Material transport vehicle control method and device, material transport vehicle, medium and product

Abstract

The invention discloses a material transport vehicle control method and device, a material transport vehicle, a medium and a product. The method comprises the following steps: acquiring target position information, a plurality of encoder values, sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values and sampling time corresponding to each two-dimensional code distance value; determining a first encoder value and a two-dimensional code distance value matched with the first encoder value according to the plurality of encoder values, the sampling time corresponding to each encoder value, the plurality of two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the first sampling period and the second sampling period; determining a target distance difference value according to the target position information and the difference value of the two-dimensional code distance value matched with the first encoder value; determining a target encoder value according to the first encoder value and the target distance difference value; and the servo motor is controlled based on the target encoder value, so that the material transport vehicle travels to the target position, and through the technical scheme of the invention, the material transport vehicle accurately travels to the target position.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of automated control technology, and in particular, to a material transport vehicle control method, device, material transport vehicle, medium, and product. Background Art

[0002] Automatic Material Handling System (AMHS) is widely used in various fields, such as cargo transportation at airports, material transportation in automated factories, etc. The automatic material handling system includes a material transport vehicle and a track. The material transport vehicle includes an encoder and a servo motor. An encoder is a device used to measure position, speed, and direction. In a servo motor, the encoder provides position feedback information. By monitoring the position of the rotor, the encoder enables the controller to control the rotation of the servo motor to reach the desired position.

[0003] In the prior art, the implementation scheme of controlling the material transport vehicle according to the encoder value is: controlling the material transport vehicle according to the encoder value and the target position, so that the material transport vehicle travels to the target position.

[0004] However, since the wheels of the material transport vehicle may slip, the obtained encoder value may have errors. If the material transport vehicle is controlled according to the inaccurate encoder value, the final position of the material transport vehicle may deviate from the target position. Summary of the invention

[0005] The embodiments of the present invention provide a material transport vehicle control method, device, material transport vehicle, medium and product to improve the accuracy of material transport vehicle control and enable the material transport vehicle to accurately travel to a target location.

[0006] According to one aspect of the present invention, a material transport vehicle control method is provided, comprising:

[0007] Obtain target position information, multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, and sampling times corresponding to each two-dimensional code distance value, wherein the multiple two-dimensional code distance values ​​are two-dimensional code distance values ​​obtained by a two-dimensional code reader reading a two-dimensional code identifier on a track based on a first sampling period, and the multiple encoder values ​​are output values ​​of an encoder read based on a second sampling period, and the first sampling period is different from the second sampling period;

[0008] Determine, according to a plurality of encoder values, sampling times corresponding to the encoder values, a plurality of two-dimensional code distance values, sampling times corresponding to the two-dimensional code distance values, a first sampling period, and a second sampling period, a first encoder value and a two-dimensional code distance value that matches the first encoder value;

[0009] Determine a target distance difference according to a difference between the target position information and a distance value of a two-dimensional code matched by the first encoder value;

[0010] determining a target encoder value according to the first encoder value and the target distance difference;

[0011] The servo motor is controlled based on the target encoder value so that the material transport vehicle travels to the target position.

[0012] According to another aspect of the present invention, a material transport vehicle control device is provided, the material transport vehicle control device comprising:

[0013] an acquisition module, used to acquire target position information, a plurality of encoder values, a sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values, and a sampling time corresponding to each two-dimensional code distance value, wherein the plurality of two-dimensional code distance values ​​are two-dimensional code distance values ​​obtained by a two-dimensional code reader reading a two-dimensional code identifier on a track based on a first sampling period, and the plurality of encoder values ​​are output values ​​of an encoder read based on a second sampling period, and the first sampling period is different from the second sampling period;

[0014] A first determination module, for determining a first encoder value and a two-dimensional code distance value matching the first encoder value according to a plurality of encoder values, a sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values, a sampling time corresponding to each two-dimensional code distance value, a first sampling period, and a second sampling period;

[0015] A second determination module, configured to determine a target distance difference according to a difference between the target position information and a distance value of a two-dimensional code matched with the first encoder value;

[0016] a third determination module, configured to determine a target encoder value according to the first encoder value and the target distance difference;

[0017] The control module is used to control the servo motor based on the target encoder value so that the material transport vehicle drives to the target position.

[0018] According to another aspect of the present invention, there is provided a material transport vehicle, the material transport vehicle comprising:

[0019] at least one processor; and

[0020] a memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the material transport vehicle control method described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the material transport vehicle control method described in any embodiment of the present invention when executed.

