Tile carrying system control method, controller and tile carrying system

Abstract

The invention discloses a ceramic tile carrying system control method, a controller and a ceramic tile carrying system.The ceramic tile carrying system belongs to the technical field of ceramic tile carrying, after the ceramic tile carrying system sends out a dispatching signal, it can be determined that ceramic tiles on a first target track are carried into a second target track, and then the running state of each carrying vehicle is obtained; the distance between each carrier and the ferry vehicle is obtained, after a target carrier needing to be called is determined, the ferry vehicle is used for transferring the target carrier from the current track to the first target track, and after the target carrier executes the first preset action, the ferry vehicle is used for transferring the target carrier from the first target track to the second target track; enabling the target carrier to execute a second preset action; therefore, the target carrying vehicle which is closer to the ferry vehicle and is idle can be called to execute the actions, the called carrying vehicle is prevented from waiting for the ferry vehicle for a long time, and the running efficiency of the ferry vehicle and the carrying vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tile conveying, and in particular to a control method for a tile conveying system, a controller and a tile conveying system. Background Art

[0002] As a transit and dispatching system for tile production, the tile handling system generally includes multiple lower tile tracks, multiple storage tracks, and multiple upper tile tracks. Tiles of different types produced in the previous process are unloaded from different lower tile tracks. The transporter transports tiles of various types to the storage tracks for storage according to instructions. When any one or more upper tile tracks need to load tiles and transport them to the next process, the transporter transports the tiles from the storage tracks to the corresponding upper tile tracks. However, when the existing tile handling system uses a transporter to transport tiles, unreasonable dispatching of the transporter is prone to occur, resulting in low operating efficiency of the transporter. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a control method for a tile transport system, which can call a target transport vehicle that is close to a shuttle bus and idle to perform the above-mentioned action, thereby avoiding the called transport vehicle from waiting for the shuttle bus for a long time, and helping to improve the operating efficiency of the shuttle bus and the transport vehicle.

[0004] According to the first aspect of the embodiment of the present invention, the control method of the tile handling system is applied to the tile handling system, the tile handling system includes a plurality of tracks, a shuttle bus and a plurality of transport vehicles, the shuttle bus moves to the end of any one of the tracks, the transport vehicle moves on any one of the tracks or is placed on the shuttle bus, the control method of the tile handling system includes: Determining whether the tile transport system sends a dispatch signal, and determining a first target track and a second target track according to the dispatch signal; Obtaining the operating status of each of the transport vehicles, and obtaining the distance between each of the transport vehicles and the shuttle bus; Determine a target transport vehicle according to all of the operating states and all of the distances; Determine the current track according to the position of the target transport vehicle, control the shuttle vehicle to move to the current track, and then control the target transport vehicle to move to the shuttle vehicle; Control the shuttle bus to drive the target transport vehicle to move to the end of the first target track, control the target transport vehicle to move to the first target track and perform a first preset action, and then control the target transport vehicle to move to the shuttle bus; The shuttle vehicle is controlled to drive the target transport vehicle to move to the end of the second target track, and the target transport vehicle is controlled to move to the second target track and perform a second preset action.

[0005] The control method of the tile transport system according to the embodiment of the present invention has at least the following beneficial effects: after the tile transport system sends a dispatch signal, it can be determined that the tiles on the first target track will be transported to the second target track, and then the operating status of each transport vehicle can be obtained, and the distance between each transport vehicle and the shuttle bus can be obtained. After determining the target transport vehicle that needs to be called, the shuttle bus is used to transfer the target transport vehicle from the current track to the first target track. After the target transport vehicle performs the first preset action, the shuttle bus is used to transfer the target transport vehicle from the first target track to the second target track, so that the target transport vehicle can perform the second preset action; at this point, the target transport vehicle that is close to the shuttle bus and is idle can be called to perform the above actions, avoiding the called transport vehicle waiting for the shuttle bus for a long time, which helps to improve the operating efficiency of the shuttle bus and the transport vehicle.

[0006] According to some embodiments of the present invention, obtaining the operating status of each of the transport vehicles and obtaining the distance between each of the transport vehicles and the shuttle bus includes: For each of the transport vehicles, determining whether the transport vehicle is stationary; When it is determined that the transport vehicle is stationary, determining whether the transport vehicle is unloaded; When it is determined that the transport vehicle is unloaded, the transport vehicle is determined as an idle transport vehicle; The distance between each of the idle transport vehicles and the shuttle vehicle is obtained.

