Method and device for dynamically adjusting speed of RGV shuttle vehicle according to load weight

Abstract

The present application relates to the field of RGV shuttle vehicle control, in particular to a method for dynamically adjusting the speed of RGV shuttle vehicle according to the load weight. The method comprises the following steps: S1, obtaining the load weight of the RGV shuttle vehicle; S2, based on the load weight, assigning a maximum running speed to the RGV shuttle vehicle; S3, based on the maximum running speed, calculating the speed curve of the RGV shuttle vehicle by using a five-segment S-shaped speed curve algorithm. The speed curve comprises a jerk acceleration stage, a jerk deceleration stage, a constant speed stage, an acceleration-deceleration stage and a deceleration-deceleration stage; and S4, controlling the movement of the RGV shuttle vehicle through the speed curve. The present application detects the load weight each time the task is executed, and matches the RGV shuttle vehicle with a suitable maximum running speed, and then calculates the speed curve of the RGV shuttle vehicle by using a five-segment S-shaped speed curve algorithm, thereby improving the stability of the RGV shuttle vehicle operation on the premise of maximizing the running efficiency of the RGV shuttle vehicle.

Description

Technical Field

[0001] This invention relates to the field of RGV shuttle control, and in particular to a method and apparatus for dynamically adjusting the speed of an RGV shuttle based on the load weight. Background Technology

[0002] RGV shuttles, also known as rail-guided vehicles, can be used in warehouses with various high-density storage methods. The travel aisles can be designed to be of any length, increasing the overall storage capacity of the warehouse. Furthermore, they eliminate the need for forklifts to enter the aisles during operation, resulting in enhanced safety.

[0003] In existing technologies, the maximum design load of RGV shuttles reaches 2t. However, in practical applications, RGV shuttles do not always operate at full load. From a control perspective, the weight of the load accounts for a large proportion of the total weight, which places high demands on the speed regulation performance of the shuttle. However, existing technologies for speed control of RGV shuttles mostly adopt a trapezoidal acceleration and deceleration method with uniform acceleration, uniform speed, and uniform deceleration, which has poor control effect, resulting in low operating efficiency of the RGV shuttle and even causing phenomena such as cargo overturning and shuttle overshooting. Summary of the Invention

[0004] In order to efficiently control the speed of the RGV shuttle and prevent the goods on the RGV shuttle from overturning or the RGV shuttle from overstepping its bounds, this application provides a method for adjusting the speed of the RGV shuttle according to the load weight.

[0005] The method for adjusting the speed of an RGV shuttle based on load weight provided by this invention adopts the following technical solution:

[0006] A method for dynamically adjusting the speed of an RGV shuttle based on load weight, the method comprising the following steps:

[0007] S1. Obtain the load weight of the RGV shuttle;

[0008] S2. Based on the load weight, assign a maximum operating speed to the RGV shuttle;

[0009] S3. Based on the maximum operating speed, the speed curve of the RGV shuttle is calculated using the five-segment S-shaped speed curve algorithm.

[0010] The velocity curve includes an acceleration phase, a deceleration phase, a constant speed phase, an acceleration / deceleration phase, and a deceleration / deceleration phase; wherein...

[0011] The acceleration phase is an acceleration phase in which the magnitude of acceleration gradually increases;

[0012] The deceleration phase is an acceleration phase in which the magnitude of acceleration gradually decreases;

[0013] The uniform speed phase refers to the phase of uniform motion.

[0014] The acceleration / deceleration phase is a deceleration phase in which the magnitude of acceleration gradually increases;

[0015] The deceleration phase is a deceleration phase in which the magnitude of acceleration gradually decreases;

[0016] S4. Control the movement of the RGV shuttle using the speed curve.

[0017] Optionally, step S1 includes:

[0018] S101. Obtain the load inertia ratio of the RGV shuttle;

[0019] S102. Calculate the load weight using the following formula:

[0020]

[0021] In the formula, dC is the load inertia ratio; M is the load weight; m is the tare weight of the RGV shuttle; r is the wheel radius of the RGV shuttle; i is the reduction ratio of the RGV shuttle reducer; J d The moment of inertia of the RGV shuttle reducer; J m Let be the moment of inertia of the RGV shuttle motor.