[0023] According to another aspect of the present invention, a computer program product is provided. When the computer program is executed by a processor, the computer program implements the material transport vehicle control method as described in any one of the embodiments of the present invention.

[0024] The embodiment of the present invention determines a first encoder value and a two-dimensional code distance value that matches the first encoder value based on multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance value, a first sampling period, and a second sampling period, and then controls the servo motor based on the difference between the target position information and the two-dimensional code distance value that matches the first encoder value and the first encoder value, so that the material transport vehicle travels to the target position. This can improve the accuracy of the material transport vehicle control and enable the material transport vehicle to accurately travel to the target position.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 is a flow chart of a material transport vehicle control method in an embodiment of the present invention;

[0028] Figure 2 is a structural schematic diagram of a material transport vehicle control device in an embodiment of the present invention;

[0029] Figure 3 It is a structural schematic diagram of a material transport vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0033] Embodiment 1

[0034] Figure 1 This is a flow chart of a material transport vehicle control method provided by an embodiment of the present invention. This embodiment is applicable to the case of controlling a material transport vehicle. The method can be executed by a material transport vehicle control device in an embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method specifically comprises the following steps:

[0035] S110, obtaining target position information, multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, and sampling times corresponding to each two-dimensional code distance value.

[0036] Among them, the multiple two-dimensional code distance values ​​are the two-dimensional code distance values ​​obtained by the two-dimensional code reader reading the two-dimensional code identification on the track based on the first sampling period, and the multiple encoder values ​​are the output values ​​of the encoder read based on the second sampling period, and the first sampling period is different from the second sampling period. The first sampling period is greater than the second sampling period. For example, the first sampling period may be 22 seconds and the second sampling period may be 1 second. The two-dimensional code identification may be QRCode, which is a matrix two-dimensional code symbol. It has the advantages of large information capacity, high reliability, ability to represent a variety of text information, strong confidentiality and anti-counterfeiting, etc. of one-dimensional barcodes and other two-dimensional barcodes. The position of the material transport vehicle (trolley) is read through QRCode.

[0037] The target position information may be the coordinates of the target position, or may be other parameters for characterizing the target position, which is not limited in the embodiment of the present invention.

[0038] In this embodiment, the material transport vehicle includes: a controller, a two-dimensional code reader, an encoder and a servo motor, the encoder is connected to the servo motor, the two-dimensional code reader and the encoder are connected to the controller, and the controller is used to execute the material transport vehicle control method provided in the embodiment of the present invention. The material transport vehicle travels on a track, and a two-dimensional code mark is pre-set at a set position on the track. The two-dimensional code reader of the material transport vehicle is used to periodically read the two-dimensional code mark on the track to obtain multiple two-dimensional code distance values, and periodically read the output value of the encoder of the material transport vehicle to obtain multiple encoder values.

[0039] It should be noted that the way in which the two-dimensional code reader reads the two-dimensional code identifier on the track based on the first sampling period and obtains multiple two-dimensional code distance values ​​and the sampling time corresponding to each two-dimensional code distance value can be: the two-dimensional code reader reads the two-dimensional code identifier on the track through the serial port to obtain multiple two-dimensional code distance values ​​and the reading time of each two-dimensional code distance value, determines the serial port transmission rate according to the serial port protocol, determines the time for transmitting the two-dimensional code distance value according to the ratio of the length of the two-dimensional code distance value and the serial port transmission rate, and determines the difference between the reading time of each two-dimensional code distance value and the time for transmitting the two-dimensional code distance value as the sampling time corresponding to each two-dimensional code distance value.

[0040] In a specific example, the QR code reader reads the QR code mark on the track through the serial port based on the first sampling period, and obtains: Dis3, Dis2, Dis1, Dis0, where the sampling time of Dis3 is T3, the sampling time of Dis2 is T2, the sampling time of Dis1 is T1, and the sampling time of Dis0 is T0. Based on the output value of the encoder read in the second sampling period, Enc3, Enc2, Enc1, Enc0 are obtained, where the sampling time of Enc3 is t3, the sampling time of Enc2 is t2, the sampling time of Enc1 is t1, and the sampling time of Enc0 is t0. Obtain the target position information Dis-target.

[0041] S120, determine the first encoder value and the two-dimensional code distance value that matches the first encoder value based on multiple encoder values, the sampling time corresponding to each encoder value, multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the first sampling period and the second sampling period.