[0007] According to some embodiments of the present invention, after determining the transport vehicle as an idle transport vehicle, the tile transport system control method further includes: Determine whether there is an idle transport vehicle on the first target track; When it is determined that the idle transport vehicle exists on the first target track, the idle transport vehicle is determined as the target transport vehicle; Controlling the target transport vehicle to perform the first preset action; The shuttle bus is controlled to move to the end of the first target track, and the step of controlling the target transport vehicle to move to the shuttle bus is performed.

[0008] According to some embodiments of the present invention, the tile handling system control method further includes: When it is determined that the idle transport vehicle does not exist on the first target track, the step of obtaining the distance between each of the idle transport vehicles and the shuttle bus is performed.

[0009] According to some embodiments of the present invention, after determining the first target track and the second target track according to the scheduling signal, the tile transport system control method further includes: Determine whether there is an idle transport vehicle for the shuttle bus; When it is determined that the shuttle bus has the idle transport vehicle, the idle transport vehicle is determined as the target transport vehicle, and the step of controlling the shuttle bus to drive the target transport vehicle to move to the end of the first target track is performed; When it is determined that there is no idle transport vehicle on the shuttle bus, the step of obtaining the operating status of each transport vehicle is performed.

[0010] According to some embodiments of the present invention, determining whether there is an idle transport vehicle on the shuttle bus includes: Determine whether the transport vehicle exists in the ferry vehicle; When it is determined that the transport vehicle exists on the shuttle bus, determining whether the transport vehicle on the shuttle bus is empty; When it is determined that the transport vehicle on the shuttle bus is unloaded, the transport vehicle on the shuttle bus is determined as an idle transport vehicle; When it is determined that the transport vehicle on the shuttle bus is not empty, it is determined that there is no idle transport vehicle on the shuttle bus, and the shuttle bus is controlled to move the transport vehicle on the shuttle bus to a third target track.

[0011] According to some embodiments of the present invention, determining the target transport vehicle according to all the operating states and all the distances includes: Comparing all the distances, determining the minimum distance; The corresponding idle transport vehicle is found according to the minimum distance value and is determined as the target transport vehicle.

[0012] According to some embodiments of the present invention, the tile handling system control method further includes: Determining whether the target transport vehicle completes the second preset action; When it is determined that the target transport vehicle completes the second preset action, the target transport vehicle is controlled to move to the end of the second target track and wait.

[0013] A controller according to a second aspect of an embodiment of the present invention includes: at least one processor; And a memory storing instructions, which, when executed by at least one processor, executes the tile transport system control method of the first embodiment.

[0014] The controller according to the embodiment of the present invention has at least the following beneficial effects: after the tile transport system sends a dispatch signal, the controller can determine to transport the tiles on the first target track to the second target track, and then obtain the operating status of each transport vehicle, and obtain the distance between each transport vehicle and the shuttle bus. After determining the target transport vehicle that needs to be called, the shuttle bus is used to transfer the target transport vehicle from the current track to the first target track. After the target transport vehicle performs the first preset action, the shuttle bus is used to transfer the target transport vehicle from the first target track to the second target track, so that the target transport vehicle can perform the second preset action; at this point, the target transport vehicle that is close to the shuttle bus and is idle can be called to perform the above actions, avoiding the called transport vehicle waiting for the shuttle bus for a long time, which helps to improve the operating efficiency of the shuttle bus and the transport vehicle.

[0015] The tile conveying system according to the third aspect of the embodiment of the present invention comprises the controller of the above-mentioned second aspect embodiment.

[0016] Since the tile conveying system adopts all the technical solutions of the controller of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural schematic diagram of a tile handling system according to an embodiment of the present invention; Figure 2 is a flow chart of a method for controlling a tile handling system according to an embodiment of the present invention; Figure 3 is a flow chart for obtaining the distance between an idle transport vehicle and a shuttle vehicle in one embodiment of the present invention; Figure 4 is a flow chart for determining whether there is an idle transport vehicle on the first target track in one embodiment of the present invention; Figure 5 is a flow chart for determining whether there is an idle transport vehicle in a shuttle bus in one embodiment of the present invention; Figure 6 is a flow chart for determining whether a shuttle bus that exists is an idle transporter in one embodiment of the present invention; Figure 7 is a flow chart for determining a target transport vehicle in one embodiment of the present invention; Figure 8 This is a flow chart of controlling a target transport vehicle to wait on a second target track in one embodiment of the present invention.

