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

Abstract

The application provides a linear reciprocating 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, a linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, a turntable is arranged on the linear track, the linear reciprocating RGV comprises a mechanical claw, and the method comprises the following steps: receiving a setting instruction, determining a moving direction and a moving path of the linear reciprocating RGV; controlling the mechanical claw to move along the moving direction and the moving path towards the target point while the linear reciprocating RGV is close to the starting point; when the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the moving direction and the moving path, and controlling the linear reciprocating RGV to continue moving, so that the mechanical claw is close to the target point after passing through the turntable closest to the target point, and the maintenance cost of the RGV can be reduced.

Description

Technical Field

[0001] This 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 Technology

[0002] To improve efficiency and reduce costs, automated logistics and storage warehouses generally use RGVs (Rail Guided Vehicles) for material handling and workshop assembly. Based on their movement, RGVs can be divided into circular track RGVs and linear reciprocating RGVs. Linear reciprocating RGVs transport materials from the starting point to the destination and then return along the same route from the destination to the starting point.

[0003] Taking material conveying as an example, the material is typically carried out by the transfer component of the RGV extending out of the loading platform at the starting point and then reset. The linear reciprocating RGV transports the material from the starting point to the endpoint. The material is then unloaded and reset by the transfer component extending out of the loading platform at the endpoint, and then returns to the starting point along the original route.

[0004] At the starting point, the RGV needs to manipulate the movement of the transfer component to carry materials, and at the end point, it needs to manipulate the movement of the transfer component to unload materials. If the transfer component will affect the normal operation of the RGV, then the maintenance of the RGV's transfer component needs to be strengthened, resulting in relatively high maintenance costs for the RGV. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a linear reciprocating RGV motion control method, device, and electronic equipment thereof.

[0006] This invention provides a linear reciprocating RGV motion control method, applied to a control system. The linear reciprocating RGV reciprocates between a starting point and a target point along a linear track, the linear track being equipped with a turntable; the linear reciprocating RGV includes a mechanical gripper; the method includes:

[0007] Receive setting instructions to determine the moving direction and moving path of the linear reciprocating RGV;

[0008] The mechanical gripper is controlled to move toward the target point along the moving direction and the moving path of the linear reciprocating RGV that is close to the starting point.

[0009] 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 gripper approaches the target point.

[0010] According to the present invention, a linear reciprocating RGV motion control method is provided, wherein the linear track is provided with a passing zone;

[0011] After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes:

[0012] The system receives 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 historical position coordinates; the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same movement path and opposite movement directions;

[0013] A first scheduling method is determined based on the current position coordinates and the historical position coordinates of the target linear reciprocating RGV; a second scheduling method is determined based on the current position coordinates and the historical position coordinates of the adjacent linear reciprocating RGVs.

[0014] 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 scheduling method and the second scheduling method.

[0015] Control the linear reciprocating RGV that first reaches the turntable to enter the turntable;

[0016] Controlling the linear reciprocating RGV to continue moving specifically includes:

[0017] The linear reciprocating RGV that arrives at the turntable first is controlled to enter the passing zone through the turntable;

[0018] After being controlled, the linear reciprocating RGV that reaches the turntable continues to move after passing the turntable;

[0019] The linear reciprocating RGV that first reaches the turntable is controlled to return to the turntable and continue moving.

[0020] According to the present invention, a linear reciprocating RGV motion control method is provided, wherein the first scheduling mode includes a first travel speed and a first turntable distance of the target linear reciprocating RGV; and the second scheduling mode includes a second travel speed and a second turntable distance of the adjacent linear reciprocating RGVs.

[0021] 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 scheduling method and the second scheduling method, specifically including:

[0022] The first arrival time of the target linear reciprocating RGV to the turntable is obtained based on the first driving speed and the first turntable distance; the second arrival time of the adjacent linear reciprocating RGV to the turntable is obtained based on the second driving speed and the second turntable distance.

[0023] The arrival order of the target linear reciprocating RGV and the adjacent linear reciprocating RGV at the turntable is determined based on the first arrival time and the second arrival time.

[0024] According to the present invention, a linear reciprocating RGV motion control method is provided, wherein the linear track is provided with an overtaking waiting area;

[0025] After receiving the setting instruction, the method further includes:

[0026] Determine the task level of the linear reciprocating RGV;

[0027] After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes:

[0028] Based on the first task level of the rear reciprocating RGV and the second task level of the front reciprocating RGV, the priorities of the rear reciprocating RGV and the front reciprocating RGV are determined; wherein the rear reciprocating RGV and the front reciprocating RGV are adjacent and travel in the same direction.

[0029] When the priority of the rear reciprocating RGV is higher than that of the front reciprocating RGV, the front reciprocating RGV is controlled to drive into the turntable.

[0030] Controlling the linear reciprocating RGV to continue moving specifically includes:

[0031] The RGV is controlled to pass the nearest turntable and enter the overtaking waiting area;

[0032] The control system allows the rear linear reciprocating RGV to continue moving past the turntable;

[0033] The control system guides the forward linear reciprocating RGV back to the turntable to continue moving.

[0034] According to the present invention, a linear reciprocating RGV motion control method controls the rotation of the turntable based on the moving direction and the moving path, specifically including:

[0035] The initial location of the mechanical gripper of the linear reciprocating RGV and the target turntable are determined based on the direction of movement; wherein, the mechanical gripper of the linear reciprocating RGV initially faces the starting point, and the target turntable is the turntable close to the target point;

[0036] The rotation of the non-target turntable is controlled based on the movement path, so that the linear reciprocating RGV moves towards the target point along the linear track;

[0037] Receive the rotation parameters of the non-target turntable, and determine the current position of the mechanical claw of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical claw;

[0038] The target turntable is rotated based on the side where the mechanical claw is currently located.

