RGV motion control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses an RGV motion control method and device, electronic equipment and a storage medium, and relates to the technical field of automation control, and the method comprises the steps: obtaining the states of an RGV and a goods location, obtaining a to-be-processed task and a target location according to the states of the RGV and the goods location, when the RGV does not have an in-place signal, judging whether the RGV walks or not, and if the RGV does not walk, executing the task processing according to the to-be-processed task and the target location. If yes, a walking signal is sent to an RGV controller, if the RGV walks, a task to be processed is sent to a target position, when the RGV has an in-place signal, position judgment, reset judgment and back insertion confirmation are conducted on the RGV, and a completion signal is received, if the completion signal does not exist, extension and insertion processing is conducted on the RGV, and otherwise, taking and placing processing is conducted on the RGV. By monitoring the states of the RGVs and the goods locations in real time, the tasks can be quickly responded and allocated to the idle RGVs, the overall operation efficiency is improved, and the problems that in the prior art, the real-time response capacity is insufficient, the task waiting and operation efficiency is reduced, and data visualization and management interfaces are lacked are solved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a motion control method, device, electronic equipment and storage medium for a RGV. Background Art

[0002] RGV (Rail Guided Vehicle) is a rail-guided vehicle, also known as a rail shuttle. It is a material handling equipment that runs automatically along a preset track. It is mainly used in automated production lines or storage systems to achieve automatic handling and transportation of materials. RGV has the advantages of strong flexibility, high positioning accuracy, stable and reliable operation, etc. It can significantly improve production efficiency and accuracy, and reduce labor costs and safety risks. Therefore, it is widely used in industrial automation, intelligent manufacturing, warehousing and logistics and other fields.

[0003] However, the RGV (rail-guided shuttle) control system in the prior art generally operates in a way of pre-generating tasks. Although it ensures the first-in-first-out and process-based task processing, it often encounters challenges of stability and uncertainty in actual applications. Under this mechanism, if the preset task fails to execute for some reason, but the subsequent tasks can proceed normally, the RGV will wait for invalid tasks for a long time, seriously affecting the overall operation efficiency.

[0004] In view of this, this technical solution aims to optimize the automated operation process of RGV through innovative software control methods, so as to overcome the defects of the existing technology and improve the stability and operating efficiency of the system.

[0005] Therefore, there is an urgent need for a motion control method for RGV that can optimize the automated operation process of RGV and improve the stability and operating efficiency of the system. Summary of the invention

[0006] The embodiments of the present invention provide a motion control method for RGV to solve the problems of insufficient real-time response capability, decreased task waiting and operation efficiency, and lack of data visualization and management interface in the prior art. The technical solution is as follows:

[0007] According to one aspect of the present invention, a motion control method for RGV includes: obtaining the status of the RGV and a cargo position, obtaining the pending task and the target position according to the status of the RGV and the cargo position, and performing task processing; when the RGV has no in-place signal, determining whether the RGV is moving, if the RGV is not moving, sending the moving signal of the pending task to the RGV controller to control the RGV to move to the target position; if the RGV is moving, sending the pending task to the target position according to the task processing situation; when the RGV has an in-place signal, performing position determination, reset determination, and back-insertion confirmation on the RGV and receiving a completion signal, if there is no completion signal, performing extension and insertion processing on the RGV, otherwise performing pick-and-place processing on the RGV.

[0008] In one of the embodiments, when the RGV has an in-place signal, the position judgment, reset judgment and re-insertion confirmation of the RGV are achieved by the following steps: comparing the position of the RGV with the target position to determine whether they are consistent, and if they are consistent, sending a completion signal; judging whether the pending task belongs to a reset task, and if so, resetting the RGV; the reset tasks include manual and non-pick-and-place tasks and fire avoidance tasks; judging whether the RGV needs to be re-inserted and confirmed in the pending task, and if so, interactively re-inserting the RGV and the target position for confirmation.

[0009] In one of the embodiments, the extension and insertion processing of the RGV is implemented through the following steps: if there is no extension and insertion requirement in the pending task, determine whether the pending task is to take or put, if it is to take, send a disk take instruction to the RGV, and if it is to put, send a disk put instruction to the RGV; if there is an extension and insertion requirement in the pending task, determine whether the RGV has completed the take and put action, and save the data if the take and put action has been completed.