[0018] Reference numerals: track 100 , shuttle vehicle 200 , transport vehicle 300 . DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as front, rear, top, bottom, axial, and circumferential are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0021] In the description of the present invention, the meaning of "above", "below", "exceed", etc. is not inclusive of the number itself, and the meaning of "above", "below", "within", etc. is inclusive of the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0022] In the description of the present invention, it should be noted that the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0023] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments.

[0024] Reference Figure 1 As shown, the tile transport system according to the embodiment of the present invention includes a plurality of tracks 100 , a shuttle vehicle 200 and a plurality of transport vehicles 300 .

[0025] The multiple tracks 100 are respectively distributed on both sides of the shuttle bus 200 so that the shuttle bus 200 can move to the end of any track 100 , and the multiple transport vehicles 300 are distributed on the multiple tracks 100 or the shuttle bus 200 .

[0026] In this embodiment, the shuttle bus 200 moves longitudinally and the transport vehicle 300 moves transversely in the track 100. When the shuttle bus 200 moves to the end of the track 100, the transport vehicle 300 can move from the track 100 to the shuttle bus 200 or the transport vehicle 300 can move from the shuttle bus 200 to the track 100.

[0027] Reference Figure 2 As shown, the tile conveying system control method of an embodiment of the present invention includes the following steps.

[0028] Step S100, determining whether the tile transport system sends out a dispatch signal, and determining the first target track and the second target track according to the dispatch signal.

[0029] When the tile transport system needs to dispatch the transport vehicle 300, a dispatch signal will be issued, and the dispatch signal indicates the first target track and the second target track, so that the transport vehicle 300 first moves to the first target track and completes the corresponding action, and then instructs the transport vehicle 300 to move to the second target track and complete the corresponding action.

[0030] Step S200 , obtaining the operating status of each transport vehicle 300 , and obtaining the distance between each transport vehicle 300 and the shuttle bus 200 .

[0031] The operation state of the transport vehicle 300 includes a working state and an idle state. When the transport vehicle 300 moves or the transport vehicle 300 carries tiles, the transport vehicle 300 is in a working state. When the transport vehicle 300 is stationary and the transport vehicle 300 does not carry tiles, the transport vehicle 300 is in an idle state.

[0032] Therefore, after the operating status of all the transport vehicles 300 is acquired, the transport vehicles 300 in the idle state can be determined, so as to call the transport vehicles 300 in the idle state.

[0033] When obtaining the distance between the transport vehicle 300 and the shuttle bus 200, first determine the position of the shuttle bus 200, and then determine the position of the shuttle bus 200 relative to each track 100 through the displacement sensor of the shuttle bus 200 on its own track or the travel record of the shuttle bus 200 itself, and then determine the track 100 where each transport vehicle 300 is located and its position, and then calculate the distance of each transport vehicle 300 relative to the shuttle bus 200.

[0034] Step S300, determining a target transport vehicle according to all operating states and all distances.

[0035] The transport vehicle 300 that needs to be called is in idle state, and the closer the distance between the shuttle bus 200 and the transport vehicle 300 is, the more advantageous it is for the shuttle bus 200 to transfer the transport vehicle 300 in a short time, thereby reducing the waiting time of the transport vehicle 300. Therefore, the target transport vehicle can be determined according to the corresponding operating status and distance of each transport vehicle 300.

[0036] Step S400 , determining the current track according to the position of the target transport vehicle, controlling the shuttle vehicle 200 to move to the current track, and then controlling the target transport vehicle to move to the shuttle vehicle 200 .

[0037] After determining the target transport vehicle, the location of the target transport vehicle can be obtained, and then the current track where the target transport vehicle is located can be located. The shuttle bus 200 needs to move to the current track to facilitate the transfer of the target transport vehicle from the current track to the shuttle bus 200, and the shuttle bus 200 then transfers the target transport vehicle to the first target track and the second target track.

