Linear reciprocating type RGV motion control method and device and electronic equipment thereof

Abstract

The invention provides a linear reciprocating type RGV motion control method and device and electronic equipment thereof, and relates to the technical field of automatic control. The method is applied to a control system, the linear reciprocating type RGV reciprocates between a starting point and a target point along a linear track, a rotating disc is arranged on the linear track, the linear reciprocating type RGV comprises a mechanical claw, and the method comprises the steps that a setting instruction is received, and the moving direction and the moving path of the linear reciprocating type RGV are determined; the linear reciprocating type RGV, close to one side of the starting point, of the mechanical claw is controlled to move towards the target point in the moving direction and the moving path; and under the condition that it is determined that the linear reciprocating type RGV is located on the rotating disc, the rotating disc is controlled to rotate based on the moving direction and the moving path, the linear reciprocating type RGV is controlled to continuously move, and after the linear reciprocating type RGV passes through the rotating disc closest to the target point, the mechanical claw is close to one side of the target point, and the maintenance cost of the RGV can be reduced.

Description

Technical Field

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

[0002] In order to improve efficiency and reduce costs, automated logistics and storage warehouses generally use RGV (Rail Guided Vehicle) for material transportation and workshop assembly. According to the movement mode of RGV, RGV can be divided into circular track RGV and linear reciprocating RGV. The linear reciprocating RGV transports materials from the starting point to the end point, and then returns to the starting point from the end point along the original route.

[0003] Taking material transportation as an example, the material is generally carried and reset on the loading platform of the RGV by controlling the transfer component of the RGV to extend from the starting point, and the linear reciprocating RGV transports the material from the starting point to the end point, unloads the material on the loading platform of the end point by extending the transfer component and resets it, and then returns to the starting point from the end point along the original route.

[0004] At the starting point, the RGV needs to manipulate the movement of the transplanting components to complete the loading of materials, and at the end point, the transplanting components need to be manipulated to complete the unloading of materials. If the transplanting components will affect the normal operation of the RGV, it is necessary to strengthen the maintenance of the transplanting components of the RGV, resulting in a relatively high maintenance cost of the RGV. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a linear reciprocating RGV motion control method, device and electronic equipment thereof.

[0006] The present invention provides a linear reciprocating RGV motion control method, which is applied to a control system. The linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw; the method includes: receiving a setting instruction and determining a moving direction and a moving path of the linear reciprocating RGV; Controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; When it is determined that the linear reciprocating RGV is located on the turntable, the turntable is controlled to rotate based on the moving direction and the moving path, and the linear reciprocating RGV is controlled to continue moving so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

[0007] According to a linear reciprocating RGV motion control method provided by the present invention, the linear track is provided with a vehicle passing zone; After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Receive the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by the adjacent linear reciprocating RGV; the position coordinates include the current position coordinates and the historical position coordinates; the moving paths of the target linear reciprocating RGV and the adjacent linear reciprocating RGV are the same and the moving directions are opposite; Determine a first scheduling method based on the current position coordinates and the historical position coordinates of the target linear reciprocating RGV; determine a second scheduling method based on the current position coordinates and the historical position coordinates of the adjacent linear reciprocating RGV; Determine the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling method and the second scheduling method; Control the linear reciprocating RGV that arrives at the turntable first to drive into the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the linear reciprocating RGV that arrives at the turntable first to pass through the turntable and enter the vehicle passing area; The linear reciprocating RGV that reaches the turntable after control continues to move through the turntable; The linear reciprocating RGV that reaches the turntable first is controlled to return to the turntable and continue to move.

[0008] According to a linear reciprocating RGV motion control method provided by the present invention, the first scheduling mode includes a first driving speed and a first turntable distance of the target linear reciprocating RGV; the second scheduling mode includes a second driving speed and a second turntable distance of the adjacent linear reciprocating RGV; Determining the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling mode and the second scheduling mode specifically includes: Obtain a first arrival time of the target linear reciprocating RGV at the turntable based on the first travel speed and the first turntable distance; obtain a second arrival time of the adjacent linear reciprocating RGV at the turntable based on the second travel speed and the second turntable distance; The order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable is determined based on the first arrival time and the second arrival time.

[0009] According to a linear reciprocating RGV motion control method provided by the present invention, the linear track is provided with an overtaking waiting area; After receiving the setting instruction, the method further includes: Determining a mission level of the linear reciprocating RGV; After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Determining the priority of the rear linear reciprocating RGV and the front linear reciprocating RGV based on the first mission level of the rear linear reciprocating RGV and the second mission level of the front linear reciprocating RGV; wherein the rear linear reciprocating RGV and the front linear reciprocating RGV are adjacent and travel in the same direction; When the priority of the rear linear reciprocating RGV is higher than the priority of the front linear reciprocating RGV, controlling the front linear reciprocating RGV to enter the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the preceding straight reciprocating RGV to pass through the closest turntable and enter the overtaking waiting area; Controlling the rear linear reciprocating RGV to continue to move through the turntable; The front straight reciprocating RGV is controlled to return to the turntable and continue to move.

[0010] According to a linear reciprocating RGV motion control method provided by the present invention, based on the moving direction and the moving path, the turntable is controlled to rotate, specifically comprising: Determine the initial side of the mechanical claw of the linear reciprocating RGV and the target turntable based on the moving direction; wherein the mechanical claw of the linear reciprocating RGV is initially oriented toward the starting point, and the target turntable is a turntable close to the target point; controlling the rotation of the non-target turntable based on the movement path so that the linear reciprocating RGV moves along the linear track toward the target point; receiving a rotation parameter of the non-target turntable, and determining a current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw; The target turntable is controlled to rotate based on the side where the mechanical claw is currently located.