[0010] In one of the embodiments, before sending the disk pickup instruction and disk placement instruction to the RGV, the method includes the following steps: performing security monitoring interaction and data interaction between the RGV and the target location, and stopping disk pickup and disk placement if the interaction fails.

[0011] In one of the embodiments, the fetch and place processing of the RGV is implemented by the following steps: determine whether the task to be processed is to fetch or to place, and if it is to fetch, transfer the pending data in the task to be processed to the RGV, and delete the pending data in the target position; determine whether the task to be processed is to fetch or to place, and if it is to place, transfer the pending data in the task to be processed to the target position, and delete the pending data in the RGV.

[0012] In one of the embodiments, the method further includes the following steps: defining standardized and regularized equipment and cargo location objects, the equipment and cargo locations uploading their own data in a regular or regular manner according to a defined interface format, visually displaying the location and task execution status of the objects according to the X and Y axis coordinates, and periodically refreshing the visualization interface data.

[0013] In one of the embodiments, the method further includes the following steps: using .net W i nform technology to develop a customized interface and automatically draw cargo location and equipment information, using the .net Framework framework to provide a WebServ i ce interface for logical processing and database operations, and using a relational database to store relevant data on equipment and cargo locations.

[0014] According to one aspect of the present invention, a motion control device for RGV comprises: a task acquisition module, used for acquiring the status of RGV and cargo position, acquiring pending tasks and target positions according to the status of RGV and cargo position, and performing task processing; an RGV walking start module, used for judging whether the RGV is walking when there is no arrival signal of the RGV, and if the RGV is not walking, sending the walking signal of the pending task to the RGV controller to control the RGV to walk to the target position; an RGV walking operation module, used for sending the pending task to the target position according to the task processing situation when the RGV is walking; an RGV task execution module, used for performing position judgment, reset judgment and back-insertion confirmation on the RGV when there is an arrival signal of the RGV and receiving a completion signal, and performing extension and insertion processing on the RGV if there is no completion signal, and otherwise performing pick-and-place processing on the RGV.

[0015] According to one aspect of the present invention, an electronic device includes at least one processor and at least one memory, wherein the memory stores computer-readable instructions; the computer-readable instructions are executed by one or more of the processors, so that the electronic device implements the RGV motion control method as described above.

[0016] According to one aspect of the present invention, a storage medium stores computer-readable instructions thereon, and the computer-readable instructions are executed by one or more processors to implement the motion control method of the RGV as described above.

[0017] The beneficial effects brought by the technical solution provided by the present invention are:

[0018] In the above technical scheme, the present invention first obtains the status of the RGV and the cargo position, obtains the pending tasks and the target position according to the status of the RGV and the cargo position and performs task processing, and determines whether the RGV is moving when there is no arrival signal of the RGV. If the RGV is not moving, the walking signal of the pending task is sent to the RGV controller to control the RGV to move to the target position. If the RGV is moving, the pending task is sent to the target position according to the task processing situation, and when the RGV has an arrival signal, the RGV is position-judged, reset-judged and re-inserted confirmed and a completion signal is received. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is picked and placed. By real-time monitoring of the status of the RGV and the cargo position, it is possible to respond quickly and assign tasks to idle RGVs, thereby improving the overall operation efficiency. Multiple judgment and confirmation mechanisms ensure the accuracy and safety of the RGV in the process of executing tasks, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system, thereby effectively solving the problems of insufficient real-time response capability, reduced task waiting and operation efficiency, and lack of data visualization and management interface in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a motion control method of an RGV according to an exemplary embodiment;

[0021] Figure 2 It is a flow chart of a motion control method of an RGV in an application scenario;

[0022] Figure 3 is a block diagram of a motion control device for a RGV according to an exemplary embodiment;

[0023] Figure 4 is a hardware structure diagram of an electronic device according to an exemplary embodiment;

[0024] Figure 5 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0025] 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 interpreted as limiting the present invention.