[0038] Step S500 , controlling the shuttle bus 200 to drive the target transport vehicle to move to the end of the first target track, controlling the target transport vehicle to move to the first target track and performing the first preset action, and then controlling the target transport vehicle to move to the shuttle bus 200 .

[0039] The shuttle bus 200 transfers the target transport vehicle to the first target track. The dispatch signal indicates that the target transport vehicle needs to move to the first target position on the first target track. After the target transport vehicle arrives at the first target position, the target transport vehicle performs a first preset action. The first preset action is to obtain tiles from the first target track. After obtaining the tiles, the target transport vehicle moves back to the shuttle bus 200 so that the shuttle bus 200 can transfer the target transport vehicle to the second target track.

[0040] Step S600, controlling the shuttle vehicle to drive the target transport vehicle to move to the end of the second target track, controlling the target transport vehicle to move to the second target track and executing a second preset action.

[0041] The shuttle bus 200 transfers the target transport vehicle to the second target track. The dispatch signal indicates that the target transport vehicle needs to move to the second target position on the second target track. After the target transport vehicle arrives at the second target position, the target transport vehicle performs a second preset action. The second preset action is to drop the tiles from the second target track. After dropping the tiles, the target transport vehicle can stay still and wait for the next dispatch signal or move to the end of the second target track and wait for the next dispatch signal.

[0042] After the tile transport system sends a dispatch signal, it can be determined that the tiles on the first target track will be transported to the second target track, and then the operating status of each transport vehicle 300 can be obtained, and the distance between each transport vehicle 300 and the shuttle bus 200 can be obtained. After determining the target transport vehicle that needs to be called, the shuttle bus 200 is used to transfer the target transport vehicle from the current track to the first target track. After the target transport vehicle performs the first preset action, the shuttle bus 200 is used to transfer the target transport vehicle from the first target track to the second target track, so that the target transport vehicle can perform the second preset action; at this point, the target transport vehicle that is close to the shuttle bus 200 and is idle can be called to perform the above actions, avoiding the called transport vehicle 300 waiting for the shuttle bus 200 for a long time, which helps to improve the operating efficiency of the shuttle bus 200 and the transport vehicle 300.

[0043] In some embodiments, reference Figure 3As shown, step S200, obtaining the operating status of each transport vehicle 300 and obtaining the distance between each transport vehicle 300 and the shuttle bus 200, includes the following steps.

[0044] In step S210 , for each transport vehicle 300 , it is determined whether the transport vehicle 300 is stationary.

[0045] When the transport vehicle 300 has no running instruction, it will be stationary and wait for a call signal, so that the tile transport system can call the transport vehicle 300 at any time.

[0046] Step S220: When it is determined that the transport vehicle 300 is stationary, it is determined whether the transport vehicle 300 is empty.

[0047] The stationary transport vehicle 300 may be carrying tiles and waiting for the shuttle vehicle 200 to transfer to other tracks, so it is necessary to determine whether the transport vehicle 300 is in an empty state.

[0048] Step S230: When it is determined that the transport vehicle 300 is unloaded, the transport vehicle 300 is determined as an idle transport vehicle.

[0049] When the transport vehicle 300 is in a stationary state and in an unloaded state, the transport vehicle can be determined as an idle transport vehicle, so that the tile transport system can call these idle transport vehicles at any time.

[0050] Step S240, obtaining the distance between each idle transport vehicle and the shuttle vehicle 200.

[0051] Firstly, a plurality of idle transport vehicles are determined, and then the distances between these idle transport vehicles and the shuttle bus 200 are obtained, so as to reduce the time for calculating the distance between the transport vehicle 300 and the shuttle bus 200, and help to improve the calculation efficiency.

[0052] In some embodiments, reference Figure 4 As shown, after the transport vehicle 300 is determined as an idle transport vehicle, the tile transport system control method further includes the following steps.

[0053] Step S700, determining whether there is an idle transport vehicle on the first target track.

[0054] Since the transport vehicle 300 can move to any track 100 according to instructions, there is a possibility that the transport vehicle 300 is in a stationary waiting state after moving to the first target track.