[0042] In this embodiment, according to multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance value, a first sampling period and a second sampling period, a method for determining a first encoder value and a two-dimensional code distance value that matches the first encoder value can be: according to multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance value, a first sampling period and a second sampling period, multiple combinations are determined, each combination including an encoder value and a two-dimensional code distance value corresponding to the encoder value, and the two-dimensional code distance value that matches the first encoder value and the first encoder value is determined according to the multiple combinations. A method for determining a first encoder value and a two-dimensional code distance value that matches the first encoder value based on multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, a first sampling period, and a second sampling period may also be: drawing an encoder value curve based on multiple encoder values, sampling times corresponding to each encoder value, and a second sampling period; drawing a two-dimensional code distance value curve based on multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, and a first sampling period; determining a two-dimensional code distance value that matches the first encoder value and the first encoder value based on multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, a first sampling period, a second sampling period, an encoder value curve, and a two-dimensional code distance value curve. A method for determining a first encoder value and a two-dimensional code distance value that matches the first encoder value according to multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, a first sampling period, and a second sampling period can also be: drawing an encoder value curve according to multiple encoder values, sampling times corresponding to each encoder value, and a second sampling period; drawing a two-dimensional code distance value curve according to multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, and a first sampling period; determining multiple combinations according to multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance values, a first sampling period, a second sampling period, an encoder value curve, and a two-dimensional code distance value curve, each combination including an encoder value and a two-dimensional code distance value corresponding to the encoder value; and determining a two-dimensional code distance value that matches the first encoder value and the first encoder value according to the multiple combinations.

[0043] It should be noted that the method of determining the first encoder value and the QR code distance value matching the first encoder value based on multiple combinations can be: determining the average of the encoder values ​​in the multiple combinations as the first encoder value, and determining the average of the QR code distance values ​​corresponding to the encoder values ​​in the multiple combinations as the QR code distance value matching the first encoder value.

[0044] It should be noted that the method of drawing the encoder value curve according to multiple encoder values, the sampling time corresponding to each encoder value and the second sampling period can be: based on linear interpolation or high-order polynomial interpolation, according to multiple encoder values, the sampling time corresponding to each encoder value and the second sampling period, draw the encoder value curve.

[0045] It should be noted that the method of drawing a QR code distance value curve according to multiple QR code distance values, the sampling time corresponding to each QR code distance value, and the first sampling period can be: based on linear interpolation or high-order polynomial interpolation, according to multiple QR code distance values, the sampling time corresponding to each QR code distance value, and the first sampling period, draw a QR code distance value curve.

[0046] Optionally, determining the first encoder value and the two-dimensional code distance value matching the first encoder value according to multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, sampling times corresponding to each two-dimensional code distance value, a first sampling period, and a second sampling period includes:

[0047] Determine a first boundary time, a first intermediate time, and a second boundary time according to a plurality of encoder values, a sampling time corresponding to each encoder value, and a second sampling period, and draw an encoder value curve;

[0048] It should be noted that the encoder value curve is used to represent the corresponding relationship between the encoder value and the sampling time.

[0049] In this embodiment, the method for determining the first boundary time, the first intermediate time and the second boundary time based on multiple encoder values, the sampling times corresponding to each encoder value and the second sampling period can be: among the sampling times corresponding to the multiple encoder values, the sampling time closest to the current time is determined as the first intermediate time, and based on the first intermediate time and the second sampling period, the first boundary time and the second boundary time are determined.

[0050] In this embodiment, the first boundary time can be defined as the most recent time, and the second boundary time can be defined as the most distant time, the most distant time is the historical time, and the most recent time is the predicted time, that is, the future time. If the first intermediate time is t and the second sampling period is K1, then (t+0.5K1) is determined as the first boundary time; and (t-0.5K1) is determined as the second boundary time.

[0051] In a specific example, the first intermediate time is 10:15, and the second sampling period is 2 seconds, then 10:14 is determined as the second boundary time, that is, the farthest time, and 10:16 is determined as the first boundary time, that is, the closest time. In this embodiment, the encoder value curve can be drawn in the following manner: obtain the speed of the material transport vehicle, determine the encoder value corresponding to the first boundary time according to the first boundary time, the speed of the material transport vehicle, and the second sampling period, and draw the encoder value curve according to multiple encoder values, the sampling time corresponding to each encoder value, the first boundary time, and the encoder value corresponding to the first boundary time.