[0026] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present disclosure refers to the presence of the features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0027] The present invention provides a motion control method for RGV, which can quickly respond and assign tasks to idle RGVs by real-time monitoring of the status of RGVs and cargo spaces, thereby improving overall operating efficiency and solving the problems of insufficient real-time response capability, decreased task waiting and operating efficiency, and lack of data visualization and management interface in the prior art. The motion control method for RGV is applicable to a motion control device for RGV, which can be an electronic device. The motion control method for RGV in the embodiment of the present invention can be applied to a variety of scenarios, such as motion control of RGV, etc.

[0028] See also Figure 1 , an embodiment of the present invention provides a motion control method of an RGV, which is applicable to electronic equipment.

[0029] In the following method embodiments, for ease of description, the execution subject of each step of the method is taken as an electronic device as an example for illustration, but this does not constitute a specific limitation.

[0030] like Figure 1 As shown, the method may include the following steps:

[0031] Step 110, obtaining the status of the RGV and the cargo location, obtaining the pending tasks and the target location according to the status of the RGV and the cargo location, and performing task processing.

[0032] Step 130 , when there is no arrival signal of the RGV, it is determined whether the RGV is moving. If the RGV is not moving, a moving signal of the task to be processed is sent to the RGV controller to control the RGV to move to the target position.

[0033] Step 150: If the RGV is moving, the task to be processed is sent to the target location according to the task processing situation.

[0034] Among them, the target position refers to the designated position that the RGV trolley needs to reach when performing a task. This position may be the storage location, processing location, transfer location, etc. of the goods, depending on the task requirements and system configuration. In the motion control of the RGV trolley, the target position is a key parameter to guide the movement of the trolley. The system will calculate the target position that the trolley needs to reach based on the task instructions and map information, and drive the trolley to reach the position accurately through the control algorithm. After arriving at the target position, the trolley may perform operations such as picking up, releasing, and testing.

[0035] Step 170, when the RGV has an in-position signal, the position, reset and reinsertion confirmation of the RGV are performed and a completion signal is received. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is taken and placed.

[0036] In one possible implementation, the position of RGV is compared with the target position to determine whether they are consistent. If they are consistent, a completion signal is issued to determine whether the task to be processed is a reset task. If so, RGV is reset. It is determined whether RGV is required to be reinserted for confirmation in the task to be processed. If necessary, RGV and the target position are interactively reinserted for confirmation.

[0037] Among them, the reset tasks include manual and non-pick-and-place tasks and fire avoidance tasks.

[0038] In one possible implementation, if there is no insertion or extension requirement in the task to be processed, it is determined whether the task to be processed is to fetch or place. If it is to fetch, a fetch instruction is sent to the RGV; if it is to place, a place instruction is sent to the RGV. If there is an insertion or extension requirement in the task to be processed, it is determined whether the RGV has completed the fetching and placing action; if the fetching and placing action has been completed, the data is saved.

[0039] In a possible implementation, before sending a disk fetching instruction and a disk placing instruction to the RGV, a security monitoring interaction and a data interaction are performed between the RGV and the target location. If the interaction fails, the disk fetching and disk placing are stopped.

[0040] In one possible implementation, determine whether the pending task is to take or put. If it is to take, transfer the pending data in the pending task to RGV, and delete the pending data in the target position. Determine whether the pending task is to take or put. If it is to put, transfer the pending data in the pending task to the target position, and delete the pending data in RGV.

[0041] In one possible implementation, standardized and regularized equipment and cargo location objects are defined. The equipment and cargo locations upload their own data regularly or according to the defined interface format, and the location and task execution status of the objects are visualized according to the X and Y axis coordinates, and the visualization interface data is refreshed periodically.

[0042] In one possible implementation, .net W i nform technology is used to develop a customized interface and automatically draw the cargo location and equipment information, the .net Framework framework is used to provide a WebServ i ce interface for logical processing and database operations, and a relational database is used to store relevant data on equipment and cargo locations.

[0043] Reset means interrupting or canceling the task currently being executed by RGV and restoring RGV to its initial state or standby state. This operation may be performed automatically by the system or manually triggered by the operator. For example, when the system detects a fault, conflict, task change or other situation that requires interruption of the current task, a reset operation will be performed. In addition, in scenarios such as maintenance, debugging or system restart, it may also be necessary to manually reset the RGV task.