[0039] According to the linear reciprocating RGV motion control method provided by the present invention, the rotation parameters of the non-target turntable include rotation direction and rotation angle;

[0040] Determining the current position of the mechanical gripper of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical gripper specifically includes:

[0041] Based on the initial location of the mechanical gripper and the rotation direction and angle of the non-target turntables that the linear reciprocating RGV passes sequentially along the moving path, the current location of the mechanical gripper of the linear reciprocating RGV is determined.

[0042] The present invention also provides a linear reciprocating RGV motion control device, 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 gripper, and the device includes:

[0043] The setting module is used to receive setting instructions and determine the moving direction and moving path of the linear reciprocating RGV;

[0044] A linear reciprocating RGV drive module is used to control the linear reciprocating RGV, which is located near the starting point, to move toward the target point along the moving direction and the moving path.

[0045] The turntable drive module is used to determine that when the linear reciprocating RGV is located on the turntable, it controls the turntable to rotate based on the movement direction and the movement path, and controls the linear reciprocating RGV to continue moving so that after passing the turntable closest to the target point, the mechanical gripper approaches the target point.

[0046] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the linear reciprocating RGV motion control method as described above.

[0047] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the linear reciprocating RGV motion control method as described above.

[0048] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the linear reciprocating RGV motion control method as described above.

[0049] The linear reciprocating RGV motion control method, device, and electronic equipment provided by this invention can adjust the motion direction of the linear reciprocating RGV through a turntable. In this way, at the starting point, the mechanical claw of the linear reciprocating RGV is close to the starting point side, and at the target point, the mechanical claw of the linear reciprocating RGV is close to the target point side. Thus, the mechanical claw of the linear reciprocating RGV can grasp and release materials without the need for load-bearing and transfer components, thereby reducing the maintenance cost of the RGV. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is one of the flowcharts of the linear reciprocating RGV motion control method provided by the present invention.

[0052] Figure 2 This is a schematic diagram of the turntable in the linear reciprocating RGV motion control method provided by the present invention.

[0053] Figure 3 This is a schematic diagram of the mechanical gripper in the linear reciprocating RGV motion control method provided by the present invention.

[0054] Figure 4 This is one of the schematic diagrams of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0055] Figure 5 This is the second schematic diagram of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0056] Figure 6 This is the third schematic diagram of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention.

[0057] Figure 7 This is the second flowchart of the linear reciprocating RGV motion control method provided by the present invention.

[0058] Figure 8 This is the third flowchart of the linear reciprocating RGV motion control method provided by the present invention.

[0059] Figure 9 This is a schematic diagram of the linear reciprocating RGV motion control device provided by the present invention.

[0060] Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0062] The following is combined with Figures 1-10 The present invention describes a linear reciprocating RGV motion control method, device, and electronic equipment thereof, which can control the linear reciprocating RGV for material conveying and workshop assembly, etc. The following description takes controlling the linear reciprocating RGV for material conveying as an example.

[0063] Figure 1 This is one of the flowcharts of the linear reciprocating RGV motion control method provided by the present invention, which is applied to a control system. The linear reciprocating RGV moves back and forth 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 gripper.

[0064] A control system is at least used to coordinate and manage the motion of a linear reciprocating RGV and the rotation of a turntable. Exemplarily, the control system may include a server, sensors, actuators, and a communication network, and may be electrically connected to both the linear reciprocating RGV and the turntable, or communicatively connected to both.

[0065] A straight track refers to a track whose path is a straight line. Here, "straight line" generally refers to a non-circular track. A straight-line reciprocating RGV moves from the starting point to the target point and then returns along a straight track, rather than a straight line in the mathematical sense.

[0066] The starting point is the current end of the linear reciprocating RGV on the linear track, and the target point is the target end of the linear reciprocating RGV on the linear track.

[0067] The two ends of the straight track can be considered as the starting point and the ending point, respectively. The outbound journey refers to the linear reciprocating RGV traveling along the straight track from the starting point to the ending point. The return journey refers to the linear reciprocating RGV traveling along the straight track from the ending point to the starting point. For example, in the outbound journey, the starting point is the starting point and the destination point is the ending point; in the return journey, the starting point is the ending point and the destination point is the starting point.

[0068] A turntable is a rotating device that converts the direction of rotation of a linear reciprocating RGV body. Figure 2 This is a schematic diagram of the turntable in the linear reciprocating RGV motion control method provided by the present invention, as shown below. Figure 2 As shown, for example, a track can be set on the turntable, which can be located between two track segments. The linear reciprocating RGV can drive from the current track into the turntable along the track on the turntable, so that the linear reciprocating RGV corresponds to the next track segment via the turntable, and drives into the next track segment via the track on the turntable.

[0069] It is understood that a transport component can also be installed on the turntable. After the linear reciprocating RGV is aligned with the next section of track via the turntable, it can be moved from the current track to the next section of track. This invention does not specifically limit how the linear reciprocating RGV moves from the current track to the next section of track via the turntable.

[0070] Figure 3 This is a schematic diagram of the mechanical gripper in the linear reciprocating RGV motion control method provided by the present invention, as shown below. Figure 3 As shown, the mechanical gripper refers to the mechanical device on a linear reciprocating RGV used for gripping and releasing materials. During the process of the linear reciprocating RGV gripping materials from the starting point to the ending point, when the mechanical gripper is near the starting point, the linear reciprocating RGV drags the material; when the mechanical gripper is near the ending point, the linear reciprocating RGV pushes the material. It can be understood that the turntable, while changing the direction of the linear reciprocating RGV, can also change the orientation of the mechanical gripper, thus changing the way the linear reciprocating RGV moves materials.

[0071] For example, a linear reciprocating RGV may include a vehicle body and a mechanical gripper, the mechanical gripper being located at the rear of the vehicle body.

[0072] like Figure 1 As shown, the method includes:

[0073] Step 101: Receive setting instructions and determine the moving direction and moving path of the linear reciprocating RGV.