[0011] According to a linear reciprocating RGV motion control method provided by the present invention, the rotation parameters of the non-target turntable include a rotation direction and a rotation angle; Determining the current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw specifically includes: The current side of the mechanical claw of the linear reciprocating RGV is determined based on the initial side of the mechanical claw and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV passes in sequence along the moving path.

[0012] The present invention also provides a linear reciprocating RGV motion control device, which is applied to a control system. The linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track. The linear reciprocating RGV includes a mechanical claw, and the device includes: A setting module, used to receive a setting instruction and determine the moving direction and moving path of the linear reciprocating RGV; A linear reciprocating RGV driving module, used to control the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; The turntable driving module is used to determine that the linear reciprocating RGV is located on the turntable, control the turntable to rotate based on the moving direction and the moving path, and control the linear reciprocating RGV to continue moving so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the linear reciprocating RGV motion control method as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the linear reciprocating RGV motion control method as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned linear reciprocating RGV motion control methods.

[0016] The linear reciprocating RGV motion control method, device and electronic equipment provided by the present invention can adjust the motion direction of the linear reciprocating RGV through a turntable, so that at the starting point, the mechanical claw of the linear reciprocating RGV is close to the starting point side, and when reaching the target point, the mechanical claw of the linear reciprocating RGV is close to the target point side, so that the mechanical claw of the linear reciprocating RGV can grasp and release materials, and there is no need to set up load-bearing components and transfer components, which can reduce the maintenance cost of the RGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is one of the flow charts of the linear reciprocating RGV motion control method provided by the present invention.

[0019] Figure 2 It is a schematic diagram of a turntable in the linear reciprocating RGV motion control method provided by the present invention.

[0020] Figure 3 It is a schematic diagram of a mechanical claw in the linear reciprocating RGV motion control method provided by the present invention.

[0021] Figure 4 It is one of the moving path schematic diagrams of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0022] Figure 5 This is the second schematic diagram of the moving path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0023] Figure 6 This is the third schematic diagram of the moving path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0024] Figure 7 This is the second flow chart of the linear reciprocating RGV motion control method provided by the present invention.

[0025] Figure 8 This is the third flow chart of the linear reciprocating RGV motion control method provided by the present invention.

[0026] Fig. 9 It is a structural schematic diagram of the linear reciprocating RGV motion control device provided by the present invention.

[0027] Fig.10 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Combine the following Figure 1-Figure 10 The linear reciprocating RGV motion control method, device and electronic equipment of the present invention are described, which can control the linear reciprocating RGV to perform material transportation and workshop assembly, etc. The following is an example of controlling the linear reciprocating RGV to perform material transportation.

[0030] Figure 1 It is one of the flow diagrams of the linear reciprocating RGV motion control method provided by the present invention, which is applied to a control system. The linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw.

[0031] The control system is a system for at least coordinating and managing the motion of the linear reciprocating RGV and the rotation of the turntable. Exemplarily, the control system may include a server, a sensor, an actuator, and a communication network, etc. The control system may be electrically connected to the linear reciprocating RGV and the turntable, respectively, or may be communicatively connected to the linear reciprocating RGV and the turntable, respectively.

[0032] A linear track is a track whose path is a straight line. The straight line here refers to a non-circular track. The linear reciprocating RGV moves along the straight track from the starting point to the target point and then returns along the original route, rather than a straight line in the mathematical sense.

[0033] The starting point is the current end side of the linear reciprocating RGV on the linear track, and the target point is the target end side of the linear reciprocating RGV on the linear track.

[0034] The two ends of the linear track can be regarded as the starting point and the end point respectively. The outbound trip refers to the linear reciprocating RGV going from the starting point to the end point along the linear track. The return trip refers to the linear reciprocating RGV going from the end point to the starting point along the linear track. For example, in the outbound trip, the starting point is the starting point and the target point is the end point; in the return trip, the starting point is the end point and the target point is the starting point.

[0035] The turntable is a rotating device that changes the direction of the linear reciprocating RGV body. Figure 2 Schematic diagram of the turntable in the linear reciprocating RGV motion control method provided by the present invention, such as Figure 2As shown, for example, a track can be set on the turntable, the turntable can be located between two sections of the track, the linear reciprocating RGV can enter the turntable from the current track along the track on the turntable, and the linear reciprocating RGV can correspond to the next section of the track through the turntable, so as to enter the next section of the track through the track on the turntable.

[0036] It is understandable that a transport component may also be provided on the turntable, and after the linear reciprocating RGV is aligned with the next track section through the turntable, the linear reciprocating RGV may be moved from the current track to the next track section. The present invention does not specifically limit how the linear reciprocating RGV is moved from the current track to the next track section through the turntable.

[0037] Figure 3 Schematic diagram of the mechanical claw in the linear reciprocating RGV motion control method provided by the present invention, such as Figure 3 As shown, the mechanical claw refers to a mechanical device on the linear reciprocating RGV for grabbing and releasing materials. In the process of the linear reciprocating RGV grabbing materials from the starting point to the end point, when the mechanical claw is close to the starting point, the linear reciprocating RGV drags the material; when the mechanical claw is close to the end point, the linear reciprocating RGV pushes the material. It can be understood that the turntable can change the direction of the mechanical claw and the form of the linear reciprocating RGV moving materials while changing the direction of the linear reciprocating RGV body.

[0038] Exemplarily, the linear reciprocating RGV may include a vehicle body and a mechanical claw, and the mechanical claw may be disposed at the rear of the vehicle body.

[0039] like Figure 1 As shown, the method includes: Step 101: Receive a setting instruction and determine the moving direction and moving path of the linear reciprocating RGV.

[0040] The direction of movement may include outbound and return trips.

[0041] As mentioned above, the straight line in the linear track is not a straight line in the mathematical sense. In this embodiment, the moving path includes the moving track and the turning of the linear reciprocating RGV on the track. The turning enables the linear reciprocating RGV to move along the moving track.