[0044] Among them, reinsertion confirmation refers to the process in which RGV accurately puts goods or pallets and other items back to the designated location after completing the pickup or delivery operation, and confirms that they have been placed correctly. This process includes physical detection (such as sensor detection) and logical judgment (such as position comparison). In the automated logistics system, reinsertion confirmation is an important link to ensure the accurate placement of goods and avoid misplacement or omission. Through reinsertion confirmation, the system can ensure that each task is completed as expected, thereby improving overall operational efficiency and accuracy.

[0045] Among them, judging whether to extend or insert means that before the RGV trolley performs the task of picking up or releasing goods, the system needs to judge whether the trolley needs to extend the picking mechanism (such as a robotic arm, suction cup, etc.) to grab or place the goods. This judgment process may be based on multiple factors such as task instructions, cargo location, and trolley status. In an automated warehouse or logistics system, the RGV trolley needs to perform picking up or releasing operations according to task requirements. Before performing these operations, the system needs to accurately judge whether the trolley needs to extend the picking mechanism to ensure that the operation can proceed smoothly.

[0046] Through the above process, the present invention first obtains the status of the RGV and the cargo position, obtains the pending task and the target position according to the status of the RGV and the cargo position and performs task processing, and judges whether the RGV is moving when there is no arrival signal of the RGV. If the RGV is not moving, the walking signal of the pending task is sent to the RGV controller to control the RGV to move to the target position. If the RGV is moving, the pending task is sent to the target position according to the task processing situation, and when the RGV has an arrival signal, the RGV is position-judged, reset-judged and re-inserted confirmed and a completion signal is received. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is picked and placed. By real-time monitoring of the status of the RGV and the cargo position, it can respond quickly and assign tasks to idle RGVs, thereby improving the overall operation efficiency. Multiple judgment and confirmation mechanisms ensure the accuracy and safety of the RGV in the process of executing tasks, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system, thereby effectively solving the problems of insufficient real-time response capability, reduced task waiting and operation efficiency, and lack of data visualization and management interface in the prior art.

[0047] In one application scenario, Figure 2 A flow chart of a motion control method for RGV is shown.

[0048] like Figure 2 As shown, in the scheduling system, the RGV status is first obtained to determine the current status of the RGV trolley. If the trolley currently has no task, the task is obtained according to the real-time cargo position status, and the task instruction is sent to the task cache, and then the task is processed. If there is no RGV arrival signal, it is determined whether the RGV is still moving. If so, the request is sent to the target position in advance according to the task situation and the data is saved. If not, the current RGV data is saved and the target position and walking signal are sent to the RGV controller. If there is an RGV arrival signal, it is determined whether the RGV position is consistent with the task position, whether the task is a manual task and there is no pick-up and placement when in place, or whether this task is a fire avoidance task, the trolley task is reset, and it is determined whether the trolley needs to be reinserted for confirmation. If necessary, it is confirmed with the target The RGV task is to pick up or put away, and if it is to pick up, send the disk pick-up instruction to RGV, and if it is to put away, send the disk put-away instruction to RGV. Before picking and putting, safety check interaction and data interaction are performed. If the interaction fails, the picking and putting action is not performed. If there is stretching and insertion, determine whether the picking and putting action is completed. If it is completed, save the corresponding data, otherwise do not process it. If there is a completion signal, determine whether the task is to pick up or put away, if it is to pick up, transfer the data to RGV and delete the corresponding cargo location data before saving the data. If it is to put away, transfer the data to the corresponding cargo location and delete the RGV data before saving the data. Finally, save and clear the data accordingly to end the task.

[0049] Through the above process, the embodiment of the present invention can quickly respond and assign tasks to idle RGVs by real-time monitoring the status of RGVs and cargo locations, thereby improving overall operating efficiency. Multiple judgment and confirmation mechanisms ensure the accuracy and safety of RGVs in the process of executing tasks, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system. Through intelligent task allocation, precise RGV control and efficient operation process management, the operating efficiency, resource utilization and system reliability of the automated warehouse are significantly improved, the labor cost and the risk of human error are reduced, and it has significant beneficial effects, thereby effectively solving the problems of insufficient real-time response capability, reduced task waiting and operating efficiency, and lack of data visualization and management interface in the prior art.