[0074] The direction of movement can include outbound and return journeys.

[0075] As mentioned earlier, the straight line in the linear track is not a straight line in the mathematical sense. In this embodiment, the movement path includes the movement trajectory of the linear reciprocating RGV on the track and its turning direction. The turning direction enables the linear reciprocating RGV to move along the movement trajectory.

[0076] For example, a user-input setting command can be received, and the direction of movement of the linear reciprocating RGV can be determined to be the outward direction based on the setting command. The movement path of the linear reciprocating RGV can be determined to include a right-angle reverse Z-shaped movement trajectory and a turning direction based on the setting command. When starting from the upper right corner and ending at the lower left corner, the turning direction 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.

[0077] In this embodiment, after passing the turntable at the turning point, the linear reciprocating RGV can move with the vehicle body in front and the mechanical claw behind, or the vehicle body behind and the mechanical claw in front.

[0078] Step 102: Control the mechanical gripper to move the linear reciprocating RGV close to the starting point, and move towards the target point along the moving direction and the moving path.

[0079] Figure 4 This is one of the schematic diagrams of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention. Figure 4 The RGV mentioned is the linear reciprocating RGV in this embodiment, such as... Figure 4 As shown, when the starting point is the origin, the robotic gripper of the linear reciprocating RGV is positioned closer to the origin to facilitate the gripper picking up materials from the material storage area at the origin. When the origin is the destination, the robotic gripper is positioned closer to the destination to facilitate the gripper releasing materials from the material storage area at the destination during the previous material transport process.

[0080] 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 gripper approaches the target point.

[0081] For example, a weighing sensor can be installed on the turntable. The presence of a linear reciprocating RGV on the turntable is determined by the change in the electrical signal output by the weighing sensor. If the presence of a linear reciprocating RGV is determined, the control system can send a steering command to the turntable to control its rotation. The steering command corresponds to the direction and path of movement of the linear reciprocating RGV.

[0082] Multiple sets of steering commands can be preset and correspond to the movement direction and movement path of different linear reciprocating RGVs. In this case, the steering command is automatically issued according to the movement direction and movement path of the linear reciprocating RGV; the steering command can also be forwarded to the turntable after the control system receives the steering command input by the user.

[0083] like Figure 4 As shown, when the target point is the starting point, the robotic gripper of the linear reciprocating RGV is positioned closer to the starting point, which facilitates the gripper picking up materials from the material storage area at the starting point during the next material transport process. When the target point is the ending point, the robotic gripper of the linear reciprocating RGV is positioned closer to the ending point, which facilitates the gripper releasing materials from the material storage area at the ending point.

[0084] The linear reciprocating RGV motion control method provided in this invention allows the motion direction of the linear reciprocating RGV to be adjusted via a turntable. This ensures that at the starting point, the mechanical gripper of the linear reciprocating RGV is close to the starting point, and upon reaching the target point, the mechanical gripper is close to the target point. This enables the mechanical gripper of the linear reciprocating RGV to grasp and release materials without the need for load-bearing or transfer components, thus reducing the maintenance cost of the RGV.

[0085] Figure 5 This is the second schematic diagram of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention. Figure 5 RGV1 can be viewed as the target linear reciprocating RGV, and RGV2 can be viewed as an adjacent linear reciprocating RGV, such as... Figure 5 As shown in the above embodiment, the straight track is provided with a passing zone.

[0086] The passing zone is a temporary stopping area for a linear reciprocating RGV. The passing zone is generally independent of the movement path determined by the setup instructions. For example, the temporary stopping area can be a temporary stopping track. The linear reciprocating RGV can move from the current track onto the turntable along the track on the turntable, and then move onto the temporary stopping track, the direction of which is the same as the direction of the current track.

[0087] When the track connected by the turntable consists of two sections, temporary stopping tracks can be set up for each section.

[0088] During material handling, multiple linear reciprocating RGVs may move simultaneously along different directions but the same path. Passing maneuvers are necessary to ensure all RGVs can move smoothly. For example, when two linear reciprocating RGVs are moving simultaneously along different directions but the same path, one RGV transports material to the destination and then returns to the starting point, while the other transports material from the starting point to the destination. Because the track is straight, one RGV needs to be controlled to pass the other smoothly.

[0089] In one embodiment, after controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes:

[0090] The system receives 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 historical position coordinates; the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same movement path and opposite movement directions;

[0091] A first scheduling method is determined based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates; a second scheduling method is determined based on the current position coordinates and historical position coordinates of the adjacent linear reciprocating RGVs.

[0092] 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 scheduling method and the second scheduling method.

[0093] Control the linear reciprocating RGV that first reaches the turntable to enter the turntable;

[0094] Controlling the linear reciprocating RGV to continue moving specifically includes:

[0095] The linear reciprocating RGV that arrives at the turntable first is controlled to enter the passing zone through the turntable;

[0096] After being controlled, the linear reciprocating RGV that reaches the turntable continues to move after passing the turntable;

[0097] The linear reciprocating RGV that first reaches the turntable is controlled to return to the turntable and continue moving.

[0098] Two linear reciprocating RGVs that are closest to the same turntable and move simultaneously along different directions but the same path can be designated as the target linear reciprocating RGV and the adjacent linear reciprocating RGV, respectively. In other words, the target linear reciprocating RGV can be either the outbound linear reciprocating RGV or the return linear reciprocating RGV.

[0099] Position coordinates are parameters that reflect the specific location of a linear reciprocating RGV on its orbit. Position coordinates can be absolute, such as the coordinates of a linear reciprocating RGV provided by a Global Navigation Satellite System (GNSS), or relative, such as the coordinates of a linear reciprocating RGV relative to a reference point obtained by sensors. The reference point can be the starting point, the ending point, or a turntable, etc.

[0100] The control system can receive real-time position coordinates from the linear reciprocating RGV and arrange these coordinates according to the receiving time sequence. The position coordinate closest to the current moment is the current position coordinate, and the remaining coordinates are historical position coordinates.

