforms, the RGV track trolley is turned to various areas. A scheduling controller is also set on the RGV track trolley. Based on the RGV track trolley transportation control method, the turning of the RGV track trolley is controlled. Furthermore, the operation of the RGV track trolley is controlled according to the RGV track trolley status and personnel intrusion image model, thereby achieving long-term reliable operation, improving transportation efficiency, saving labor costs, and reducing the labor intensity of workers. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a control system for transporting heavy objects using an RGV track trolley 8, according to one embodiment of this application.

[0031] Figure 2 A schematic diagram showing the entry from the maintenance area 3 into the four-quarter steering platform 1 according to an embodiment of this application;

[0032] Figure 3A schematic diagram showing the entry of an unloaded track 5 into a two-point steering platform 7, provided as an embodiment of this application;

[0033] Figure 4 A schematic diagram showing the entry from the charging area 2 into the four-quarter steering platform 1 according to an embodiment of this application;

[0034] Figure 5 A schematic diagram showing the entry of a fully loaded track 6 into a two-part steering platform 7, provided as an embodiment of this application;

[0035] Figure 6 A flowchart illustrating the transfer control of the RGV track trolley 8 provided in another embodiment of this application;

[0036] Figure 7 A flowchart illustrating the safety early warning detection process for worker intrusion into the work area of ​​the RGV track trolley 8, provided in one embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1-5 As shown in the embodiment of this application, the RGV railcar 8 transport control system includes: a four-part turning platform 1, a charging area 2, a maintenance area 3, a standby area 4, an empty track 5, a fully loaded track 6, a two-part turning platform 7, an RGV railcar 8, and a scheduling controller 9; wherein, the fully loaded track 6 and the empty track 5 are spliced ​​end to end; the four-part turning platform 1 is provided at the first splice of the fully loaded track 6 and the empty track 5, and the two-part turning platform 7 is provided at the second splice; the empty track 5 passes through the southern area of ​​the empty running path and the northern area of ​​the empty running path; the fully loaded track 6 passes through the southern area of ​​the fully loaded running path and the northern area of ​​the fully loaded running path.

[0040] The four-point steering platform 1 is used to turn the RGV railcar 8 to different areas; the different areas include the charging area 2, the maintenance area 3, the standby area 4, and the track area; the track area includes the south area of ​​the empty running path and the south area of ​​the fully loaded running path; the RGV railcar 8 is used to transport goods.

[0041] The two-part steering platform 7 is used to turn the RGV railcar 8 to the empty running path north area and the fully loaded running path north area.

[0042] The RGV track trolley 8 is equipped with a scheduling controller 9, which is used to control the steering of the RGV track trolley 8 and to control the operation of the RGV track trolley 8 according to the RGV track trolley status and personnel intrusion image model. The RGV track trolley status includes working status, standby status, low power status, fully powered status, intact status, and fault status. The personnel intrusion image model includes personnel intrusion image models entering the south area of ​​the fully loaded operation path, personnel intrusion image models entering the north area of ​​the fully loaded operation path, personnel intrusion image models entering the south area of ​​the empty operation path, personnel intrusion image models entering the north area of ​​the empty operation path, personnel intrusion image models entering the area where the two-point steering platform 7 is located, personnel intrusion image models entering the area where the four-point steering platform 1 is located, personnel intrusion image models entering the charging area 2, personnel intrusion image models entering the standby area 4, and personnel intrusion image models entering the maintenance area 3. The personnel intrusion image model is constructed based on the working area images of each area.

[0043] In an exemplary embodiment, to ensure the safe and reliable transport of crude lead ingots produced by the Elsa furnace to the designated warehousing location, the RGV railcar 8 crude lead ingot transport system in this embodiment is based on... Figure 1 The control system shown is constructed using RGV track trolleys 8 to transport heavy objects. It is equipped with 3 RGV track trolleys 8, each of which is equipped with a dispatch controller 9 and a charging pile for the RGV track trolley 8 to extend its range. At the two curves of the track (i.e., the splicing points), a four-part turning platform 1 and a two-part turning platform 7 are arranged. When the RGV track trolley 8 is transporting lead ingots, it travels on the fully loaded track 6. When returning empty, it travels on the empty track 55. The track area is divided into 9 zones: charging zone-2, maintenance zone-3, standby zone-4, four-part turning platform 1, fully loaded track south zone (i.e., the south zone of the fully loaded running path), fully loaded track north zone (i.e., the north zone of the fully loaded running path), empty track south zone (i.e., the south zone of the empty running path), empty track north zone (i.e., the north zone of the empty running path), and two-part turning platform 7.