[0022] Optionally, in step S3, the load weight is divided into multiple weight ranges; each weight range corresponds to a different maximum operating speed; based on the weight range in which the load weight is located, the corresponding maximum operating speed is assigned to the RGV shuttle.

[0023] Optionally, there are five weight ranges, namely: 0kg~400kg, 400kg~800kg, 800kg~1200kg, 1200kg~1600kg, and 1600kg~2000kg; each weight range includes the lower limit but excludes the upper limit; the maximum operating speeds corresponding to the five weight ranges are respectively: 800mm / s, 700mm / s, 650mm / s, 600mm / s, and 500mm / s.

[0024] Optionally, in step S4,

[0025] The relationship between the swiftness of the RGV shuttle and time is as follows:

[0026]

[0027] In the formula, J represents the dynamism of the RGV shuttle; t represents time, 0 to t1 is the acceleration phase; t1 to t2 is the deceleration phase; t2 to t3 is the constant speed phase; t3 to t4 is the acceleration / deceleration phase; and t4 to t5 is the deceleration / deceleration phase.

[0028] The relationship between the acceleration of the RGV shuttle and time is as follows:

[0029]

[0030] In the formula, J is the jerk of the RGV shuttle; a is the acceleration of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration phase; t1~t2 is the deceleration phase; t2~t3 is the constant speed phase; t3~t4 is the acceleration / deceleration phase; t4~t5 is the deceleration phase;

[0031] The relationship between the speed of the RGV shuttle and time is as follows:

[0032]

[0033] In the formula, J represents the dynamism of the RGV shuttle; T represents the time interval; t represents the time; 0 to t1 represents the acceleration phase; t1 to t2 represents the deceleration phase; t2 to t3 represents the constant speed phase; t3 to t4 represents the acceleration / deceleration phase; and t4 to t5 represents the deceleration / deceleration phase.

[0034] Based on the above concept, the present invention also provides a device for dynamically adjusting the speed of an RGV shuttle based on load weight. The device, which adjusts the speed of the RGV shuttle using the above method, includes a position detection module, a load detection module, a data processing module, a control module, and an execution module. The position detection module is communicatively connected to the data processing module and is used to detect the real-time position of the RGV shuttle. The load detection module is communicatively connected to the data processing module and is used to detect the load weight of the RGV shuttle. The data processing module is communicatively connected to the control module and is used to derive the maximum operating speed based on the load weight, calculate the motion path of the RGV shuttle based on the real-time position, and calculate the speed curve of the RGV shuttle using the five-segment S-shaped speed curve algorithm based on the motion path and the load weight. The control module is communicatively connected to the execution module and is used to control the execution module according to the speed curve, thereby controlling the movement of the RGV shuttle.

[0035] Optionally, the load detection module includes a pressure sensor; the pressure sensor is mounted on the lifting mechanism of the RGV shuttle and is used to acquire the load weight of the RGV shuttle in real time.

[0036] Optionally, the load detection module is communicatively connected to the RGV shuttle and is used to read the load inertia ratio of the RGV shuttle in order to calculate the load weight of the RGV shuttle based on the load inertia ratio.

[0037] Optionally, the position detection module includes an encoder or a proximity switch; the encoder is mounted on the wheels of the RGV shuttle and determines the real-time position of the RGV shuttle by the movement of the wheels; the proximity switch is mounted on the body of the RGV shuttle and is used to detect the real-time position of the RGV shuttle.

[0038] Optionally, the communication connection includes serial communication and / or Ethernet communication.

[0039] As described above, the method for dynamically adjusting the speed of the RGV shuttle based on the load weight of the present invention has at least the following beneficial effects:

[0040] This invention employs different maximum operating speeds based on the varying load weight of the RGV shuttle. A greater load weight results in a heavier overall weight of the RGV shuttle, increased friction between the wheels and guide rails, higher starting torque, and greater vibration during operation, thus limiting the maximum permissible operating speed. Therefore, by detecting the load weight during each task and matching an appropriate maximum operating speed to the RGV shuttle, the invention improves operational stability while maximizing its efficiency. Attached Figure Description

[0041] Figure 1 This is a flowchart corresponding to the method of dynamically adjusting the speed of the RGV shuttle based on the load weight.