[0055] Step S710: When it is determined that there is an idle transport vehicle on the first target track, the idle transport vehicle is determined as the target transport vehicle.

[0056] After multiple idle transport vehicles are determined, there may be an idle transport vehicle on the first target track. If an idle transport vehicle is called from other tracks, it will obviously waste a lot of time. Therefore, the idle transport vehicle on the first target track can be directly called.

[0057] Step S720, controlling the target transport vehicle to perform a first preset action.

[0058] After the target transport vehicle of the first target track is called, the target transport vehicle can directly execute the first preset action, such as moving to the first target position and then acquiring the tile.

[0059] Step S730, controlling the shuttle vehicle 200 to move to the end of the first target track, and executing the step of controlling the target transport vehicle to move to the shuttle vehicle 200.

[0060] At the same time, the shuttle bus 200 can be called to move to the end of the first target track to wait for the target transport vehicle. After the target transport vehicle completes the first preset action, it can move to the shuttle bus 200 so that the shuttle bus 200 can transfer the target transport vehicle to the second target track.

[0061] In some embodiments, reference Figure 4 As shown, the tile conveying system control method also includes the following steps.

[0062] Step S740, when it is determined that there is no idle transport vehicle on the first target track, the step of obtaining the distance between each idle transport vehicle and the shuttle bus 200 is executed.

[0063] After it is determined that the idle transport vehicle is not on the first target track, the step of obtaining the distance from the shuttle bus 200 to each idle transport vehicle is performed to facilitate the subsequent calling of the target transport vehicle.

[0064] In some embodiments, reference Figure 5 As shown, after determining the first target track and the second target track according to the scheduling signal, the tile transport system control method also includes the following steps.

[0065] Step S800, determining whether there is an idle transport vehicle in the shuttle vehicle 200.

[0066] After the tile transport system sends out a call signal, there may be a transport vehicle 300 on the shuttle bus 200, so it can be determined whether the transport vehicle 300 on the shuttle bus 200 is an idle transport vehicle.

[0067] Step S810, when it is determined that there is an idle transport vehicle in the shuttle bus 200, the idle transport vehicle is determined as the target transport vehicle, and the step of controlling the shuttle bus 200 to drive the target transport vehicle to move to the end of the first target track is executed.

[0068] After determining that the idle transport vehicle is located on the shuttle bus 200, the idle transport vehicle on the shuttle bus 200 may be set as the target transport vehicle, so as to facilitate the step of the shuttle bus 200 transferring the target transport vehicle to the first target track.

[0069] Step S820: When it is determined that there is no idle transport vehicle in the shuttle bus 200, a step of obtaining the operating status of each transport vehicle is executed.

[0070] When there is no transport vehicle 300 on the shuttle bus 200, a target transport vehicle needs to be selected from multiple idle transport vehicles, so the operating status of each transport vehicle 300 needs to be obtained, and based on the operating status of each transport vehicle 300, an idle transport vehicle 300 can be called.

[0071] When there is a transport vehicle 300 on the shuttle bus 200 , but the transport vehicle 300 is not an idle transport vehicle, the shuttle bus 200 is required to transfer the transport vehicle 300 to the nearest track 100 and obtain the distance between each idle transport vehicle and the shuttle bus 200 .

[0072] In some embodiments, reference Figure 6 As shown, step S800, determining whether there is an idle transport vehicle in the shuttle vehicle 200, includes the following steps.

[0073] Step S801, determining whether there is a transport vehicle 300 in the shuttle vehicle 200.

[0074] When the tile transport system sends a call signal, the shuttle bus 200 may carry the transport vehicle 300 and transfer it to any track 100. The shuttle bus 200 is used to coordinate multiple transport vehicles 300 of the tile transport system. Therefore, it is first determined whether there is a transport vehicle 300 on the shuttle bus 200 to detect whether the shuttle bus 200 is performing the action of transferring the transport vehicle 300.

[0075] Step S802, when it is determined that there is a transport vehicle 300 on the shuttle bus 200, it is determined whether the transport vehicle 300 on the shuttle bus 200 is empty.

[0076] When it is determined that the transport vehicle 300 is located on the shuttle bus 200, it can be determined whether the transport vehicle 300 on the shuttle bus 200 is in an empty state to avoid the transport vehicle 300 carrying tiles and being in an instruction to carry tiles.