[0042] For example, a setting instruction input by a user may be received, and the movement turn of the linear reciprocating RGV is determined as the outward journey according to the setting instruction, and the movement path of the linear reciprocating RGV is determined to include a right-angle reverse Z-shaped movement trajectory and a turn according to the setting instruction. When the upper right corner is taken as the starting point and the lower left corner is taken as the end point, the turn is such that the linear reciprocating RGV moves downward after passing the turntable at the first turning point, and moves to the right after passing the turntable at the second turning point.

[0043] In this embodiment, after the linear reciprocating RGV passes the turntable at the turning point, the vehicle body can move in front and the mechanical claws can move in the back, or the vehicle body can move in the back and the mechanical claws can move in the front.

[0044] Step 102: Control the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path.

[0045] Figure 4 It is one of the moving path schematic diagrams of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention, Figure 4 The RGV in the figure is the linear reciprocating RGV in this embodiment. Figure 4 As shown, when the starting point is the starting point, the mechanical claw of the linear reciprocating RGV is close to the starting point, which can facilitate the mechanical claw to grab materials from the material storage at the starting point. When the starting point is the end point, the mechanical claw of the linear reciprocating RGV is close to the end point, which is convenient for the mechanical claw to release materials from the material storage at the end point during the previous material transportation process.

[0046] Step 103: When it is determined that the linear reciprocating RGV is located on the turntable, the turntable is controlled to rotate based on the moving direction and the moving path, and the linear reciprocating RGV is controlled to continue moving so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

[0047] For example, a weighing sensor may be provided on the turntable, and the change of the electrical signal output by the weighing sensor may be used to determine whether there is a linear reciprocating RGV on the turntable. When it is determined that there is a linear reciprocating RGV on the turntable, the control system may send a steering command to the turntable to control the turntable to rotate. The steering command corresponds to the moving direction and moving path of the linear reciprocating RGV.

[0048] Multiple sets of steering instructions can be preset and correspond to the moving directions and moving paths of different linear reciprocating RGVs. At this time, the steering instruction is automatically issued according to the moving direction and moving path of the linear reciprocating RGV; the steering instruction can also be forwarded to the turntable after the control system receives the steering instruction input by the user.

[0049] like Figure 4 As shown, when the target point is the starting point, the mechanical claw of the linear reciprocating RGV is close to the starting point, which can facilitate the mechanical claw to grab materials from the material storage at the starting point during the next material transportation process. When the target point is the end point, the mechanical claw of the linear reciprocating RGV is close to the end point, which can facilitate the mechanical claw to release materials at the material storage at the end point.

[0050] The linear reciprocating RGV motion control method provided in the embodiment of the present invention can adjust the motion direction of the linear reciprocating RGV through a turntable, so that at the starting point, the mechanical claw of the linear reciprocating RGV is close to the starting point side, and when reaching the target point, the mechanical claw of the linear reciprocating RGV is close to the target point side, so that the mechanical claw of the linear reciprocating RGV can grasp and release materials, and there is no need to set up load-bearing components and transfer components, which can reduce the maintenance cost of the RGV.

[0051] Figure 5 This is the second schematic diagram of the moving path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention. Figure 5 RGV1 can be regarded as the target linear reciprocating RGV, and RGV2 can be regarded as the adjacent linear reciprocating RGV, such as Figure 5 As shown, based on the above embodiment, the straight track is provided with a passing area.

[0052] The passing area is a temporary stop area for the linear reciprocating RGV. The passing area is generally independent of the moving path determined according to the setting instructions. Exemplarily, the temporary stop area can be a temporary stop track, and the linear reciprocating RGV can drive from the current track into the turntable along the track on the turntable, and drive into the temporary stop track through the turntable, and the direction of the temporary stop track is consistent with the direction of the current track.

[0053] When the track connected by the turntable is two sections of track, the two sections of track can be respectively provided with temporary stop tracks.

[0054] In the process of transporting materials, there may be multiple linear reciprocating RGVs moving in different directions and the same moving path at the same time, and staggering is required so that multiple linear reciprocating RGVs can move normally. For example, when two linear reciprocating RGVs move in different directions and the same moving path at the same time, one linear reciprocating RGV transports the materials to the end point and then returns to the starting point along the original route, and the other linear reciprocating RGV transports the materials from the starting point to the end point. Because the track is a straight track, it is necessary to control one of the linear reciprocating RGVs to stagger so that the other linear reciprocating RGV can pass smoothly.

[0055] In one embodiment, after controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Receive the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by the adjacent linear reciprocating RGV; the position coordinates include the current position coordinates and the historical position coordinates; the moving paths of the target linear reciprocating RGV and the adjacent linear reciprocating RGV are the same and the moving directions are opposite; Determine a first dispatching method based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates; determine a second dispatching method based on the current position coordinates of the adjacent linear reciprocating RGV and the historical position coordinates; Determine the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling method and the second scheduling method; Control the linear reciprocating RGV that arrives at the turntable first to drive into the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the linear reciprocating RGV that arrives at the turntable first to pass through the turntable and enter the vehicle passing area; The linear reciprocating RGV that reaches the turntable after control continues to move through the turntable; The linear reciprocating RGV that reaches the turntable first is controlled to return to the turntable and continue to move.

[0056] The two linear reciprocating RGVs closest to the same turntable and moving simultaneously along different moving directions and the same moving path can be set as the target linear reciprocating RGV and the adjacent linear reciprocating RGV respectively. In other words, the target linear reciprocating RGV can be the linear reciprocating RGV on the outward journey or the linear reciprocating RGV on the return journey.

[0057] The position coordinate is a parameter that reflects the specific position of the linear reciprocating RGV on the track. The position coordinate can be an absolute position coordinate, such as the coordinate of the linear reciprocating RGV provided by the Global Navigation Satellite System (GNSS), or a relative position coordinate, such as the coordinate of the linear reciprocating RGV relative to a reference point obtained by a sensor. The reference point can be a starting point, an end point, or a turntable, etc.