[0044] The RGV track trolley 8 operates as follows: the crude lead ingots ready for storage are lifted by the transfer machine, and the transfer machine on the disc casting machine automatically loads the crude lead ingots onto the designated position of the RGV track trolley 8. The crude lead ingots are then transported to the storage location via the fully loaded track 6. After unloading, the RGV track trolley 8 enters the two-part indexing steering platform 7. Based on the pulse response timing feedback, it is confirmed that the RGV track trolley 8 is on the two-part indexing steering platform 7. The motor of the two-part indexing steering platform is controlled to align the track on the two-part indexing steering platform 7 with the unloaded track 5. The RGV track trolley 8 is then started to return to the lead ingot loading position in the standby area 4 via the unloaded track 5 and the four-part indexing steering platform 1.

[0045] The dispatch controller 9 controls the steering of the RGV track trolley 8, with the steering wheel operation performed by the four-point steering platform 1 and the two-point steering platform 7. Furthermore, the RGV track trolley 8 is equipped with photoelectric sensor switches, and each section of the track is equipped with a photoelectric sensor at the junction with the steering platform. Different positions respond with different timing sequences, and the current position is identified and determined by the timing diagram of the pulse response sequence. The track trolley dispatch controller 9 can also schedule the working status based on the current status feedback signal.

[0046] This application also includes a charging area 2 and a maintenance area 3 for the RGV track trolley 8. When the RGV track trolley 8 has insufficient power, it can be dispatched to the area where the four-quarter steering platform 1 is located. The pulse response timing of the four-quarter steering platform 1 is detected, the position is confirmed, and the motor of the four-quarter steering platform 1 is adjusted so that the track is aligned with the track entering the charging area 2. The RGV track trolley 8 is then started and enters the charging area 2 to charge.

[0047] Battery range is calculated based on the specified quantity of lead ingots transported per shift. The battery range for a 3-hour shift is calculated as follows: Total battery capacity - Number of batteries * Dissipation capacity / Number of batteries - Battery usage loss calculation.

[0048] Fully loaded track 6 is used for loading and transporting crude lead ingots, while empty track 5 is used for returning empty cars to the disc ingot casting site. During operation, the track can be used interchangeably for light and heavy loads depending on its condition.

[0049] When the RGV track trolley 8 malfunctions, the dispatch controller 9 enters the four-quarter turning platform 1, detects the pulse response timing of the four-quarter turning platform 1, confirms the position, and adjusts the motor of the four-quarter turning platform 1 to align the track with the track in the maintenance area 3. After repair, it enters the four-quarter turning platform 1 again to detect the timing of the four-quarter turning platform 1, confirms the position, and adjusts the motor of the four-quarter turning platform 1 to align the track with the track in the standby area 4. Then, the RGV track trolley 8 is started and enters the standby area 4. During operation, the dispatch controller 9 detects the working / standby, low power / full power, and good / faulty status of the RGV track trolley 8, and ensures that one RGV track trolley 8 is in operation based on the status of the RGV track trolley. This cycle is repeated to complete the continuous transfer of lead ingots for each shift.

[0050] In an exemplary embodiment, each area is provided with a pair of photoelectric switches, and the timing of the pulse response emitted by the photoelectric switches is used to determine whether the RGV track trolley 8 has entered the corresponding area; the areas include the full-load running path south area, the full-load running path north area, the empty running path south area, the empty running path north area, the area where the two-point steering platform 7 is located, the area where the four-point steering platform 1 is located, the charging area 2, the standby area 4, and the maintenance area 3.