[0050] In another application scenario, a motion control system of an RGV includes a cargo location and equipment data acquisition module, a data visualization module, a module communicating with an RGV controller, an RGV automatic task algorithm module, and an RGV manual task function module.

[0051] The system consists of three parts: front-end interface, back-end service and database. It is based on Winform client system, runs efficiently and quickly, uses database to store cargo location and equipment data, and provides API interface to collect equipment and cargo location data and integrate with other systems.

[0052] Specifically, the front-end interface is used to provide users with an operating interface for viewing and controlling RGV, and can also intuitively and conveniently view the cargo location and equipment status; the back-end service is used to process front-end requests, process equipment data upload requests, perform logical processing, and operate the database; the database is used to store real-time data of equipment and cargo locations, user data, etc.

[0053] Among them, the front-end interface is developed using .net W i nform technology. Through initial configuration, the cargo location and equipment information are automatically drawn and loaded into the user operation interface. Timer controls are used to load relevant data in real time to update the user operation interface. The back-end service is developed using the .net Framework framework and provides a WebServ i ce interface. The database supports other relational databases such as Mysq l / Orac le / Sq l Server, and defines user tables, cargo location data tables, cargo location coordinate information tables, RGV task algorithm tables, RGV historical task tables, RGV real-time data tables, etc.

[0054] The cargo locations and equipment upload data to the dispatching system through the data acquisition module. The dispatching system loads the data to the user interface through the data visualization module and starts the software automatic task. The software controls the RGV to perform the corresponding pick-and-place tasks through the automatic task algorithm.

[0055] Using the RGV motion control system to control the RGV motion can include the following four parts:

[0056] The first part is the collection of cargo location and equipment data.

[0057] Specifically, define standardized and regularized equipment and cargo location objects, define the storage method of the objects, write the operation interface for adding, deleting, modifying and checking the object information, and the cargo locations and equipment upload their own data regularly or according to the defined interface format, collect the data of the cargo locations and equipment, and use a unified standardized interface to normalize the data of the cargo locations and equipment to ensure the security and integrity of the data.

[0058] In the second part, we will look at data visualization.

[0059] Specifically, define standardized and regularized equipment and cargo location objects, define interfaces for obtaining object data, parse the obtained object data, display them at specified locations according to X and Y axis coordinates, define specified times to refresh interface data, help the front-end interface obtain real-time cargo location and equipment data, use standardized interfaces to call standardized cargo location and equipment data sources, and ensure data security and data integrity.

[0060] The third part is to control the movement and pick-up of RGV.

[0061] Specifically, define methods for controlling the RGV to go to the target position, define methods for controlling the RGV to pick up materials, define methods for controlling the RGV to put materials away, define methods for resetting the RGV alarm, define methods for setting the RGV status, define methods for obtaining the current status and action of the RGV, and implement control of the movement and picking and placing of the RGV. Split the continuous actions into single units, combine the units to achieve control of the movement and picking and placing of the RGV, and the subdivision of the units can better perform different operations according to different actual conditions.

[0062] Part 4, automated task acquisition.

[0063] Specifically, define the method of obtaining the current information of the cargo location and equipment in real time, define the RGV task acquisition algorithm, define the method of parsing and issuing RGV control after RGV obtains the task, and define the method of data processing during the execution of RGV tasks.

[0064] Through the above process, the embodiment of the present invention can quickly respond and assign tasks to idle RGVs by real-time monitoring the status of RGVs and cargo spaces, thereby improving overall operating efficiency, improving safety, and providing data visualization. It can greatly save the problem location time and problem recovery time after an RGV failure, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system, thereby effectively solving the problems of insufficient real-time response capabilities, reduced task waiting and operating efficiency, and lack of data visualization and management interface in the prior art.

[0065] The following is an embodiment of the device of the present invention, which can be used to execute the motion control method of the RGV involved in the present invention. For details not disclosed in the embodiment of the device of the present invention, please refer to the method embodiment of the motion control method of the RGV involved in the present invention.