[0052] According to the multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value and the first sampling period, a third boundary time, a second intermediate time and a fourth boundary time are determined, and a two-dimensional code distance value curve is drawn;

[0053] It should be noted that the two-dimensional code distance value curve is used to characterize the corresponding relationship between the two-dimensional code distance value and the sampling time.

[0054] In this embodiment, the method for determining the third boundary time, the second intermediate time and the fourth boundary time based on multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value and the first sampling period can be: the sampling time closest to the current time among the sampling times corresponding to the multiple two-dimensional code distance values ​​is determined as the second intermediate time, and the third boundary time and the fourth boundary time are determined based on the second intermediate time and the first sampling period.

[0055] In this embodiment, the third boundary time can be defined as the most recent time, and the fourth boundary time can be defined as the most distant time, the most distant time is the historical time, and the most recent time is the predicted time, that is, the future time. If the second intermediate time is T and the first sampling period is K2, then (T+0.5K2) is determined as the third boundary time; and (T-0.5K2) is determined as the fourth boundary time.

[0056] In a specific example, the second intermediate time is 10:22, and the second sampling period is 22 seconds, then 10:11 is determined as the fourth boundary time, ie, the farthest time, and 10:33 is determined as the third boundary time, ie, the closest time.

[0057] In this embodiment, the method of drawing the QR code distance value curve can be: obtaining the speed of the material transport vehicle, determining the QR code distance value corresponding to the third boundary time according to the third boundary time, the speed of the material transport vehicle and the first sampling period, and drawing the QR code distance value curve according to multiple QR code distance values, the sampling time corresponding to each QR code distance value, the third boundary time and the QR code distance value corresponding to the third boundary time.

[0058] Query the two-dimensional code distance value curve according to the first boundary time, the first intermediate time and the second boundary time in sequence to obtain the two-dimensional code distance value corresponding to the first boundary time, the two-dimensional code distance value corresponding to the first intermediate time and the two-dimensional code distance value corresponding to the second boundary time;

[0059] In this embodiment, the method of querying the two-dimensional code distance value curve according to the first boundary time, the first intermediate time and the second boundary time in sequence to obtain the two-dimensional code distance value corresponding to the first boundary time, the two-dimensional code distance value corresponding to the first intermediate time and the two-dimensional code distance value corresponding to the second boundary time can be: querying the two-dimensional code distance value curve according to the first boundary time to obtain the two-dimensional code distance value corresponding to the first boundary time, querying the two-dimensional code distance value curve according to the first intermediate time to obtain the two-dimensional code distance value corresponding to the first intermediate time, and querying the two-dimensional code distance value curve according to the second boundary time to obtain the two-dimensional code distance value corresponding to the second boundary time.

[0060] Query the encoder value curve according to the third boundary time, the second intermediate time and the fourth boundary time in sequence to obtain the encoder value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time and the encoder value corresponding to the fourth boundary time;

[0061] In this embodiment, the encoder value curve is queried according to the third boundary time, the second intermediate time and the fourth boundary time in sequence to obtain the encoder value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time and the encoder value corresponding to the fourth boundary time. The method can be: query the encoder value curve according to the third boundary time to obtain the encoder value corresponding to the third boundary time, query the encoder value curve according to the second intermediate time to obtain the encoder value corresponding to the second intermediate time, and query the encoder value curve according to the fourth boundary time to obtain the encoder value corresponding to the fourth boundary time.

[0062] Determine the two-dimensional code distance value that matches the first encoder value and the first encoder value based on the two-dimensional code distance value corresponding to the first boundary time, the encoder value corresponding to the first intermediate time, the encoder value corresponding to the first intermediate time, the two-dimensional code distance value corresponding to the second boundary time, the encoder value corresponding to the second boundary time, the encoder value corresponding to the third boundary time, the two-dimensional code distance value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time, the two-dimensional code distance value corresponding to the second intermediate time, the encoder value corresponding to the fourth boundary time, and the two-dimensional code distance value corresponding to the fourth boundary time.