[0058] The control system can receive the position coordinates fed back by the linear reciprocating RGV in real time, and arrange the position coordinates according to the receiving time sequence. The position coordinate closest to the current moment is the current position coordinate, and the remaining position coordinates are historical position coordinates.

[0059] The position coordinates fed back in real time may be the absolute position coordinates uploaded by the linear reciprocating RGV at specified intervals, and the specified time interval may be set according to actual conditions and is not further limited here; or they may be the relative position coordinates uploaded continuously by the linear reciprocating RGV. For example, in the case where the relative position coordinates are indirectly obtained by the distance of the linear reciprocating RGV relative to a reference point obtained by a sensor, the relative position coordinates uploaded continuously by the linear reciprocating RGV can be obtained.

[0060] The dispatching method may be a parameter reflecting the driving condition and mission level of the linear reciprocating RGV, etc. For example, the driving condition and mission level of the linear reciprocating RGV may be determined based on the change of the position coordinates of the linear reciprocating RGV.

[0061] For example, by comparing the first scheduling method and the second scheduling method, it can be determined that the target linear reciprocating RGV has a faster travel speed, and the target linear reciprocating RGV reaches the turntable first, and the adjacent linear reciprocating RGV reaches the turntable later. It can also be determined that the target linear reciprocating RGV has a higher priority by comparing the first scheduling method and the second scheduling method, and the adjacent linear reciprocating RGV is controlled to reach the turntable first so that the target linear reciprocating RGV can pass.

[0062] The control system can adjust the driving condition of the linear reciprocating RGV by sending an RGV execution instruction to the linear reciprocating RGV. The process of the control system sending the RGV execution instruction to the linear reciprocating RGV is basically the same as the process of the control system sending the steering instruction to the turntable, which will not be repeated here.

[0063] In this embodiment, by setting up a passing zone, it is possible to control the linear reciprocating RGV that arrives at the turntable first to enter the passing zone through the turntable while determining the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable, and the linear reciprocating RGV that arrives at the turntable later can be controlled to drive back and continue to move along the moving direction and moving path through the turntable after passing the turntable; the linear reciprocating RGV that arrives at the turntable later is controlled to move normally along the moving direction and moving path through the turntable, thereby reducing the mutual interference of the moving paths of multiple linear reciprocating RGVs and improving the efficiency of multiple linear reciprocating RGVs working simultaneously.

[0064] Further, after determining the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable, the linear reciprocating RGV that arrives at the turntable first can be controlled to accelerate within the maximum safe speed allowed condition and pass through the turntable into the passing area. Optionally, the linear reciprocating RGV that arrives at the turntable later can be controlled to slow down.

[0065] like Figure 5 As shown, based on any of the above embodiments, the first scheduling method includes a first travel speed and a first turntable distance of the target linear reciprocating RGV; the second scheduling method includes a second travel speed and a second turntable distance of the adjacent linear reciprocating RGV; Determining the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling mode and the second scheduling mode specifically includes: Obtain a first arrival time of the target linear reciprocating RGV at the turntable based on the first travel speed and the first turntable distance; obtain a second arrival time of the adjacent linear reciprocating RGV at the turntable based on the second travel speed and the second turntable distance; The order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable is determined based on the first arrival time and the second arrival time.

[0066] Figure 5 Among them, V1 can be regarded as the first driving speed, L1 can be regarded as the first turntable distance; V2 can be regarded as the second driving speed, and L2 can be regarded as the second turntable distance.

[0067] The driving speed may be the average driving speed of the linear reciprocating RGV within a specified time interval, or may be the real-time speed uploaded by the linear reciprocating RGV through a speed sensor. The specified time interval may be set according to actual conditions and is not further limited here; the average driving speed may be calculated based on the upload time of the position coordinates and the position coordinates.

[0068] The turntable distance is the distance between the linear reciprocating RGV and the turntable. The turntable here refers to when there is only one turntable between the linear reciprocating RGV and its adjacent linear reciprocating RGV.

[0069] The arrival time is the time when the linear reciprocating RGV reaches the turntable at the travel speed in its scheduling mode. Exemplarily, if the first arrival time is less than the second arrival time, it is determined that the target linear reciprocating RGV reaches the turntable before the adjacent linear reciprocating RGV.

[0070] Compared with determining the order of arrival at the turntable according to other strategies, for example, when a straight-line reciprocating RGV with a higher mission level is estimated to arrive at the turntable first, the straight-line reciprocating RGV with a lower mission level is controlled to actually arrive at the turntable first to avoid passing other vehicles, so that the straight-line reciprocating RGV with a higher mission level can move normally. In this embodiment, the order of arrival of the target straight-line reciprocating RGV and the adjacent straight-line reciprocating RGV at the turntable is determined by the first arrival time of the target straight-line reciprocating RGV at the turntable and the second arrival time of the adjacent straight-line reciprocating RGV at the turntable. This can relatively easily achieve the passing of the target straight-line reciprocating RGV and the adjacent straight-line reciprocating RGV, reduce the control complexity of the straight-line reciprocating RGV, and reduce the risk of collision between two straight-line reciprocating RGVs traveling in opposite directions.

[0071] Figure 6 This is the third schematic diagram of the moving path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention. Figure 6RGV1 can be regarded as the front linear reciprocating RGV, and RGV2 can be regarded as the rear linear reciprocating RGV. Figure 6 As shown, based on any of the above embodiments, the straight track is provided with an overtaking waiting area.

[0072] The overtaking waiting area is a temporary stop area for the linear reciprocating RGV. The overtaking waiting area is generally independent of the moving path determined according to the setting instruction. Exemplarily, the temporary stop area can be a temporary stop track, and the linear reciprocating RGV can drive from the current track into the turntable along the track on the turntable, and drive into the temporary stop track through the turntable, and the direction of the temporary stop track is consistent with the direction of the current track.