[0101] The real-time feedback position coordinates can be absolute position coordinates uploaded by the linear reciprocating RGV at specified intervals, where the specified interval can be set according to actual conditions and is not further limited here; or they can be relative position coordinates continuously uploaded by the linear reciprocating RGV. For example, when the relative position coordinates are indirectly obtained by using the distance between the linear reciprocating RGV and a reference point acquired by a sensor, the relative position coordinates continuously uploaded by the linear reciprocating RGV can be obtained.

[0102] The scheduling method can be parameters that reflect the driving status and task level of the linear reciprocating RGV. For example, the driving status and task level of the linear reciprocating RGV can be determined based on the changes in the position coordinates of the linear reciprocating RGV.

[0103] For example, by comparing the first scheduling method and the second scheduling method, it can be determined that the target straight reciprocating RGV has a faster travel speed, and that the target straight reciprocating RGV arrives at the turntable first, while the adjacent straight reciprocating RGV arrives at the turntable later. Alternatively, by comparing the first scheduling method and the second scheduling method, it can be determined that the target straight reciprocating RGV has a higher priority, and that the adjacent straight reciprocating RGV arrives at the turntable first, so that the target straight reciprocating RGV can pass.

[0104] The control system can adjust the driving status of the linear reciprocating RGV by sending RGV execution commands to it. The process of the control system sending RGV execution commands to the linear reciprocating RGV is basically the same as the process of the control system sending steering commands to the turntable, and will not be described in detail here.

[0105] In this embodiment, by setting a passing zone, given the determined order in which the target linear reciprocating RGV and adjacent linear reciprocating RGVs arrive at the turntable, the linear reciprocating RGV that arrives at the turntable first can be controlled to enter the passing zone through the turntable. After the linear reciprocating RGV that arrives at the turntable later passes the turntable, it returns and continues to move along the direction and path of movement through the turntable. By controlling the linear reciprocating RGV that arrives at the turntable later to move normally along the direction and path of movement through the turntable, the mutual interference of the movement paths of multiple linear reciprocating RGVs is reduced, and the efficiency of multiple linear reciprocating RGVs working simultaneously is improved.

[0106] Furthermore, after determining the order in which the target reciprocating RGV and adjacent reciprocating RGVs arrive at the turntable, the reciprocating RGV that arrives at the turntable first can be controlled to accelerate within the maximum safe speed limit and pass through the turntable into the passing zone. Optionally, the reciprocating RGV that arrives at the turntable later can also be controlled to decelerate.

[0107] like Figure 5 As shown, based on any of the above embodiments, the first scheduling method includes the first driving speed and the first turntable distance of the target straight reciprocating RGV; the second scheduling method includes the second driving speed and the second turntable distance of the adjacent straight reciprocating RGV.

[0108] 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 scheduling method and the second scheduling method, specifically including:

[0109] The first arrival time of the target linear reciprocating RGV to the turntable is obtained based on the first driving speed and the first turntable distance; the second arrival time of the adjacent linear reciprocating RGV to the turntable is obtained based on the second driving speed and the second turntable distance.

[0110] The arrival order of the target linear reciprocating RGV and the adjacent linear reciprocating RGV at the turntable is determined based on the first arrival time and the second arrival time.

[0111] Figure 5 V1 can be considered as the first driving speed, and L1 can be considered as the first turntable distance; V2 can be considered as the second driving speed, and L2 can be considered as the second turntable distance.

[0112] The driving speed can be the average driving speed of the linear reciprocating RGV over a specified time interval, or the real-time speed uploaded by the linear reciprocating RGV via a speed sensor. The specified time interval can be set according to actual conditions and is not further limited here; the average driving speed can be calculated based on the location coordinate upload time and location coordinates.

[0113] The turntable distance is the distance between the linear reciprocating RGV and the turntable. Here, the turntable refers to the distance between the linear reciprocating RGV and its adjacent linear reciprocating RGV when there is only one turntable.

[0114] The arrival time is the time it takes for a linear reciprocating RGV to reach the turntable at its travel speed in its scheduling mode. For example, if the first arrival time is less than the second arrival time, then it is determined that the target linear reciprocating RGV arrives at the turntable before the adjacent linear reciprocating RGV.

[0115] Compared to other strategies that determine the arrival order of the target RGV and adjacent RGVs at the turntable, such as controlling the lower-level RGV to actually arrive at the turntable first to avoid collisions when the higher-level RGV is predicted to arrive first, this embodiment determines the arrival order of the target RGV and adjacent RGVs at the turntable by using the first arrival time of the target RGV and the second arrival time of the adjacent RGV. This allows for relatively simple passing between the target RGV and adjacent RGVs, reduces the control complexity of the RGVs, and lowers the collision risk between two RGVs traveling in opposite directions.

[0116] Figure 6 This is the third schematic diagram of the movement path of the linear reciprocating RGV in the linear reciprocating RGV motion control method provided by the present invention. Figure 6 RGV1 can be viewed as a linear reciprocating RGV in the front, and RGV2 can be viewed as a linear reciprocating RGV in the rear, as follows. Figure 6 As shown, based on any of the above embodiments, the straight track is provided with an overtaking waiting area.

[0117] The overtaking waiting area is a temporary stopping area for a linear reciprocating RGV. The overtaking waiting area is generally independent of the movement path determined by the setup instructions. For example, the temporary stopping area can be a temporary stopping track. The linear reciprocating RGV can move from its current track onto the turntable along the track on the turntable, and then onto the temporary stopping track, the direction of which is the same as the direction of the current track.

[0118] For example, the overtaking waiting area and the passing area can be the same temporary stopping area.

[0119] In one embodiment, after receiving the setting instruction, the method further includes: determining the task level of the linear reciprocating RGV.