[0063] In this embodiment, six combinations are determined, namely: the two-dimensional code distance value corresponding to the first boundary time and the encoder value corresponding to the first boundary time; the two-dimensional code distance value corresponding to the first intermediate time and the encoder value corresponding to the first intermediate time; the two-dimensional code distance value corresponding to the second boundary time and the encoder value corresponding to the second boundary time; the encoder value corresponding to the third boundary time and the two-dimensional code distance value corresponding to the third boundary time; the encoder value corresponding to the second intermediate time and the two-dimensional code distance value corresponding to the second intermediate time; the encoder value corresponding to the fourth boundary time and the two-dimensional code distance value corresponding to the fourth boundary time. The average of the encoder value corresponding to the first boundary time, the encoder value corresponding to the first intermediate time, the encoder value corresponding to the second boundary time, the encoder value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time, and the encoder value corresponding to the fourth boundary time is determined as the first encoder value. The average of the two-dimensional code distance value corresponding to the first boundary time, the two-dimensional code distance value corresponding to the first intermediate time, the two-dimensional code distance value corresponding to the second boundary time, the two-dimensional code distance value corresponding to the third boundary time, the two-dimensional code distance value corresponding to the second intermediate time, and the two-dimensional code distance value corresponding to the fourth boundary time is determined as the two-dimensional code distance value matched by the first encoder value.

[0064] In the embodiment of the present invention, the sampling time error of the two-dimensional code distance value and the encoder value is taken into consideration, and then the two-dimensional code distance value and the encoder value are fitted, so that the two-dimensional code distance value and the encoder value that match each other can be more accurately calculated.

[0065] Optionally, determining a first boundary time, a first intermediate time, and a second boundary time according to a plurality of encoder values, a sampling time corresponding to each encoder value, and a second sampling period, and drawing an encoder value curve includes:

[0066] Determine the sampling time closest to the current time among the sampling times corresponding to the multiple encoder values ​​as the first intermediate time;

[0067] In this embodiment, the method of determining the sampling time closest to the current time among the sampling times corresponding to multiple encoder values ​​as the first intermediate time can be: among the sampling times corresponding to multiple encoder values, the sampling time with the smallest difference with the current time is determined as the first intermediate time, that is, the sampling time corresponding to the most recently collected encoder value among the multiple encoder values ​​is determined as the first intermediate time.

[0068] In a specific example, based on the output value of the encoder read in the second sampling period, Enc3, Enc2, Enc1, and Enc0 are obtained, wherein the sampling time of Enc3 is t3 (10:00), the sampling time of Enc2 is t2 (10:02), the sampling time of Enc1 is t1 (10:04), and the sampling time of Enc0 is t0 (10:06), then t0 is determined as the first intermediate time.

[0069] determining a second encoder value according to the vehicle speed corresponding to the first intermediate time and the second sampling period;

[0070] In this embodiment, the second encoder value may be determined based on the vehicle speed corresponding to the first intermediate time and the second sampling period by multiplying the vehicle speed corresponding to the first intermediate time and a preset multiple of the second sampling period as the second encoder value.

[0071] Determine a first boundary time and a second boundary time according to the first intermediate time and the second sampling period;

[0072] In this embodiment, the first boundary time and the second boundary time can be determined based on the first intermediate time and the second sampling period as follows: the sum of the first intermediate time and the preset multiple of the second sampling period is determined as the first boundary time, and the difference between the first intermediate time and the preset multiple of the second sampling period is determined as the second boundary time.

[0073] Determine the sum of the encoder value corresponding to the first intermediate time and the second encoder value as the encoder value corresponding to the first boundary time;

[0074] An encoder value curve is drawn according to the multiple encoder values, the sampling time corresponding to each encoder value, the first boundary time, and the encoder value corresponding to the first boundary time. The encoder value curve is used to characterize the corresponding relationship between the encoder value and the sampling time.

[0075] Optionally, according to a plurality of two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value and the first sampling period, a third boundary time, a second intermediate time and a fourth boundary time are determined, and a two-dimensional code distance value curve is drawn, including:

[0076] Determine the sampling time closest to the current time among the sampling times corresponding to the multiple QR code distance values ​​as the second intermediate time;

[0077] In this embodiment, the method of determining the sampling time closest to the current time among the sampling times corresponding to multiple QR code distance values ​​as the second intermediate time can be: among the sampling times corresponding to multiple QR code distance values, the sampling time with the smallest difference with the current time is determined as the second intermediate time, that is, the sampling time corresponding to the most recently collected QR code distance value among the multiple QR code distance values ​​is determined as the second intermediate time.