[0073] Exemplarily, the overtaking waiting area and the passing area may be the same temporary stopping area.

[0074] In one embodiment, after receiving the setting instruction, the method further comprises: determining a mission level of the linear reciprocating RGV.

[0075] The task level refers to the priority of the task assigned to the linear reciprocating RGV. The task level and the task priority may be positively correlated or negatively correlated. For example, the higher the task level, the higher the priority of the task assigned to the linear reciprocating RGV, and the more urgent the task assigned to the linear reciprocating RGV.

[0076] like Figure 6 As shown, in one embodiment, after controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Determining the priority of the rear linear reciprocating RGV and the front linear reciprocating RGV based on the first mission level of the rear linear reciprocating RGV and the second mission level of the front linear reciprocating RGV; wherein the rear linear reciprocating RGV and the front linear reciprocating RGV are adjacent and travel in the same direction; When the priority of the rear linear reciprocating RGV is higher than the priority of the front linear reciprocating RGV, controlling the front linear reciprocating RGV to enter the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the preceding straight reciprocating RGV to pass through the closest turntable and enter the overtaking waiting area; Controlling the rear linear reciprocating RGV to continue to move through the turntable; The front straight reciprocating RGV is controlled to return to the turntable and continue to move.

[0077] For example, the control system can monitor the distance change trend between two adjacent linear reciprocating RGVs traveling in the same direction based on the position coordinates fed back by the linear reciprocating RGV, and determine the task urgency of the rear linear reciprocating RGV and the front linear reciprocating RGV when the distance between the adjacent linear reciprocating RGVs is decreasing. If the task of the rear linear reciprocating RGV is more urgent, the front linear reciprocating RGV is controlled to pass the closest turntable and enter the overtaking waiting area so that the rear linear reciprocating RGV can move normally. If the task of the front linear reciprocating RGV is more urgent, the rear linear reciprocating RGV is controlled to reduce speed to avoid collision between the two adjacent linear reciprocating RGVs traveling in the same direction.

[0078] In this embodiment, by setting up the overtaking waiting area, in the case where the task of the rear linear reciprocating RGV is more urgent than that of the front linear reciprocating RGV, in the two adjacent linear reciprocating RGVs traveling in the same direction determined according to the first task level and the second task level, the front linear reciprocating RGV is controlled to pass through the closest turntable to enter the overtaking waiting area, and the linear reciprocating RGV that reaches the turntable passes through the turntable and then drives back and continues to move along the moving direction and moving path through the turntable; the rear linear reciprocating RGV is controlled to pass through the turntable and move along the moving direction and moving path normally, thereby achieving overtaking of the rear linear reciprocating RGV. In this way, there is no need for the front linear reciprocating RGV to increase the driving speed, thereby ensuring that the high-priority task can be completed faster, and avoiding the problem of collision caused by the two adjacent linear reciprocating RGVs traveling at high speed.

[0079] Based on any of the above embodiments, based on the moving direction and the moving path, controlling the turntable to rotate specifically includes: Determine the initial side of the mechanical claw of the linear reciprocating RGV and the target turntable based on the moving direction; wherein the mechanical claw of the linear reciprocating RGV is initially oriented toward the starting point, and the target turntable is a turntable close to the target point; controlling the rotation of the non-target turntable based on the movement path so that the linear reciprocating RGV moves along the linear track toward the target point; receiving a rotation parameter of the non-target turntable, and determining a current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw; The target turntable is controlled to rotate based on the side where the mechanical claw is currently located.

[0080] The rotation parameters may include parameters such as rotation direction, rotation angle, rotation angular velocity and rotation time.

[0081] Exemplarily, the starting point can be determined as the starting point and the target point as the end point by the moving direction; thereby, the initial side of the mechanical claw of the linear reciprocating RGV is determined to be the side close to the starting point, and the target turntable is the turntable close to the end point; two turntables can be set between the starting point and the end point, the turntable close to the starting point is the non-target turntable, and the turntable close to the end point is the target turntable.

[0082] The control system can control the rotation of the non-target turntable so that the body of the linear reciprocating RGV corresponds to the linear track leading to the target turntable. When the linear reciprocating RGV moves toward the target turntable, the side where the mechanical claw is located can face the non-target turntable or the target turntable.

[0083] In this embodiment, the non-target turntable is controlled to rotate based on the moving path, the current side of the mechanical claw is determined based on the rotation parameters of the non-target turntable and the initial side of the mechanical claw of the linear reciprocating RGV, and the target turntable is controlled to rotate based on the current side of the mechanical claw. This enables the mechanical claw to face the target point when the linear reciprocating RGV moves from the target turntable to the target point, so as to release the material, or grab the material at the beginning of the next movement.

[0084] In this embodiment, the target turntable is controlled to rotate only based on the side where the robotic claw is currently located, rather than controlling each turntable to rotate based on the side where the robotic claw is currently located. This can reduce the number of times the robotic claw is judged on the side where the robotic claw is currently located and reduce the load on the control system.

[0085] In another embodiment, each turntable can be controlled to rotate based on the side where the mechanical claw is currently located, which can reduce the rotation amplitude of the turntable and increase the stability of the linear reciprocating RGV in transporting materials.

[0086] Based on any of the above embodiments, the rotation parameters of the non-target turntable include a rotation direction and a rotation angle. The rotation direction may include clockwise rotation and counterclockwise rotation. The rotation angle may be obtained by an angle sensor.

[0087] In one embodiment, the current side of the mechanical claw of the linear reciprocating RGV is determined based on the rotation parameters and the initial side of the mechanical claw, specifically including: determining the current side of the mechanical claw of the linear reciprocating RGV based on the initial side of the mechanical claw and the rotation direction and rotation angle of the non-target turntable that the linear reciprocating RGV passes in sequence along the moving path.