[0066] See also Figure 3 , an embodiment of the present invention provides a motion control device 800 for a RGV.

[0067] The RGV motion control device 800 includes but is not limited to: a task acquisition module 810 , an RGV travel start module 830 , an RGV travel operation module 850 and an RGV task execution module 870 .

[0068] The task acquisition module 810 is used to acquire the status of the RGV and the cargo location, acquire the pending tasks and the target location according to the status of the RGV and the cargo location, and perform task processing.

[0069] The RGV walking start module 830 is used to determine whether the RGV is walking when there is no arrival signal of the RGV. If the RGV is not walking, the walking signal of the task to be processed is sent to the RGV controller to control the RGV to walk to the target position.

[0070] The RGV walking operation module 850 is used to send the pending tasks to the target location according to the task processing situation when the RGV is walking.

[0071] The RGV task execution module 870 is used to perform position judgment, reset judgment and re-insertion confirmation on the RGV and receive a completion signal when the RGV has an arrival signal. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is picked and placed.

[0072] It should be noted that the motion control of the RGV provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the motion control device of the RGV will be divided into different functional modules to complete all or part of the functions described above.

[0073] In addition, the RGV motion control device and the RGV motion control method provided in the above embodiments belong to the same concept, wherein the specific manner in which each module performs operations has been described in detail in the method embodiments and will not be repeated here.

[0074] Figure 4 The present invention schematically illustrates the structure of an electronic device according to an exemplary embodiment.

[0075] It should be noted that the electronic device is only an example adapted to the present invention and cannot be considered to provide any limitation on the scope of use of the present invention. The electronic device cannot be interpreted as requiring dependence on or having Figure 4 One or more components of exemplary electronic device 2000 are shown.

[0076] The hardware structure of the electronic device 2000 may vary greatly due to differences in configuration or performance, such as Figure 4 As shown, the electronic device 2000 includes: a power supply 210, an interface 230, at least one memory 250, and at least one central processing unit (CPU) 270.

[0077] Specifically, the power supply 210 is used to provide operating voltage for each hardware device on the electronic device 2000 .

[0078] The interface 230 includes at least one wired or wireless network interface 231 for interacting with external devices. Of course, in other examples adapted by the present invention, the interface 230 may further include at least one serial-to-parallel conversion interface 233, at least one input-output interface 235, and at least one USB interface 237, etc. Figure 4 As shown, this is not intended to be a specific limitation.

[0079] The memory 250 is a carrier for storing resources, which may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon include an operating system 251, an application 253 and data 255, etc. The storage method may be temporary storage or permanent storage.

[0080] Among them, the operating system 251 is used to manage and control various hardware devices and application programs 253 on the electronic device 2000 to enable the central processing unit 270 to calculate and process the massive data 255 in the memory 250. It can be Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0081] The application program 253 is a computer-readable instruction that performs at least one specific task based on the operating system 251, and may include at least one module ( Figure 4 (not shown), each module may respectively contain computer-readable instructions for the electronic device 2000. For example, the motion control device of the RGV may be regarded as an application 253 deployed on the electronic device 2000.

[0082] The data 255 may be signal information, etc., stored in the memory 250 .

[0083] The central processor 270 may include one or more processors and is configured to communicate with the memory 250 through at least one communication bus to read the computer-readable instructions stored in the memory 250, thereby realizing the operation and processing of the mass data 255 in the memory 250. For example, the motion control method of the RGV is completed by the central processor 270 reading a series of computer-readable instructions stored in the memory 250.

[0084] In addition, the present invention can also be implemented by hardware circuits or hardware circuits combined with software. Therefore, the implementation of the present invention is not limited to any specific hardware circuits, software, or a combination of the two.

[0085] See also Figure 5 In an embodiment of the present invention, an electronic device 4000 is provided. The electronic device 4000 may include: a desktop computer, a laptop computer, a server, etc. with sensor recognition capability.

[0086] exist Figure 5 In the embodiment, the electronic device 4000 includes at least one processor 4001 and at least one memory 4003.