[0051] The spacing between a pair of photoelectric switches varies in different regions, and the pulse response timing also differs in different regions.

[0052] Each time the track trolley enters a region, a photoelectric switch sends a feedback signal to the RGV controller, providing a pulse response timing sequence. Each region is equipped with a pair of photoelectric switches, and the installation distance between the two photoelectric switches in each region is different. Therefore, the pulse response timing sequence emitted by the photoelectric switches is different. The region entered by the RGV track trolley 8 can be determined based on the difference in the pulse response timing sequence. The pulse response timing sequence of each region is defined as shown in Table 1.

[0053] Table 1. Impulse Response Timing Definitions for Each Region

[0054]

[0055]

[0056] In one exemplary embodiment, a safety warning is issued within the working area of ​​the RGV railcar 8, where heavy trucks carrying lead ingots occasionally pass by, and workers occasionally appear. When the RGV railcar 8 enters the working area, a safety warning for the operating area must be issued. After passing the safety inspection, the dispatch controller 9 controls the RGV railcar 8 to start operation.

[0057] In another exemplary embodiment of this application, the scheduling controller 9 specifically includes:

[0058] The working area image extraction module is used to extract working area images of the various areas traversed by the RGV track trolley 8 in real time after it starts running. The areas include the south area of ​​the fully loaded running path, the north area of ​​the fully loaded running path, the south area of ​​the empty running path, the north area of ​​the empty running path, the area where the two-point steering platform 7 is located, the area where the four-point steering platform 1 is located, the charging area 2, the standby area 4, and the maintenance area 3. The RGV track trolley 8 is used to transport goods.

[0059] The first judgment module is used to determine whether there is any intrusion into the current area where the RGV track trolley 8 is located, based on the work area image and the personnel intrusion image model, and obtain a first judgment result. The personnel intrusion image model includes personnel intrusion image models for entering the south area of ​​the fully loaded operation path, entering the north area of ​​the fully loaded operation path, entering the south area of ​​the empty operation path, entering the north area of ​​the empty operation path, entering the area where the two-part steering platform 7 is located, entering the area where the four-part steering platform 1 is located, entering the charging area 2, entering the standby area 4, and entering the maintenance area 3. The personnel intrusion image model is constructed based on the work area images of each area.

[0060] An alarm module is used to suspend the operation of the RGV track trolley 8 and issue a personnel intrusion alarm if the first judgment result is yes.

[0061] The operation control module is used to control the operation of the RGV track trolley 8 according to the RGV track trolley status if the first judgment result is negative; the RGV track trolley status includes working status, standby status, power-out status, fully charged status, intact status and fault status.

[0062] In one exemplary embodiment, it further includes:

[0063] The area determination module is used to determine whether the RGV track trolley 8 has entered the corresponding area based on the pulse response timing of the photoelectric switch in each area.

[0064] In one exemplary embodiment, the operation control module specifically includes:

[0065] The second judgment unit is used to determine whether the RGV track trolley is fully charged when the RGV track trolley is in working state and after the RGV track trolley 8 is loaded with items, and to obtain the second judgment result.

[0066] The first scheduling unit is used to schedule the RGV track trolley 8 to enter the fully loaded track 6 via the four-part steering platform 1 if the second judgment result is a fully charged state, and to unload the items on the RGV track trolley 8 into the warehouse.

[0067] The transfer unit is used to turn the unloaded RGV railcar 8 via the two-part steering platform 7 to the empty rail 5, and then via the four-part steering platform 1 to the standby area 4 for loading, and to transfer in a cycle.

[0068] The second scheduling unit is used to schedule the RGV track trolley 8 to enter the charging area 2 via the four-part steering platform 1 if the second judgment result is a power shortage state.

[0069] The third judgment unit is used to determine whether the RGV track trolley is in a fault state and obtain a third judgment result.

[0070] The fault alarm unit is used to issue a fault alarm if the third judgment result is a fault state, and to guide the RGV track trolley 8 into the maintenance area 3 via the four-part steering platform 1.

[0071] The fourth judgment unit is used to determine whether the power of the RGV track trolley 8 has reached the lower limit of power if the third judgment result is an intact state, and to obtain the fourth judgment result.