[0088] Exemplarily, the moving direction of the linear reciprocating RGV can be determined with the starting point as the starting point and the target point as the end point; the moving path can be determined as a right-angle inverse Z shape, with the starting point as the upper right corner and the end point as the lower left corner; two turntables are provided between the starting point and the end point, the turntable close to the starting point is the non-target turntable, and the turntable close to the end point is the target turntable.

[0089] The control system can control the non-target turntable to rotate 90 degrees counterclockwise so that the linear reciprocating RGV moves toward the target turntable along the linear track. After the linear reciprocating RGV moves to the target turntable, the control system can determine to control the target turntable to rotate 90 degrees counterclockwise so that the linear reciprocating RGV's mechanical claw is close to the end point based on the fact that the mechanical claw of the linear reciprocating RGV is initially on the side close to the starting point and the non-target turntable rotates 90 degrees counterclockwise.

[0090] The control system can also control the non-target turntable to rotate 90 degrees clockwise so that the linear reciprocating RGV moves along the linear track toward the target turntable. After the linear reciprocating RGV moves to the target turntable, the control system can determine that the target turntable rotates 90 degrees clockwise so that the linear reciprocating RGV's mechanical claw is close to the end point based on the fact that the mechanical claw of the linear reciprocating RGV is initially on the side close to the starting point and the non-target turntable rotates 90 degrees clockwise, and the mechanical claw of the linear reciprocating RGV is on the side close to the target turntable.

[0091] The linear reciprocating RGV travels along a linear track, and the current side of the mechanical claw of the linear reciprocating RGV can only be the side close to the starting point or the side close to the end point. Therefore, it is sufficient to make a rough judgment on the current side of the mechanical claw of the linear reciprocating RGV.

[0092] Compared with rotation parameters such as angular velocity and rotation time, in this embodiment, the rotation angles of the linear reciprocating RGV are summed based on the rotation directions and rotation angles of the non-target turntables that the linear reciprocating RGV passes along the moving path. Combined with the initial side of the mechanical claw, the mechanical claw of the linear reciprocating RGV can be roughly judged to reduce the computational load of the control system.

[0093] Moreover, in this embodiment, by summing the rotation angles of the linear reciprocating RGV and combining the initial side of the mechanical claw, the current side of the mechanical claw of the linear reciprocating RGV on the target turntable can be simply and quickly determined without calculating and storing the side of the mechanical claw at each turntable.

[0094] In order to specifically illustrate the function of the linear reciprocating RGV motion control method provided by this embodiment, a specific example is provided below.

[0095] receiving a setting instruction and determining a moving direction and a moving path of the linear reciprocating RGV; Controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; Figure 7 This is the second flow chart of the linear reciprocating RGV motion control method provided by the present invention, such as Figure 7 As shown, when the moving paths of the target linear reciprocating RGV and the adjacent linear reciprocating RGV are the same and the moving directions are opposite, the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by the adjacent linear reciprocating RGV are received; Determine a first travel speed v1 and a first turntable distance L1 based on the current position coordinates and the historical position coordinates of the target linear reciprocating RGV, and determine a second travel speed v2 and a second turntable distance L2 based on the current position coordinates and the historical position coordinates of the adjacent linear reciprocating RGV; Based on the first driving speed and the first turntable distance, a first arrival time of the target linear reciprocating RGV arriving at the turntable is obtained; based on the second driving speed and the second turntable distance, a second arrival time of the adjacent linear reciprocating RGV arriving at the turntable is obtained; illustratively, the first arrival time can be obtained by L1 / v1, and the second arrival time can be obtained by L2 / v2; In the case where L1 / v1≥L2 / v2 is yes, it is determined that the target linear reciprocating RGV reaches the turntable later, and it is determined that the adjacent linear reciprocating RGV reaches the turntable first; The target straight reciprocating RGV is controlled to decelerate and the adjacent target straight reciprocating RGV is accelerated, so that the adjacent target straight reciprocating RGV enters the passing area; after the adjacent target straight reciprocating RGV is determined to enter the passing area, the target straight reciprocating RGV is controlled to enter the turntable, and when the target straight reciprocating RGV is determined to exit the turntable, the adjacent target straight RGV is controlled to return to the turntable and continue to move; In the case where L1 / v1≥L2 / v2 is no, it is determined that the target linear reciprocating RGV reaches the turntable first, and it is determined that the adjacent linear reciprocating RGV reaches the turntable later; Control the adjacent target straight reciprocating RGV to decelerate and the target straight reciprocating RGV to accelerate, so that the target straight reciprocating RGV enters the passing area; after determining that the target straight reciprocating RGV enters the passing area, control the adjacent target straight reciprocating RGV to enter the turntable, and when determining that the target straight reciprocating RGV exits the turntable, control the target straight reciprocating RGV to return to the turntable and continue to move; Among them, when it is determined that the linear reciprocating RGV is located on the turntable, the initial side of the mechanical claw of the linear reciprocating RGV and the target turntable are determined based on the moving direction, and the rotation of the non-target turntable is controlled based on the moving path, so that the linear reciprocating RGV moves toward the target point along the linear track; the rotation parameters of the non-target turntable are received, and the current side of the mechanical claw of the linear reciprocating RGV is determined based on the initial side of the mechanical claw and the rotation direction and rotation angle of the non-target turntable that the linear reciprocating RGV passes in sequence along the moving path; and the target turntable is controlled to rotate based on the side where the mechanical claw is currently located.