[0087] The data interaction between the processor 4001 and the memory 4003 can be realized through at least one communication bus 4002. The communication bus 4002 may include a path for transmitting data between the processor 4001 and the memory 4003. The communication bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0088] Optionally, the electronic device 4000 may further include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception, etc. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0089] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0090] The memory 4003 can be a ROM (Read On Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrical Erasable Programmable Read On Memory), a CD-ROM (Compact Disk Read On Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program instructions or codes in the form of instructions or data structures and can be accessed by the electronic device 4000, but is not limited to this.

[0091] Computer-readable instructions are stored in the memory 4003 , and the processor 4001 can read the computer-readable instructions stored in the memory 4003 through the communication bus 4002 .

[0092] The computer-readable instructions are executed by one or more processors 4001 to implement the motion control method of the RGV in the above-mentioned embodiments.

[0093] In addition, an embodiment of the present invention provides a storage medium on which computer-readable instructions are stored. The computer-readable instructions are executed by one or more processors to implement the motion control method of the RGV as described above.

[0094] A computer program product is provided in an embodiment of the present invention. The computer program product includes computer-readable instructions. The computer-readable instructions are stored in a storage medium. One or more processors of an electronic device read the computer-readable instructions from the storage medium, load and execute the computer-readable instructions, so that the electronic device implements the motion control method of the RGV as described above.

[0095] Compared with the related art, the present invention has the following beneficial effects:

[0096] 1. The present invention first obtains the status of the RGV and the cargo position, obtains the pending task and the target position according to the status of the RGV and the cargo position, and performs task processing. When the RGV has no arrival signal, it determines whether the RGV is moving. If the RGV is not moving, the walking signal of the pending task is sent to the RGV controller to control the RGV to move to the target position. If the RGV is moving, the pending task is sent to the target position according to the task processing situation. When the RGV has an arrival signal, the RGV is position-judged, reset-judged, and re-inserted confirmed, and a completion signal is received. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is picked and placed. By real-time monitoring of the status of the RGV and the cargo position, it can respond quickly and assign tasks to idle RGVs, thereby improving the overall operation efficiency. Multiple judgment and confirmation mechanisms ensure the accuracy and safety of the RGV in the process of executing tasks, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system, thereby effectively solving the problems of insufficient real-time response capability, reduced task waiting and operation efficiency, and lack of data visualization and management interface in the prior art.

[0097] 2. The present invention can improve work efficiency: by real-time monitoring of the status of RGVs and cargo spaces, the system can quickly respond and assign tasks to idle RGVs, reducing waiting time and improving overall work efficiency. In addition, by precisely controlling the movement and work flow of RGVs, unnecessary movement and delays are avoided, further improving efficiency.

[0098] 3. The present invention can optimize resource utilization: it can intelligently manage the resources of RGV and cargo space to ensure that each resource is used most effectively. By reasonably allocating tasks, it avoids idleness and waste of resources and improves the resource utilization of the overall system.

[0099] 4. The present invention can enhance system reliability: The present invention includes a variety of judgment and confirmation mechanisms, such as RGV arrival signal, walking status, position judgment, reset judgment and reinsertion confirmation, etc. These mechanisms jointly ensure the accuracy and safety of RGV in the process of executing tasks, reduce errors and accidents caused by misoperation or equipment failure, and enhance the reliability and stability of the system.

[0100] 5. The present invention can improve the level of automation: the entire process achieves a high degree of automation control, from task allocation, RGV travel control, cargo pick-up to completion signal reception, all without human intervention, greatly improving the level of automation in warehouse management. This not only reduces labor costs, but also reduces the possibility of human error.

[0101] 6. The present invention is flexible and scalable: It has certain flexibility and scalability, and can adjust the task processing flow, increase or decrease the number of RGVs, adjust the cargo layout, etc. according to actual needs. This flexibility enables the system to adapt to warehouse environments of different sizes and needs, and has a wider application prospect.

[0102] 7. The present invention can improve management accuracy: through real-time monitoring and precise control, the system can accurately record the status of each RGV and cargo space and the task processing situation, providing detailed data support for warehouse managers. These data can be used to analyze warehouse operations, optimize work processes, predict future demand, etc., thereby improving the accuracy of warehouse management and the scientific nature of decision-making.