[0072] The third scheduling unit is used to schedule the RGV track trolley 8 to enter the charging area 2 via the four-part steering platform 1 if the fourth judgment result is yes, and to dispatch the second RGV track trolley 8 to enter the fully loaded track 6 via the four-part steering platform 1 from the standby area 4.

[0073] The control unit is used to control the RGV track trolley 8 to rotate cyclically if the fourth judgment result is negative.

[0074] In an exemplary embodiment, the transfer control process of the RGV track trolley 8 is as follows: Figure 6 As shown, first, it is predicted whether there are any safety hazards on the transport track and surrounding areas. After making a judgment, the RGV track trolley 8 is continuously rotated and scheduled according to its maintenance, charging, standby and working status until all the lead ingots produced in the current shift are transported into the warehouse.

[0075] Based on the nine areas defined by the RGV railcar 8 transport control system—namely, charging area 2, maintenance area 3, standby area 4, four-part steering platform 1, fully loaded track south area, fully loaded track north area, empty track south area, empty track north area, and two-part steering platform 7—images were acquired. Using a deep SDD learning model, nine worker intrusion image models were established for the entire area of ​​the RGV railcar 8 transport control system. These models represent intrusions into the fully loaded operation path south area, the fully loaded operation path north area, the empty operation path south area, the empty operation path north area, the area containing the two-part steering platform 7, the area containing the four-part steering platform 1, the charging area 2, the standby area 4, and the maintenance area 3. These intrusion image models were constructed based on the work area images of each area.

[0076] During modeling, Bayesian search comparison and optimization are used to determine model parameters, and images of the working area of ​​the warning zone are collected for comparison. Once the limit is exceeded, a safety warning is issued, which is a necessary condition for the safe operation of the RGV track trolley 8.

[0077] The RGV track trolley 8 operates within the open factory area encompassing charging area 2, maintenance area 3, standby area 4, four-point steering platform 1, the fully loaded south track area, the fully loaded north track area, the empty south track area, the empty north track area, and the two-point steering platform 7. Delivery trucks and personnel occasionally pass through these areas, and their actions can sometimes become uncontrollable. Therefore, the RGV track trolley 8 must undergo a safety warning system check before entering these areas. This check requires a personnel intrusion assessment, and only if the parameters of the nine models mentioned above are compared and a safe level is reached can the AGV enter and begin operation. The safety warning detection process for worker intrusion into the RGV track trolley 8's work area is as follows: Figure 7 As shown.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control system for transporting heavy objects using an RGV (RGV railcar), characterized in that, include: The system consists of a fully loaded track and an empty track that are spliced ​​together end to end. The first splice point of the fully loaded track and the empty track is equipped with a four-point turning platform, and the second splice point is equipped with a two-point turning platform. The empty track passes through the southern and northern sections of the empty operating path. The fully loaded track passes through the southern and northern sections of the fully loaded operating path. The four-point steering platform is used to turn the RGV railcar to different areas; the different areas include a charging area, a maintenance area, a standby area, and a track area; the track area includes the southern area of ​​the empty running path and the southern area of ​​the fully loaded running path; the RGV railcar is used to transport goods; The two-part steering platform is used to turn the RGV railcar to the empty running path north area and the fully loaded running path north area; The RGV track vehicle is equipped with a scheduling controller, which controls the steering of the RGV track vehicle and controls its operation based on the RGV track vehicle status and personnel intrusion image models. The RGV track vehicle status includes working status, standby status, low power status, fully powered status, intact status, and fault status. The personnel intrusion image models include personnel intrusion image models entering the south area of ​​the fully loaded operating path, personnel intrusion image models entering the north area of ​​the fully loaded operating path, personnel intrusion image models entering the south area of ​​the empty operating path, personnel intrusion image models entering the north area of ​​the empty operating path, personnel intrusion image models entering the area where the two-point steering platform is located, personnel intrusion image models entering the area where the four-point steering platform is located, personnel intrusion image models entering the charging area, personnel intrusion image models entering the standby area, and personnel intrusion image models entering the maintenance area. The personnel intrusion image models are constructed based on the working area images of each area.