[0078] Determine a first two-dimensional code distance value according to the vehicle speed corresponding to the second intermediate time and the first sampling period;

[0079] In this embodiment, the method for determining the first two-dimensional code distance value based on the vehicle speed corresponding to the second intermediate time and the first sampling period can be: the product of the vehicle speed corresponding to the second intermediate time and the preset multiple of the first sampling period is determined as the first two-dimensional code distance value.

[0080] Determine a third boundary time and a fourth boundary time according to the second intermediate time and the first sampling period;

[0081] In this embodiment, the third boundary time and the fourth boundary time can be determined based on the second intermediate time and the first sampling period as follows: the sum of the second intermediate time and the preset multiple of the first sampling period is determined as the third boundary time, and the difference between the second intermediate time and the preset multiple of the first sampling period is determined as the fourth boundary time.

[0082] Determine the sum of the two-dimensional code distance value corresponding to the second intermediate time and the first two-dimensional code distance value as the two-dimensional code distance value corresponding to the third boundary time;

[0083] A two-dimensional code distance value curve is drawn based on the multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the third boundary time, and the two-dimensional code distance value corresponding to the third boundary time. The two-dimensional code distance value curve is used to characterize the correspondence between the two-dimensional code distance value and the sampling time.

[0084] Optionally, determining the first two-dimensional code distance value according to the vehicle speed corresponding to the second intermediate time and the first sampling period includes:

[0085] The product of the vehicle speed corresponding to the second intermediate time and the preset multiple of the first sampling period is determined as the first two-dimensional code distance value.

[0086] In this embodiment, the preset multiple may be 0.5, or may be other values ​​less than 1 and greater than 0, which is not limited in this embodiment of the present invention.

[0087] Optionally, determining a third boundary time and a fourth boundary time according to the second intermediate time and the first sampling period includes:

[0088] Determine the sum of the second intermediate time and the preset multiple of the first sampling period as a third boundary time;

[0089] The difference between the second intermediate time and the preset multiple of the first sampling period is determined as the fourth boundary time.

[0090] In this embodiment, if the second intermediate time is T and the first sampling period is K2, (T+0.5K2) is determined as the third boundary time; and (T-0.5K2) is determined as the fourth boundary time.

[0091] S130, determining a target distance difference according to a difference between the target position information and a two-dimensional code distance value matched by the first encoder value.

[0092] In this embodiment, the target distance difference value is determined according to the difference value between the target position information and the two-dimensional code distance value matched by the first encoder value by: determining the target distance difference value as the difference value between the target position information and the two-dimensional code distance value matched by the first encoder value. For example, if the first encoder value A matches the two-dimensional code distance value A, the difference value between the target position information and the two-dimensional code distance value A is determined as the target distance difference value.

[0093] S140: Determine a target encoder value according to the first encoder value and the target distance difference.

[0094] In this embodiment, the target encoder value can be determined based on the first encoder value and the target distance difference by converting the target distance difference to obtain a converted encoder value, and determining the sum of the first encoder value and the converted encoder value as the target encoder value.

[0095] S150, controlling the servo motor based on the target encoder value so that the material transport vehicle travels to the target position.

[0096] In this embodiment, the encoder output value is controlled to be a target encoder value, and the servo motor is controlled based on the target encoder value so that the material transport vehicle travels to the target position corresponding to the target position information.

[0097] The technical solution of this embodiment determines the first encoder value and the two-dimensional code distance value that matches the first encoder value based on multiple encoder values, the sampling time corresponding to each encoder value, multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the first sampling period and the second sampling period, and then controls the servo motor based on the difference between the target position information and the two-dimensional code distance value that matches the first encoder value and the first encoder value, so that the material transport vehicle travels to the target position. This can improve the accuracy of the control of the material transport vehicle and enable the material transport vehicle to accurately travel to the target position.

[0098] Embodiment 2

[0099] Figure 2 This is a schematic diagram of the structure of a material transport vehicle control device provided by an embodiment of the present invention. This embodiment can be applied to the case of material transport vehicle control. The device can be implemented in software and / or hardware. The device can be integrated in any device that provides material transport vehicle control functions, such as Figure 2 As shown, the material transport vehicle control device specifically includes: an acquisition module 210 , a first determination module 220 , a second determination module 230 , a third determination module 240 and a control module 250 .