[0103] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0104] The above descriptions are only some embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A motion control method for RGV, characterized in that: The method comprises: Obtain the status of the RGV and the cargo location, obtain the pending tasks and the target location according to the status of the RGV and the cargo location, and perform task processing; When the RGV has no arrival signal, determining whether the RGV is moving, if the RGV is not moving, sending the moving signal of the task to be processed to the RGV controller to control the RGV to move to the target position; If the RGV is moving, the task to be processed is sent to the target location according to the task processing situation; When the RGV has an in-position signal, position judgment, reset judgment and re-insertion confirmation are performed on the RGV and a completion signal is received. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is taken and placed.

2. The RGV motion control method according to claim 1, characterized in that: When the RGV has an in-position signal, position judgment, reset judgment and reinsertion confirmation are performed on the RGV, including: Compare the position of the RGV with the target position to determine whether they are consistent, and if they are consistent, send a completion signal; Determine whether the task to be processed is a reset task, and if so, reset the RGV; the reset task includes a manual and non-pick-and-place task and a fire avoidance task; It is determined whether the RGV needs to be inserted back for confirmation in the task to be processed, and if necessary, the RGV is interactively inserted back for confirmation with the target position.

3. The RGV motion control method according to claim 1, characterized in that: The step of extending and inserting the RGV includes: If there is no extension or insertion requirement in the pending task, determine whether the pending task is to fetch or put, if it is to fetch, send a fetch instruction to the RGV, if it is to put, send a put instruction to the RGV; If there is a need for insertion and extension in the task to be processed, it is determined whether the RGV has completed the pick-and-place action, and if the pick-and-place action has been completed, the data is saved.

4. The RGV motion control method according to claim 3, characterized in that: Before sending the disk-taking instruction and the disk-putting instruction to the RGV, the method includes: The RGV and the target location are subjected to security monitoring interaction and data interaction. If the interaction fails, the disk taking and disk placing are stopped.

5. The RGV motion control method according to claim 1, characterized in that: The picking and placing process of the RGV includes: Determine whether the pending task is to fetch or put, if it is to fetch, transfer the pending data in the pending task to the RGV, and delete the pending data in the target location; It is determined whether the pending task is to fetch or put; if it is to put, the pending data in the pending task is transferred to the target location, and the pending data in the RGV is deleted.

6. The RGV motion control method according to claim 1, characterized in that: The method further comprises: Define standardized and regularized equipment and cargo location objects. The equipment and cargo locations upload their own data regularly or according to the defined interface format. The location and task execution status of the objects are visualized according to the X and Y axis coordinates, and the visualization interface data is refreshed periodically.

7. The RGV motion control method according to claim 1, characterized in that: The method also includes: using .netWinform technology to develop a customized interface and automatically draw cargo location and equipment information, using .net Framework to provide a WebService interface for logic processing and database operations, and using a relational database to store relevant data on equipment and cargo locations.

8. A motion control device for RGV, characterized in that: The device comprises: A task acquisition module is used to acquire the status of the RGV and the cargo location, acquire the pending tasks and the target location according to the status of the RGV and the cargo location, and perform task processing; The RGV walking start module is used to determine whether the RGV is walking when there is no arrival signal of the RGV. If the RGV is not walking, the walking signal of the task to be processed is sent to the RGV controller to control the RGV to walk to the target position; An RGV walking operation module is used to send the pending task to the target location according to the task processing situation when the RGV is walking; The RGV task execution module is used to perform position judgment, reset judgment and re-insertion confirmation on the RGV and receive a completion signal when the RGV has an in-place signal. If there is no completion signal, the RGV is extended and inserted, otherwise the RGV is taken and placed.

9. An electronic device, characterized in that: include: at least one processor and at least one memory, wherein: The memory has computer-readable instructions stored thereon; The computer-readable instructions are executed by one or more of the processors so that the electronic device implements the motion control method of the RGV according to any one of claims 1 to 7.

10. A storage medium having computer-readable instructions stored thereon, characterized in that: The computer-readable instructions are executed by one or more processors to implement the motion control method of the RGV according to any one of claims 1 to 7.

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