[0120] Task level refers to the priority of tasks assigned to a linear reciprocating RGV. Task level and task priority can be positively or negatively correlated. For example, the higher the task level, the higher the priority of the tasks assigned to the linear reciprocating RGV, and the more urgent the tasks assigned to the linear reciprocating RGV.

[0121] like Figure 6 As shown, in one embodiment, after controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes:

[0122] Based on the first task level of the rear reciprocating RGV and the second task level of the front reciprocating RGV, the priorities of the rear reciprocating RGV and the front reciprocating RGV are determined; wherein the rear reciprocating RGV and the front reciprocating RGV are adjacent and travel in the same direction.

[0123] When the priority of the rear reciprocating RGV is higher than that of the front reciprocating RGV, the front reciprocating RGV is controlled to drive into the turntable.

[0124] Controlling the linear reciprocating RGV to continue moving specifically includes:

[0125] The RGV is controlled to pass the nearest turntable and enter the overtaking waiting area;

[0126] The control system allows the rear linear reciprocating RGV to continue moving past the turntable;

[0127] The control system guides the forward linear reciprocating RGV back to the turntable to continue moving.

[0128] For example, the control system can monitor the distance change trend between two adjacent, same-direction reciprocating RGVs based on the position coordinates fed back by the reciprocating RGVs. If there is a decreasing trend in the distance between adjacent reciprocating RGVs, the system determines the urgency of the tasks of the rear and front reciprocating RGVs. If the task of the rear reciprocating RGV is more urgent, the system controls the front reciprocating RGV to move through the nearest turntable into the overtaking waiting area so that the rear reciprocating RGV can move normally. If the task of the front reciprocating RGV is more urgent, the system controls the rear reciprocating RGV to slow down to avoid a collision between the two adjacent, same-direction reciprocating RGVs.

[0129] In this embodiment, by setting up an overtaking waiting area, when two adjacent and unidirectional reciprocating RGVs are determined according to a first and second task level, and the task of the rear reciprocating RGV is more urgent than that of the front reciprocating RGV, the front reciprocating RGV is controlled to enter the overtaking waiting area via the nearest turntable. After reaching the turntable, the reciprocating RGV returns and continues its movement along the direction and path of travel via the turntable. The rear reciprocating RGV is controlled to move normally along the direction and path of travel after passing the turntable, thus enabling the rear reciprocating RGV to overtake. This eliminates the need for the front reciprocating RGV to increase its speed, ensuring that high-priority tasks can be completed more quickly while avoiding collisions caused by both adjacent reciprocating RGVs traveling at high speeds.

[0130] Based on any of the above embodiments, controlling the turntable to rotate based on the moving direction and the moving path specifically includes:

[0131] The initial location of the mechanical gripper of the linear reciprocating RGV and the target turntable are determined based on the direction of movement; wherein, the mechanical gripper of the linear reciprocating RGV initially faces the starting point, and the target turntable is the turntable close to the target point;

[0132] The rotation of the non-target turntable is controlled based on the movement path, so that the linear reciprocating RGV moves towards the target point along the linear track;

[0133] Receive the rotation parameters of the non-target turntable, and determine the current position of the mechanical claw of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical claw;

[0134] The target turntable is rotated based on the side where the mechanical claw is currently located.

[0135] Rotation parameters may include rotation direction, rotation angle, rotation angular velocity, and rotation time.

[0136] For example, the starting point can be determined by the direction of movement, and the target point can be determined as the end point; thus, the initial position of the mechanical gripper of the linear reciprocating RGV is determined to be the side closer to the starting point, and the target turntable is the turntable closer to the end point; two turntables can be set between the starting point and the end point, with the turntable closer to the starting point being the non-target turntable and the turntable closer to the end point being the target turntable.

[0137] 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. During the movement of the linear reciprocating RGV towards the target turntable, the side where the mechanical claw is located can face the non-target turntable or the target turntable.

[0138] In this embodiment, the non-target turntable is rotated based on the movement path control. The current position of the mechanical claw is determined based on the rotation parameters of the non-target turntable and the initial position of the mechanical claw of the linear reciprocating RGV. The target turntable is rotated based on the current position of the mechanical claw. This allows the mechanical claw to face the target point during the linear reciprocating RGV's movement from the target turntable to the target point, so as to release the material or grab the material at the start of the next movement.

[0139] Furthermore, in this embodiment, the target turntable is controlled to rotate only based on the side where the robotic gripper is currently located, rather than controlling each turntable to rotate based on the side where the robotic gripper is currently located. This reduces the number of times the current location of the robotic gripper is determined and lowers the load on the control system.

[0140] In another embodiment, the rotation of each turntable can be controlled based on the side where the mechanical gripper is currently located, which can reduce the rotation amplitude of the turntable and increase the stability of the linear reciprocating RGV in transporting materials.

[0141] Based on any of the above embodiments, the rotation parameters of the non-target turntable include the rotation direction and the rotation angle. The rotation direction may include clockwise rotation and counterclockwise rotation. The rotation angle can be obtained through an angle sensor.

[0142] In one embodiment, determining the current location of the mechanical claw of the linear reciprocating RGV based on the rotation parameters and the initial location of the mechanical claw specifically includes: determining the current location of the mechanical claw of the linear reciprocating RGV based on the initial location of the mechanical claw and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV sequentially passes along the movement path.

[0143] For example, the direction of movement of a linear reciprocating RGV can be determined by the starting point as the starting point and the target point as the ending point; the movement path can be determined as a right-angled inverse Z-shape, with the starting point at the upper right corner and the ending point at the lower left corner; two turntables are provided between the starting point and the ending point, with the turntable closer to the starting point being the non-target turntable and the turntable closer to the ending point being the target turntable.