[0077] Step S803: When it is determined that the transport vehicle 300 on the shuttle bus 200 is unloaded, the transport vehicle 300 on the shuttle bus 200 is determined as an idle transport vehicle.

[0078] When it is determined that the transport vehicle 300 on the shuttle bus 200 is in an unloaded state, the transport vehicle 300 may be set as an idle transport vehicle.

[0079] Step S804, when it is determined that the transport vehicle 300 on the shuttle bus 200 is not empty, it is determined that there is no idle transport vehicle on the shuttle bus 200, and the shuttle bus 200 is controlled to move the transport vehicle 300 on the shuttle bus 200 to the third target track.

[0080] When it is determined that the transporter 300 is carrying tiles, it proves that the transporter 300 is executing the instruction to transport tiles. Therefore, the destination of the transporter 300 is the third target track. The shuttle bus 200 needs to transfer the transporter 300 to the third target track first, and then obtain the distance from the shuttle bus 200 to each idle transporter to avoid changes in the distance after the shuttle bus 200 moves.

[0081] In some embodiments, reference Figure 7 As shown, step S300, determining a target transport vehicle according to all operating states and all distances, includes the following steps.

[0082] Step S310: compare all distances and determine the minimum distance.

[0083] After determining a plurality of idle transport vehicles and obtaining the distance between each idle transport vehicle and the shuttle bus 200 , all distances may be compared to select the minimum distance.

[0084] Step S320: Find the corresponding idle transport vehicle according to the minimum distance and determine it as the target transport vehicle.

[0085] The corresponding idle transport vehicle is found by the minimum distance, which proves that the distance between the idle transport vehicle and the shuttle bus 200 is the shortest. Therefore, the idle transport vehicle can be set as the target transport vehicle so that the shuttle bus 200 can reach the current track where the target transport vehicle is located by moving a shorter distance.

[0086] In some embodiments, reference Figure 8 As shown, the tile conveying system control method also includes the following steps.

[0087] Step S900, determining whether the target transport vehicle has completed the second preset action.

[0088] After the target transport vehicle moves to the second target position of the second target track, the target transport vehicle needs to perform a second preset action and needs to determine whether the second preset action is completed. For example, the target transport vehicle places the tile at the second target position of the second target track and needs to determine whether the tile is separated from the target transport vehicle.

[0089] Step S910, when it is determined that the target transport vehicle completes the second preset action, the target transport vehicle is controlled to move to the end of the second target track and wait.

[0090] After determining that the target transport vehicle completes the second preset action, the target transport vehicle moves to the end of the second target track, so that the target transport vehicle waits for the next call signal at the end of the second target track, saving the time for the target transport vehicle to move to the shuttle bus 200 after receiving the call signal.

[0091] In addition, an embodiment of the present invention further provides a controller, comprising: at least one processor; and a memory storing instructions, which, when executed by at least one processor, executes the tile transport system control method of the above embodiment.

[0092] Take the example that the processor and memory in the controller can be connected through a bus. The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk memory, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the control processor, and these remote memories may be connected to the controller via a network.

[0093] The non-transient software program and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the control method of the above embodiment is executed, for example, the control method described above is executed. Figure 2 Steps S100 to S600 of the method, Figure 3 Steps S210 to S240 of the method, Figure 4 Steps S700 to S740 of the method, Figure 5 Steps S800 to S820 of the method, Figure 6 Steps S801 to S804 of the method, Figure 7 Steps S310 to S320 of the method, Figure 8 Method steps S900 to S910, etc.

[0094] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] An embodiment of the present invention further provides a tile transport system, comprising the controller of the above embodiment.

[0096] The tile transport system uses a controller to execute the tile transport system control method, which can call a target transport vehicle that is close to the shuttle bus 200 and is idle, avoiding the called transport vehicle 300 from waiting for the shuttle bus 200 for a long time, which helps to improve the operating efficiency of the shuttle bus 200 and the transport vehicle 300.

[0097] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0098] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0099] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the above units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0101] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0103] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store programs.