2. The control system for transporting heavy objects using an RGV railcar according to claim 1, characterized in that, Each area is equipped with a pair of photoelectric switches. The timing of the pulse response emitted by the photoelectric switches is used to determine whether the RGV track vehicle has entered the corresponding area. The areas include the South Area of ​​the Fully Loaded Running Path, the North Area of ​​the Fully Loaded Running Path, the South Area of ​​the Empty Running Path, the North Area of ​​the Empty Running Path, the area where the two-point steering platform is located, the area where the four-point steering platform is located, the charging area, the standby area, and the maintenance area.

3. The control system for transporting heavy objects using an RGV railcar according to claim 2, characterized in that, The spacing between a pair of photoelectric switches varies in different regions, and the pulse response timing also differs in different regions.

4. The control system for transporting heavy objects using an RGV railcar according to claim 2, characterized in that, The scheduling controller specifically includes: The working area image extraction module is used to extract working area images of the RGV track vehicle in real time after it starts running. The areas include the south area of ​​the fully loaded running path, the north area of ​​the fully loaded running path, the south area of ​​the empty running path, the north area of ​​the empty running path, the area where the two-point steering platform is located, the area where the four-point steering platform is located, the charging area, the standby area, and the maintenance area. The RGV track vehicle is used to transport goods. The first judgment module is used to determine, based on the work area image and the personnel intrusion image model, whether there is personnel intrusion in the current area where the RGV track vehicle is located, and to obtain a first judgment result. The personnel intrusion image model includes personnel intrusion image models for entering the south area of ​​the fully loaded operation path, entering the north area of ​​the fully loaded operation path, entering the south area of ​​the empty operation path, entering the north area of ​​the empty operation path, entering the area where the two-point steering platform is located, entering the area where the four-point steering platform is located, entering the charging area, entering the standby area, and entering the maintenance area. The personnel intrusion image model is constructed based on the work area images of each area. An alarm module is used to suspend the operation of the RGV track vehicle and issue a personnel intrusion alarm if the first judgment result is yes; The operation control module is used to control the operation of the RGV track vehicle according to its status if the first judgment result is negative; the RGV track vehicle status includes working status, standby status, low power status, fully powered status, intact status, and fault status.

5. The control system for transporting heavy objects using an RGV railcar according to claim 4, characterized in that, Also includes: The area determination module is used to determine whether the RGV track trolley has entered the corresponding area based on the pulse response timing of the photoelectric switch in each area.

6. The control system for transporting heavy objects using an RGV railcar according to claim 4, characterized in that, The operation control module specifically includes: The second judgment unit is used to determine whether the RGV track trolley is fully charged when the RGV track trolley is in working state and after the RGV track trolley is loaded with items, and to obtain a second judgment result. The first scheduling unit is used to schedule the RGV track trolley to enter the fully loaded track via the four-part steering platform if the second judgment result is a fully charged state, and to unload the items on the RGV track trolley into the warehouse. The transfer unit is used to turn the unloaded RGV railcar to the empty track via the two-part steering platform, and then to the standby area for loading via the four-part steering platform, and to transfer it in a cycle. The second scheduling unit is used to schedule the RGV track trolley to enter the charging area via the four-point steering platform if the second judgment result is a power shortage state. The third judgment unit is used to determine whether the RGV track trolley is in a fault state and obtain a third judgment result. The fault alarm unit is used to issue a fault alarm if the third judgment result is a fault state, and to guide the RGV rail trolley into the maintenance area via the four-point steering platform. The fourth judgment unit is used to determine whether the battery level of the RGV track trolley has reached the lower limit of the battery level if the third judgment result is that the RGV track trolley is in good condition, and to obtain the fourth judgment result. The third scheduling unit is used to schedule the RGV railcar to enter the charging area via the four-part steering platform if the fourth judgment result is yes, and dispatch the second RGV railcar to load it, and then send it from the standby area to the fully loaded track via the four-part steering platform. The control unit is used to control the RGV track trolley to rotate cyclically if the fourth judgment result is negative.

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