[0144] The control system can control the non-target turntable to rotate 90 degrees counterclockwise, so that the linear reciprocating RGV moves along a straight track toward the target turntable. After the linear reciprocating RGV moves onto the target turntable, the control system can determine whether to control the target turntable to rotate 90 degrees counterclockwise, so that the linear reciprocating RGV's mechanical gripper is initially on the side closer to the starting point, and after the non-target turntable rotates 90 degrees counterclockwise, the mechanical gripper of the linear reciprocating RGV is on the side closer to the non-target turntable, based on this information.

[0145] The control system can also control the non-target turntable to rotate 90 degrees clockwise, so that the linear reciprocating RGV moves towards the target turntable along the linear track. After the linear reciprocating RGV moves onto the target turntable, the control system can determine that the target turntable rotates 90 degrees clockwise, based on the initial position of the linear reciprocating RGV's gripper near the starting point, and the position of the linear reciprocating RGV's gripper near the target turntable after the non-target turntable rotates 90 degrees clockwise, so that the linear reciprocating RGV's gripper moves closer to the endpoint.

[0146] The linear reciprocating RGV travels along a straight track. The mechanical gripper of the linear reciprocating RGV can only be located on the side closer to the starting point or the side closer to the ending point. Therefore, it is sufficient to make a rough judgment on the current location of the mechanical gripper of the linear reciprocating RGV.

[0147] Compared to rotational parameters such as angular velocity and rotation time, in this embodiment, the rotational angles of the linear reciprocating RGV are summed based on the rotational direction and rotational angle of the non-target turntables that the linear reciprocating RGV passes sequentially along the moving path. Combined with the initial location of the mechanical gripper, the mechanical gripper of the linear reciprocating RGV can be roughly determined, thereby reducing the computational load on the control system.

[0148] Furthermore, in this embodiment, by summing the rotation angles of the linear reciprocating RGV and combining them with the initial location of the mechanical gripper, the current location of the mechanical gripper of the linear reciprocating RGV on the target turntable can be determined simply and quickly, without the need to calculate and store the location of the mechanical gripper at each turntable.

[0149] To illustrate the functionality of the linear reciprocating RGV motion control method provided in this implementation, a specific example is given below.

[0150] Receive setting instructions to determine the moving direction and moving path of the linear reciprocating RGV;

[0151] The mechanical gripper is controlled to move toward the target point along the moving direction and the moving path of the linear reciprocating RGV that is close to the starting point.

[0152] Figure 7 This is the second flowchart of the linear reciprocating RGV motion control method provided by the present invention, as shown below. Figure 7 As shown, when the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same moving path and opposite moving directions, 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.

[0153] The first driving speed v1 and the first turntable distance L1 are determined based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates. The second driving speed v2 and the second turntable distance L2 are determined based on the current position coordinates of the adjacent linear reciprocating RGV and the historical position coordinates.

[0154] The first arrival time of the target linear reciprocating RGV to the turntable is obtained based on the first driving speed and the first turntable distance; the second arrival time of the adjacent linear reciprocating RGV to the turntable is obtained based on the second driving speed and the second turntable distance; for example, the first arrival time can be obtained through L1 / v1 and the second arrival time can be obtained through L2 / v2.

[0155] If L1 / v1≥L2 / v2 is true, it is determined that the target linear reciprocating RGV reaches the turntable after reaching the turntable, and it is determined that the adjacent linear reciprocating RGV reaches the turntable first.

[0156] Control the target straight reciprocating RGV to decelerate, and the adjacent target straight reciprocating RGV to accelerate, so that the adjacent target straight reciprocating RGV enters the passing zone; after confirming that the adjacent target straight reciprocating RGV has entered the passing zone, control the target straight reciprocating RGV to enter the roundabout; after confirming that the target straight reciprocating RGV has exited the roundabout, control the adjacent target straight RGV to return to the roundabout and continue moving.

[0157] If L1 / v1≥L2 / v2 is not true, it is determined that the target linear reciprocating RGV arrives at the turntable first, and the adjacent linear reciprocating RGV arrives at the turntable later.

[0158] Control the adjacent target reciprocating RGV to decelerate, and the target reciprocating RGV to accelerate, so that the target reciprocating RGV enters the passing zone; after confirming that the target reciprocating RGV has entered the passing zone, control the adjacent target reciprocating RGV to enter the roundabout; after confirming that the target reciprocating RGV has exited the roundabout, control the target reciprocating RGV to return to the roundabout and continue moving.

[0159] Specifically, when the linear reciprocating RGV is determined to be located on the turntable, the initial location of the mechanical gripper of the linear reciprocating RGV and the target turntable are determined based on the movement direction. The rotation of the non-target turntable is controlled based on the movement path so that the linear reciprocating RGV moves towards the target point along the linear track. The rotation parameters of the non-target turntable are received, and the current location of the mechanical gripper of the linear reciprocating RGV is determined based on the initial location of the mechanical gripper and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV passes through sequentially along the movement path. The target turntable is controlled to rotate based on the current location of the mechanical gripper.

[0160] Figure 8 This is the third flowchart of the linear reciprocating RGV motion control method provided by the present invention, as shown below. Figure 8 As shown, the situation where the rear reciprocating RGV and the front reciprocating RGV are adjacent and traveling in the same direction is basically the same as the situation where the target reciprocating RGV and the adjacent reciprocating RGV have the same movement path but opposite movement direction, except that:

[0161] Determine the task level of the linear reciprocating RGV; based on the first task level of the subsequent linear reciprocating RGV and the second task level of the preceding linear reciprocating RGV, determine the priority of the subsequent linear reciprocating RGV and the preceding linear reciprocating RGV.

[0162] When the priority of the rear reciprocating RGV is higher than that of the front reciprocating RGV, that is, the front reciprocating RGV has a lower task level and the rear reciprocating RGV has a higher task level, the front reciprocating RGV is controlled to drive into the turntable.