[0100] The acquisition module is used to acquire target position information, multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, and sampling times corresponding to each two-dimensional code distance value, wherein the multiple two-dimensional code distance values ​​are two-dimensional code distance values ​​obtained by a two-dimensional code reader reading a two-dimensional code identifier on a track based on a first sampling period, and the multiple encoder values ​​are output values ​​of an encoder read based on a second sampling period, and the first sampling period is different from the second sampling period;

[0101] A first determination module, for determining a first encoder value and a two-dimensional code distance value matching the first encoder value according to a plurality of encoder values, a sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values, a sampling time corresponding to each two-dimensional code distance value, a first sampling period, and a second sampling period;

[0102] A second determination module, configured to determine a target distance difference according to a difference between the target position information and a distance value of a two-dimensional code matched with the first encoder value;

[0103] a third determination module, configured to determine a target encoder value according to the first encoder value and the target distance difference;

[0104] The control module is used to control the servo motor based on the target encoder value so that the material transport vehicle drives to the target position.

[0105] The above-mentioned product can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0106] The technical solution of this embodiment determines the first encoder value and the two-dimensional code distance value that matches the first encoder value based on multiple encoder values, the sampling time corresponding to each encoder value, multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the first sampling period and the second sampling period, and then controls the servo motor based on the difference between the target position information and the two-dimensional code distance value that matches the first encoder value and the first encoder value, so that the material transport vehicle travels to the target position. This can improve the accuracy of the control of the material transport vehicle and enable the material transport vehicle to accurately travel to the target position.

[0107] Embodiment 3

[0108] Figure 3 A schematic diagram of a material transport vehicle 10 that can be used to implement an embodiment of the present invention is shown. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit implementations of the invention described and / or claimed herein.

[0109] like Figure 3 As shown, the material transport vehicle 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the material transport vehicle 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0110] A number of components in the material transport vehicle 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the material transport vehicle 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0111] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a material transport vehicle control method.

[0112] In some embodiments, the material transport vehicle control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the material transport vehicle 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the material transport vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the material transport vehicle control method in any other suitable manner (e.g., by means of firmware).

[0113] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0115] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on a material transport vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the material transport vehicle. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0117] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0118] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0119] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0120] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the material transport vehicle control method according to any embodiment of the present invention.

[0121] The computer program product may be implemented in one or more programming languages ​​or combinations thereof to write computer program code for performing the operations of the present invention, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (local area network (LAN) or wide area network (WAN)), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0122] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A material transport vehicle control method, characterized in that: The material transport vehicle control method comprises: Obtain target position information, multiple encoder values, sampling times corresponding to each encoder value, multiple two-dimensional code distance values, and sampling times corresponding to each two-dimensional code distance value, wherein the multiple two-dimensional code distance values ​​are two-dimensional code distance values ​​obtained by a two-dimensional code reader reading a two-dimensional code identifier on a track based on a first sampling period, and the multiple encoder values ​​are output values ​​of an encoder read based on a second sampling period, and the first sampling period is different from the second sampling period; Determine, according to a plurality of encoder values, sampling times corresponding to the encoder values, a plurality of two-dimensional code distance values, sampling times corresponding to the two-dimensional code distance values, a first sampling period, and a second sampling period, a first encoder value and a two-dimensional code distance value that matches the first encoder value; Determine a target distance difference according to a difference between the target position information and a distance value of a two-dimensional code matched by the first encoder value; determining a target encoder value according to the first encoder value and the target distance difference; The servo motor is controlled based on the target encoder value so that the material transport vehicle travels to the target position.

2. The method according to claim 1, characterized in that Determining a first encoder value and a two-dimensional code distance value matching the first encoder value according to a plurality of encoder values, sampling times corresponding to the encoder values, a plurality of two-dimensional code distance values, sampling times corresponding to the two-dimensional code distance values, a first sampling period, and a second sampling period, comprising: Determine a first boundary time, a first intermediate time, and a second boundary time according to a plurality of encoder values, a sampling time corresponding to each encoder value, and a second sampling period, and draw an encoder value curve; According to the multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value and the first sampling period, a third boundary time, a second intermediate time and a fourth boundary time are determined, and a two-dimensional code distance value curve is drawn; Query the two-dimensional code distance value curve according to the first boundary time, the first intermediate time and the second boundary time in sequence to obtain the two-dimensional code distance value corresponding to the first boundary time, the two-dimensional code distance value corresponding to the first intermediate time and the two-dimensional code distance value corresponding to the second boundary time; Query the encoder value curve according to the third boundary time, the second intermediate time and the fourth boundary time in sequence to obtain the encoder value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time and the encoder value corresponding to the fourth boundary time; Determine the two-dimensional code distance value that matches the first encoder value and the first encoder value based on the two-dimensional code distance value corresponding to the first boundary time, the encoder value corresponding to the first intermediate time, the encoder value corresponding to the first intermediate time, the two-dimensional code distance value corresponding to the second boundary time, the encoder value corresponding to the second boundary time, the encoder value corresponding to the third boundary time, the two-dimensional code distance value corresponding to the third boundary time, the encoder value corresponding to the second intermediate time, the two-dimensional code distance value corresponding to the second intermediate time, the encoder value corresponding to the fourth boundary time, and the two-dimensional code distance value corresponding to the fourth boundary time.