[0104] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A method for controlling a tile handling system, characterized in that: Applied to a tile handling system, the tile handling system includes a plurality of tracks, a shuttle bus and a plurality of transport vehicles, the shuttle bus moves to the end of any one of the tracks, the transport vehicle moves on any one of the tracks or is placed on the shuttle bus, and the control method of the tile handling system includes: Determining whether the tile transport system sends a dispatch signal, and determining a first target track and a second target track according to the dispatch signal; Obtaining the operating status of each of the transport vehicles, and obtaining the distance between each of the transport vehicles and the shuttle bus; Determine a target transport vehicle according to all of the operating states and all of the distances; Determine the current track according to the position of the target transport vehicle, control the shuttle vehicle to move to the current track, and then control the target transport vehicle to move to the shuttle vehicle; Control the shuttle bus to drive the target transport vehicle to move to the end of the first target track, control the target transport vehicle to move to the first target track and perform a first preset action, and then control the target transport vehicle to move to the shuttle bus; The shuttle vehicle is controlled to drive the target transport vehicle to move to the end of the second target track, and the target transport vehicle is controlled to move to the second target track and perform a second preset action.

2. The control method of the tile handling system according to claim 1, characterized in that: The step of obtaining the operating status of each transport vehicle and the distance between each transport vehicle and the shuttle bus includes: For each of the transport vehicles, determining whether the transport vehicle is stationary; When it is determined that the transport vehicle is stationary, determining whether the transport vehicle is unloaded; When it is determined that the transport vehicle is unloaded, the transport vehicle is determined as an idle transport vehicle; The distance between each of the idle transport vehicles and the shuttle vehicle is obtained.

3. The control method of the tile handling system according to claim 2, characterized in that: After determining the transport vehicle as an idle transport vehicle, the tile transport system control method further includes: Determine whether there is an idle transport vehicle on the first target track; When it is determined that the idle transport vehicle exists on the first target track, the idle transport vehicle is determined as the target transport vehicle; Controlling the target transport vehicle to perform the first preset action; The shuttle bus is controlled to move to the end of the first target track, and the step of controlling the target transport vehicle to move to the shuttle bus is performed.

4. The control method of the tile handling system according to claim 3, characterized in that: The tile handling system control method further includes: When it is determined that the idle transport vehicle does not exist on the first target track, the step of obtaining the distance between each of the idle transport vehicles and the shuttle bus is performed.

5. The control method of a tile handling system according to claim 1, characterized in that: After determining the first target track and the second target track according to the scheduling signal, the tile transport system control method further includes: Determine whether there is an idle transport vehicle for the shuttle bus; When it is determined that the shuttle bus has the idle transport vehicle, the idle transport vehicle is determined as the target transport vehicle, and the step of controlling the shuttle bus to drive the target transport vehicle to move to the end of the first target track is performed; When it is determined that there is no idle transport vehicle on the shuttle bus, the step of obtaining the operating status of each transport vehicle is performed.

6. The control method of the tile handling system according to claim 5, characterized in that: The step of determining whether there is an idle transport vehicle on the shuttle bus includes: Determine whether the transport vehicle exists in the ferry vehicle; When it is determined that the transport vehicle exists on the shuttle bus, determining whether the transport vehicle on the shuttle bus is empty; When it is determined that the transport vehicle on the shuttle bus is unloaded, the transport vehicle on the shuttle bus is determined as an idle transport vehicle; When it is determined that the transport vehicle on the shuttle bus is not empty, it is determined that there is no idle transport vehicle on the shuttle bus, and the shuttle bus is controlled to move the transport vehicle on the shuttle bus to a third target track.

7. The control method of a tile handling system according to claim 2, characterized in that: The step of determining the target transport vehicle according to all the operating states and all the distances comprises: Comparing all the distances, determining the minimum distance; The corresponding idle transport vehicle is found according to the minimum distance value and is determined as the target transport vehicle.

8. The control method of a tile handling system according to claim 1, characterized in that: The tile handling system control method further includes: Determining whether the target transport vehicle completes the second preset action; When it is determined that the target transport vehicle completes the second preset action, the target transport vehicle is controlled to move to the end of the second target track and wait.

9. A controller, characterized in that: include: at least one processor; and a memory storing instructions, which, when executed by at least one processor, executes the tile handling system control method described in any one of claims 1 to 8.

10. A tile handling system, characterized in that: Comprising the controller as claimed in claim 9.

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