[0163] 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;

[0164] The system controls the leading reciprocating RGV to pass the nearest turntable and enter the overtaking waiting area; if the leading reciprocating RGV enters the overtaking waiting area, the system controls the trailing reciprocating RGV to continue moving past the turntable; if the trailing reciprocating RGV leaves the turntable, the system controls the leading reciprocating RGV to return to the turntable and continue moving, so that after passing the turntable closest to the target point, the mechanical gripper approaches the side of the target point.

[0165] The linear reciprocating RGV motion control device provided by the present invention is described below. The linear reciprocating RGV motion control device described below can be referred to in correspondence with the linear reciprocating RGV motion control method described above.

[0166] Figure 9 This is a schematic diagram of the linear reciprocating RGV motion control device provided by the present invention, 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 gripper, such as... Figure 9 As shown, the device includes:

[0167] Setting module 901 is used to receive setting instructions and determine the moving direction and moving path of the linear reciprocating RGV;

[0168] A linear reciprocating RGV drive module 902 is used to control the linear reciprocating RGV, which is close to the starting point, to move toward the target point along the moving direction and the moving path.

[0169] The turntable drive 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 gripper approaches the target point.

[0170] Based on any of the above embodiments, the linear track is provided with a passing zone, and the linear reciprocating RGV motion control device further includes a passing control module.

[0171] After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the passing control module is used to:

[0172] The system receives the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by adjacent linear reciprocating RGVs; the position coordinates include the current position coordinates and historical position coordinates.

[0173] A first scheduling method is determined based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates; a second scheduling method is determined based on the current position coordinates and historical position coordinates of the adjacent linear reciprocating RGVs.

[0174] 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 scheduling method and the second scheduling method.

[0175] The RGV that arrives at the turntable first is controlled to enter the passing zone through the turntable. The RGV that arrives at the turntable later is controlled to continue moving through the turntable. The RGV that arrives at the turntable first is controlled to return to the turntable and continue moving.

[0176] Based on any of the above embodiments, the first scheduling method includes the first driving speed and the first turntable distance of the target straight reciprocating RGV; the second scheduling method includes the second driving speed and the second turntable distance of the adjacent straight reciprocating RGV;

[0177] The passing control module is specifically used for:

[0178] The first arrival time of the target linear reciprocating RGV to the turntable is obtained based on the first driving speed and the first turntable distance; the second arrival time of the adjacent linear reciprocating RGV to the turntable is obtained based on the second driving speed and the second turntable distance.

[0179] The arrival order of the target linear reciprocating RGV and the adjacent linear reciprocating RGV at the turntable is determined based on the first arrival time and the second arrival time.

[0180] 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.

[0181] After receiving the setting instruction, the task level acquisition module is used to determine the task level of the linear reciprocating RGV;

[0182] After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the overtaking control module is used to:

[0183] Based on the first task level of the rear reciprocating RGV and the second task level of the front reciprocating RGV, the priority of the target reciprocating RGV and the adjacent reciprocating RGV is determined; wherein the target reciprocating RGV and the adjacent reciprocating RGV travel in the same direction.

[0184] If the priority of the target reciprocating RGV is higher than that of the adjacent reciprocating RGV, the adjacent reciprocating RGV is controlled to enter the overtaking waiting area via the nearest turntable, the target reciprocating RGV is controlled to continue moving via the turntable, and the adjacent reciprocating RGV is controlled to return to the turntable to continue moving.

[0185] Based on any of the above embodiments, the turntable drive module 903 is specifically used for:

[0186] The initial location of the mechanical gripper of the linear reciprocating RGV and the target turntable are determined based on the direction of movement; wherein, the mechanical gripper of the linear reciprocating RGV initially faces the starting point, and the target turntable is the turntable close to the target point;

[0187] The rotation of the non-target turntable is controlled based on the movement path, so that the linear reciprocating RGV moves towards the target point along the linear track;

[0188] Receive the rotation parameters of the non-target turntable, and determine the current position of the mechanical claw of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical claw;

[0189] The target turntable is rotated based on the side where the mechanical claw is currently located.

[0190] Based on any of the above embodiments, the rotation parameters of the non-target turntable include rotation direction and rotation angle;

[0191] The turntable drive module 903 is specifically used to: determine the current location of the mechanical claw of the linear reciprocating RGV based on the initial location of the mechanical claw and the rotation direction and rotation angle of the non-target turntables that the linear reciprocating RGV passes sequentially along the moving path.

[0192] Figure 10 An example is a schematic diagram of the structure of an electronic device, such as... Figure 10 As shown, the electronic device may include: a processor 1010, a communications interface 1020, a memory 1030, and a communications bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 communicate with each other through the communications bus 1040. Processor 1010 can call logic instructions in memory 1030 to execute a linear reciprocating RGV motion control method. This method is applied to a control system, wherein the linear reciprocating RGV moves back and forth 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 gripper; the method includes: receiving a setting instruction to determine the moving direction and moving path of the linear reciprocating RGV; controlling the linear reciprocating RGV, which is close to the starting point, to move towards the target point along the moving direction and the moving path; and, when 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 gripper moves close to the target point.

[0193] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0194] On the other hand, the present invention also provides a computer program product, which includes a computer program that 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. This method is applied to a control system, wherein the linear reciprocating RGV moves back and forth 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 gripper; the method includes: receiving a setting command and determining the moving direction and moving path of the linear reciprocating RGV; controlling the linear reciprocating RGV, which is close to the starting point, to move towards the target point along the moving direction and the moving path; and, when 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 gripper moves close to the target point.

[0195] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the linear reciprocating RGV motion control method provided by the methods described above. This method 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 gripper; the method includes: receiving a setting instruction; determining the movement direction and movement path of the linear reciprocating RGV; controlling the linear reciprocating RGV, with the mechanical gripper close to the starting point, to move towards the target point along the movement direction and the movement path; and, when the linear reciprocating RGV is located on the turntable, controlling the turntable to rotate based on the movement direction and the movement path, so that after the linear reciprocating RGV passes the turntable closest to the target point along the movement path, the mechanical gripper approaches the target point.