3. The method according to claim 2, characterized in that According to a plurality of encoder values, sampling times corresponding to the encoder values, and a second sampling period, a first boundary time, a first intermediate time, and a second boundary time are determined, and an encoder value curve is drawn, including: Determine the sampling time closest to the current time among the sampling times corresponding to the multiple encoder values ​​as the first intermediate time; determining a second encoder value according to the vehicle speed corresponding to the first intermediate time and the second sampling period; Determine a first boundary time and a second boundary time according to the first intermediate time and the second sampling period; Determine the sum of the encoder value corresponding to the first intermediate time and the second encoder value as the encoder value corresponding to the first boundary time; An encoder value curve is drawn according to the multiple encoder values, the sampling time corresponding to each encoder value, the first boundary time, and the encoder value corresponding to the first boundary time. The encoder value curve is used to characterize the corresponding relationship between the encoder value and the sampling time.

4. The method according to claim 2, characterized in that: According to a plurality of two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value and the first sampling period, a third boundary time, a second intermediate time and a fourth boundary time are determined, and a two-dimensional code distance value curve is drawn, including: Determine the sampling time closest to the current time among the sampling times corresponding to the multiple QR code distance values ​​as the second intermediate time; Determine a first two-dimensional code distance value according to the vehicle speed corresponding to the second intermediate time and the first sampling period; Determine a third boundary time and a fourth boundary time according to the second intermediate time and the first sampling period; Determine the sum of the two-dimensional code distance value corresponding to the second intermediate time and the first two-dimensional code distance value as the two-dimensional code distance value corresponding to the third boundary time; A two-dimensional code distance value curve is drawn based on the multiple two-dimensional code distance values, the sampling time corresponding to each two-dimensional code distance value, the third boundary time, and the two-dimensional code distance value corresponding to the third boundary time. The two-dimensional code distance value curve is used to characterize the correspondence between the two-dimensional code distance value and the sampling time.

5. The method according to claim 4, characterized in that Determining the first two-dimensional code distance value according to the vehicle speed corresponding to the second intermediate time and the first sampling period includes: The product of the vehicle speed corresponding to the second intermediate time and the preset multiple of the first sampling period is determined as the first two-dimensional code distance value.

6. The method according to claim 4, characterized in that Determining a third boundary time and a fourth boundary time according to the second intermediate time and the first sampling period includes: Determine the sum of the second intermediate time and a preset multiple of the first sampling period as a third boundary time; The difference between the second intermediate time and the preset multiple of the first sampling period is determined as the fourth boundary time.

7. A material transport vehicle control device, characterized in that: The material transport vehicle control device comprises: an acquisition module, used to acquire target position information, a plurality of encoder values, a sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values, and a sampling time corresponding to each two-dimensional code distance value, wherein the plurality of two-dimensional code distance values ​​are two-dimensional code distance values ​​obtained by a two-dimensional code reader reading a two-dimensional code identifier on a track based on a first sampling period, and the plurality of encoder values ​​are output values ​​of an encoder read based on a second sampling period, and the first sampling period is different from the second sampling period; A first determination module, for determining a first encoder value and a two-dimensional code distance value matching the first encoder value according to a plurality of encoder values, a sampling time corresponding to each encoder value, a plurality of two-dimensional code distance values, a sampling time corresponding to each two-dimensional code distance value, a first sampling period, and a second sampling period; A second determination module, configured to determine a target distance difference according to a difference between the target position information and a distance value of a two-dimensional code matched with the first encoder value; a third determination module, configured to determine a target encoder value according to the first encoder value and the target distance difference; The control module is used to control the servo motor based on the target encoder value so that the material transport vehicle drives to the target position.

8. A material transport vehicle, characterized in that: The material transport vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the material transport vehicle control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the material transport vehicle control method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the material transport vehicle control method according to any one of claims 1-6.

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