[0096] Figure 8 This is the third flow chart of the linear reciprocating RGV motion control method provided by the present invention, such as Figure 8 As shown, the situation where the rear linear reciprocating RGV and the front linear reciprocating RGV are adjacent and travel in the same direction is basically the same as the situation where the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same moving path and opposite moving directions, except that: Determining the mission level of the linear reciprocating RGV; determining the priority of the rear linear reciprocating RGV and the front linear reciprocating RGV based on the first mission level of the rear linear reciprocating RGV and the second mission level of the front linear reciprocating RGV; In the case where the priority of the rear linear reciprocating RGV is higher than that of the front linear reciprocating RGV, that is, the front linear reciprocating RGV has a low mission level and the rear linear reciprocating RGV has a high mission level, the front linear reciprocating RGV is controlled to drive into the turntable; When it is determined that the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the moving direction and the moving path; Control the front straight reciprocating RGV to pass the turntable at the closest distance and enter the overtaking waiting area; when it is determined that the front straight reciprocating RGV enters the overtaking waiting area, control the rear straight reciprocating RGV to pass the turntable and continue to move; when it is determined that the rear straight reciprocating RGV drives out of the turntable, control the front straight reciprocating RGV to drive back to the turntable and continue to move, so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

[0097] The linear reciprocating RGV motion control device provided by the present invention is described below. The linear reciprocating RGV motion control device described below and the linear reciprocating RGV motion control method described above can be referred to each other.

[0098] Fig. 9: is a structural schematic diagram of a linear reciprocating RGV motion control device provided by the present invention, which is applied to a control system. The linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw, such as Fig. 9 As shown, the device comprises: A setting module 901 is used to receive a setting instruction and determine the moving direction and moving path of the linear reciprocating RGV; A linear reciprocating RGV driving module 902, used to control the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; The turntable driving module 903 is used to control the turntable to rotate based on the moving direction and the moving path, so that after the linear reciprocating RGV passes the turntable closest to the target point along the moving path, the mechanical claw approaches one side of the target point.

[0099] Based on any of the above embodiments, the linear track is provided with a vehicle passing area, and the linear reciprocating RGV motion control device further includes a vehicle passing control module.

[0100] After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the vehicle passing control module is used to: Receive the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by the adjacent linear reciprocating RGV; the position coordinates include the current position coordinates and the historical position coordinates; Determine a first dispatching method based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates; determine a second dispatching method based on the current position coordinates of the adjacent linear reciprocating RGV and the historical position coordinates; Determine the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling method and the second scheduling method; The linear reciprocating RGV that reaches the turntable first is controlled to pass through the turntable and enter the vehicle passing area, the linear reciprocating RGV that reaches the turntable later is controlled to continue to move through the turntable, and the linear reciprocating RGV that reaches the turntable first is controlled to return to the turntable and continue to move.

[0101] Based on any of the above embodiments, the first scheduling method includes a first travel speed and a first turntable distance of the target linear reciprocating RGV; the second scheduling method includes a second travel speed and a second turntable distance of the adjacent linear reciprocating RGV; The vehicle-passing control module is specifically used for: Obtain a first arrival time of the target linear reciprocating RGV at the turntable based on the first travel speed and the first turntable distance; obtain a second arrival time of the adjacent linear reciprocating RGV at the turntable based on the second travel speed and the second turntable distance; The order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable is determined based on the first arrival time and the second arrival time.

[0102] Based on any of the above embodiments, the linear track is provided with an overtaking waiting area, and the linear reciprocating RGV motion control device further includes a task level acquisition module and an overtaking control module.

[0103] After receiving the setting instruction, the task level acquisition module is used to determine the task level of the linear reciprocating RGV; After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the overtaking control module is used to: Determine the priority of the target linear reciprocating RGV and the adjacent linear reciprocating RGV based on the first mission level of the rear linear reciprocating RGV and the second mission level of the front linear reciprocating RGV; wherein the target linear reciprocating RGV and the adjacent linear reciprocating RGV travel in the same direction; When the priority of the target linear reciprocating RGV is higher than that of the adjacent linear reciprocating RGV, the adjacent linear reciprocating RGV is controlled to pass through the closest turntable and enter the overtaking waiting area, the target linear reciprocating RGV is controlled to continue moving through the turntable, and the adjacent linear reciprocating RGV is controlled to return to the turntable and continue moving.

[0104] Based on any of the above embodiments, the turntable driving module 903 is specifically used for: Determine the initial side of the mechanical claw of the linear reciprocating RGV and the target turntable based on the moving direction; wherein the mechanical claw of the linear reciprocating RGV is initially oriented toward the starting point, and the target turntable is a turntable close to the target point; controlling the rotation of the non-target turntable based on the movement path so that the linear reciprocating RGV moves along the linear track toward the target point; receiving a rotation parameter of the non-target turntable, and determining a current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw; The target turntable is controlled to rotate based on the side where the mechanical claw is currently located.

[0105] Based on any of the above embodiments, the rotation parameters of the non-target turntable include a rotation direction and a rotation angle; The turntable driving module 903 is specifically used to determine the current side of the mechanical claw of the linear reciprocating RGV based on the initial side of the mechanical claw and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV passes in sequence along the moving path.

[0106] Fig.10 An example of a structural diagram of an electronic device is shown in FIG. Fig.10 As shown, the electronic device may include: a processor (processor) 1010 , a communication interface (Communications Interface) 1020 , a memory (memory) 1030 and a communication bus 1040 , wherein the processor 1010 , the communication interface 1020 , and the memory 1030 communicate with each other via the communication bus 1040 . The processor 1010 can call the logic instructions in the memory 1030 to execute the linear reciprocating RGV motion control method, which is applied to a control system, wherein the linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw; including: receiving a setting instruction to determine the moving direction and moving path of the linear reciprocating RGV; controlling the linear reciprocating RGV on the side of the starting point where the mechanical claw is close to move toward the target point along the moving direction and the moving path; when it is determined that the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the moving direction and the moving path, so that after the linear reciprocating RGV passes the turntable closest to the target point along the moving path, the mechanical claw approaches the side of the target point.