[0196] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0197] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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, The linear reciprocating RGV, applied in a control system, reciprocates between a starting point and a target point along a linear track, the linear track being equipped with a turntable; the linear reciprocating RGV includes a mechanical gripper; the method includes: Receive setting instructions to determine the moving direction and moving path of the linear reciprocating RGV; The mechanical gripper is controlled to move toward the target point along the moving direction and the moving path of the linear reciprocating RGV that is close to the starting point. 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 gripper approaches the target point. The straight track is equipped with a passing zone; After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes: The system receives the position coordinates fed back by the target linear reciprocating RGV and the position coordinates fed back by adjacent linear reciprocating RGVs; the position coordinates include the current position coordinates and historical position coordinates; the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same movement path and opposite movement directions; A first scheduling method is determined based on the current position coordinates and the historical position coordinates of the target linear reciprocating RGV; a second scheduling method is determined based on the current position coordinates and the historical position coordinates of the adjacent linear reciprocating RGVs. 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 scheduling method and the second scheduling method. Control the linear reciprocating RGV that first reaches the turntable to enter the turntable; Controlling the linear reciprocating RGV to continue moving specifically includes: The linear reciprocating RGV that arrives at the turntable first is controlled to enter the passing zone through the turntable; After being controlled, the linear reciprocating RGV that reaches the turntable continues to move after passing the turntable; The linear reciprocating RGV that first reaches the turntable is controlled to return to the turntable and continue moving.

2. The linear reciprocating RGV motion control method according to claim 1, characterized in that, The first scheduling method includes the first travel speed and the first turntable distance of the target linear reciprocating RGV; the second scheduling method includes the second travel speed and the second turntable distance of the adjacent linear reciprocating RGV. 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 scheduling method and the second scheduling method, specifically including: The first arrival time of the target linear reciprocating RGV to the turntable is obtained based on the first driving speed and the first turntable distance; The second arrival time of the adjacent linear reciprocating RGV to the turntable is obtained based on the second driving speed and the second turntable distance; The arrival order of the target linear reciprocating RGV and the adjacent linear reciprocating RGV at the turntable is determined based on the first arrival time and the second arrival time.

3. The linear reciprocating RGV motion control method according to claim 1, characterized in that, The straight track is equipped with an overtaking waiting area; After receiving the setting instruction, the method further includes: Determine the task level of the linear reciprocating RGV; After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the method further includes: Based on the first task level of the rear reciprocating RGV and the second task level of the front reciprocating RGV, the priorities of the rear reciprocating RGV and the front reciprocating RGV are determined; wherein the rear reciprocating RGV and the front reciprocating RGV are adjacent and travel in the same direction. When the priority of the rear reciprocating RGV is higher than that of the front reciprocating RGV, the front reciprocating RGV is controlled to drive into the turntable. Controlling the linear reciprocating RGV to continue moving specifically includes: The RGV is controlled to pass the nearest turntable and enter the overtaking waiting area; The control system allows the rear linear reciprocating RGV to continue moving past the turntable; The control system guides the forward linear reciprocating RGV back to the turntable to continue moving.

4. The linear reciprocating RGV motion control method according to claim 1, characterized in that, Controlling the rotation of the turntable based on the moving direction and the moving path specifically includes: The initial location of the mechanical gripper of the linear reciprocating RGV and the target turntable are determined based on the direction of movement; wherein, the mechanical gripper of the linear reciprocating RGV initially faces the starting point, and the target turntable is the turntable close to the target point; The rotation of the non-target turntable is controlled based on the movement path, so that the linear reciprocating RGV moves towards the target point along the linear track; Receive the rotation parameters of the non-target turntable, and determine the current position of the mechanical claw of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical claw; The target turntable is rotated based on the side where the mechanical claw is currently located.

5. The linear reciprocating RGV motion control method according to claim 4, characterized in that, The rotation parameters of the non-target turntable include the rotation direction and rotation angle; Determining the current position of the mechanical gripper of the linear reciprocating RGV based on the rotation parameters and the initial position of the mechanical gripper specifically includes: Based on the initial location of the mechanical gripper and the rotation direction and angle of the non-target turntables that the linear reciprocating RGV passes sequentially along the moving path, the current location of the mechanical gripper of the linear reciprocating RGV is determined.

6. 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, the linear track being equipped with a turntable; the linear reciprocating RGV includes a mechanical gripper, and the device includes: The setting module is used to receive setting instructions and determine the moving direction and moving path of the linear reciprocating RGV; A linear reciprocating RGV drive module is used to control the linear reciprocating RGV, which is located near the starting point, to move toward the target point along the moving direction and the moving path. The turntable drive module is used to determine that when the linear reciprocating RGV is located on the turntable, it controls the turntable to rotate based on the moving direction and the moving path, and controls the linear reciprocating RGV to continue moving so that after passing the turntable closest to the target point, the mechanical gripper approaches the target point. The linear track is provided with a passing zone, and the linear reciprocating RGV motion control device also includes a passing control module; After controlling the robotic gripper to move towards the target point along the moving direction and the moving path, the passing control module is used to: The system receives 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 historical position coordinates; the target linear reciprocating RGV and the adjacent linear reciprocating RGV have the same movement path and opposite movement directions; A first scheduling method is determined based on the current position coordinates of the target linear reciprocating RGV and the historical position coordinates; a second scheduling method is determined based on the current position coordinates and historical position coordinates of the adjacent linear reciprocating RGVs. 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 scheduling method and the second scheduling method. The RGV that arrives at the turntable first is controlled to enter the passing zone through the turntable. The RGV that arrives at the turntable later is controlled to continue moving through the turntable. The RGV that arrives at the turntable first is controlled to return to the turntable and continue moving.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the linear reciprocating RGV motion control method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the linear reciprocating RGV motion control method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the linear reciprocating RGV motion control method as described in any one of claims 1 to 5.

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