[0107] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0108] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the linear reciprocating RGV motion control method provided by the above methods, which is applied to a control system, wherein the linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw; including: receiving a setting instruction to determine a moving direction and a moving path of the linear reciprocating RGV; controlling the linear reciprocating RGV on the side of the starting point where the mechanical claw is close to the moving direction and the moving path toward the target point; when it is determined that the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the moving direction and the moving path, so that after the linear reciprocating RGV passes the turntable closest to the target point along the moving path, the mechanical claw is close to the side of the target point.

[0109] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the linear reciprocating RGV motion control method provided by the above-mentioned methods, the method being applied to a control system, wherein the linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, and a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw; including: receiving a setting instruction to determine a moving direction and a moving path of the linear reciprocating RGV; controlling the linear reciprocating RGV on the side of the starting point where the mechanical claw is close to, to move toward the target point along the moving direction and the moving path; and when it is determined that the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the moving direction and the moving path, so that after the linear reciprocating RGV passes the turntable closest to the target point along the moving path, the mechanical claw approaches the side of the target point.

[0110] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A linear reciprocating RGV motion control method, characterized in that: Applied to a control system, the linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw; the method includes: receiving a setting instruction and determining a moving direction and a moving path of the linear reciprocating RGV; Controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; When it is determined that the linear reciprocating RGV is located on the turntable, the turntable is controlled to rotate based on the moving direction and the moving path, and the linear reciprocating RGV is controlled to continue moving so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

2. The linear reciprocating RGV motion control method according to claim 1, characterized in that: The straight track is provided with a passing area; After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Receive the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by the adjacent linear reciprocating RGV; the position coordinates include the current position coordinates and the historical position coordinates; the moving paths of the target linear reciprocating RGV and the adjacent linear reciprocating RGV are the same and the moving directions are opposite; Determine a first scheduling method based on the current position coordinates and the historical position coordinates of the target linear reciprocating RGV; determine a second scheduling method based on the current position coordinates and the historical position coordinates of the adjacent linear reciprocating RGV; Determine the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling method and the second scheduling method; Control the linear reciprocating RGV that arrives at the turntable first to drive into the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the linear reciprocating RGV that arrives at the turntable first to pass through the turntable and enter the vehicle passing area; The linear reciprocating RGV that reaches the turntable after control continues to move through the turntable; The linear reciprocating RGV that reaches the turntable first is controlled to return to the turntable and continue to move.

3. The linear reciprocating RGV motion control method according to claim 2, characterized in that: The first dispatching mode includes a first travel speed and a first turntable distance of the target linear reciprocating RGV; the second dispatching mode includes a second travel speed and a second turntable distance of the adjacent linear reciprocating RGV; Determining the order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable based on the first scheduling mode and the second scheduling mode specifically includes: Obtaining a first arrival time of the target linear reciprocating RGV to the turntable based on the first travel speed and the first turntable distance; Obtaining a second arrival time of the adjacent linear reciprocating RGV to the turntable based on the second travel speed and the second turntable distance; The order in which the target linear reciprocating RGV and the adjacent linear reciprocating RGV arrive at the turntable is determined based on the first arrival time and the second arrival time.

4. The linear reciprocating RGV motion control method according to claim 1, characterized in that: The straight track is provided with an overtaking waiting area; After receiving the setting instruction, the method further includes: Determining a mission level of the linear reciprocating RGV; After controlling the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path, the method further includes: Determining the priority of the rear linear reciprocating RGV and the front linear reciprocating RGV based on the first mission level of the rear linear reciprocating RGV and the second mission level of the front linear reciprocating RGV; wherein the rear linear reciprocating RGV and the front linear reciprocating RGV are adjacent and travel in the same direction; When the priority of the rear linear reciprocating RGV is higher than the priority of the front linear reciprocating RGV, controlling the front linear reciprocating RGV to enter the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: Control the preceding straight reciprocating RGV to pass through the closest turntable and enter the overtaking waiting area; Controlling the rear linear reciprocating RGV to continue to move through the turntable; The front straight reciprocating RGV is controlled to return to the turntable and continue to move.

5. The linear reciprocating RGV motion control method according to claim 1, characterized in that: Controlling the turntable to rotate based on the moving direction and the moving path specifically includes: Determine the initial side of the mechanical claw of the linear reciprocating RGV and the target turntable based on the moving direction; wherein the mechanical claw of the linear reciprocating RGV is initially oriented toward the starting point, and the target turntable is a turntable close to the target point; controlling the rotation of the non-target turntable based on the movement path so that the linear reciprocating RGV moves along the linear track toward the target point; receiving a rotation parameter of the non-target turntable, and determining a current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw; The target turntable is controlled to rotate based on the side where the mechanical claw is currently located.

6. The linear reciprocating RGV motion control method according to claim 5, characterized in that: The rotation parameters of the non-target turntable include a rotation direction and a rotation angle; Determining the current side of the mechanical claw of the linear reciprocating RGV based on the rotation parameter and the initial side of the mechanical claw specifically includes: The current side of the mechanical claw of the linear reciprocating RGV is determined based on the initial side of the mechanical claw and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV passes in sequence along the moving path.

7. A linear reciprocating RGV motion control device, characterized in that: Applied to a control system, the linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, a turntable is provided on the linear track; the linear reciprocating RGV includes a mechanical claw, and the device includes: A setting module, used to receive a setting instruction and determine the moving direction and moving path of the linear reciprocating RGV; A linear reciprocating RGV driving module, used to control the linear reciprocating RGV on the side of the mechanical claw close to the starting point to move toward the target point along the moving direction and the moving path; The turntable driving module is used to determine that the linear reciprocating RGV is located on the turntable, control the turntable to rotate based on the moving direction and the moving path, and control the linear reciprocating RGV to continue moving so that after passing the turntable closest to the target point, the mechanical claw approaches one side of the target point.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the linear reciprocating RGV motion control method as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the linear reciprocating RGV motion control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the linear reciprocating RGV motion control method according to any one of claims 1 to 6 is implemented.

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