[0042] Figure 2 It is an image used to illustrate the correspondence between velocity, acceleration, jerk and time in the five-segment S-shaped velocity curve algorithm. Detailed Implementation

[0043] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0044] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0045] Please refer to Figure 1 This invention discloses a method for dynamically adjusting the speed of an RGV shuttle based on the load weight, the method comprising:

[0046] S1. Obtain the load weight of the RGV shuttle.

[0047] The RGV shuttle has a lifting mechanism for transporting loads, so the load weight can be obtained in real time by directly installing a pressure sensor on the lifting mechanism. This method is relatively simple, but it requires mechanical modifications to the RGV shuttle to install the pressure sensor.

[0048] In a preferred embodiment of the present invention, step S1 includes:

[0049] S101. Obtain the load inertia ratio of the RGV shuttle.

[0050] The load inertia ratio refers to the ratio of the load inertia of the RGV shuttle to the rotational inertia of the RGV shuttle motor. It is one of the parameters of the RGV shuttle motor and varies depending on the motor model.

[0051] S102. Calculate the load weight of the RGV shuttle based on the load inertia ratio.

[0052] The load inertia ratio and load weight have the following relationship:

[0053]

[0054] In the formula, dC is the load inertia ratio; M is the load weight; m is the tare weight of the RGV shuttle; r is the wheel radius of the RGV shuttle; i is the reduction ratio of the RGV shuttle reducer; J d The moment of inertia of the RGV shuttle reducer; J m Let be the moment of inertia of the RGV shuttle motor.

[0055] Furthermore, the RGV shuttle is equipped with a driver that can monitor parameters such as the motor's load inertia ratio. The driver also has PLC functionality, allowing it to act as an Ethecat (Ethernet Automation) slave station, communicating with the host PLC in real time and feeding back parameter data. Therefore, the load inertia ratio can be read from either the driver or its host computer.

[0056] By using steps S101 and S102, the load weight of the RGV shuttle can be calculated after reading the load inertia ratio, without requiring any modification to the mechanical structure of the RGV shuttle, making it simpler and easier to implement.

[0057] S3. Based on the load weight, assign a maximum operating speed to the RGV shuttle.

[0058] Each load weight corresponds to a maximum operating speed. The RGV shuttle moves based on the maximum operating speed, which can maximize the operating efficiency of the RGV shuttle while avoiding cargo tipping or overrunning.

[0059] The maximum operating speed needs to be determined through testing or based on experience with the RGV shuttle in practical applications. Different maximum operating speeds should be used for different load weights.

[0060] Furthermore, since the RGV shuttle's lifting mechanism takes 3-4 seconds to load and unload goods, and the motor driving the lifting mechanism takes approximately 2 seconds to lift the load, it is necessary to obtain the load weight within the operating time of the motor driving the lifting mechanism and to match a suitable maximum operating speed before the RGV shuttle begins movement. In actual operation, the load weight signal obtained when the motor driving the lifting mechanism is operating is unstable, and the time available to match the maximum operating speed to the RGV shuttle is limited, making it difficult to adjust the RGV shuttle's speed in real time. To match a suitable maximum operating speed to the RGV shuttle, the load weight should be segmented into intervals.

[0061] Therefore, in step S3, the load weight is divided into multiple weight ranges. Each weight range corresponds to a different maximum operating speed. Based on the weight range in which the load weight falls, the corresponding maximum operating speed is assigned to the RGV shuttle.

[0062] In a preferred embodiment of the present invention, for an RGV shuttle with a maximum load weight of 2000kg, there are five weight ranges, namely: 0kg~400kg, 400kg~800kg, 800kg~1200kg, 1200kg~1600kg, and 1600kg~2000kg. All weight ranges include the lower limit but exclude the upper limit. The maximum operating speeds corresponding to the five weight ranges are, respectively: 800mm / s, 700mm / s, 650mm / s, 600mm / s, and 500mm / s.

[0063] S4. Based on the maximum operating speed, the speed curve of the RGV shuttle is calculated using a five-segment S-shaped speed curve algorithm. The speed curve includes an acceleration phase, a deceleration phase, a constant speed phase, an acceleration / deceleration phase, and a deceleration / deceleration phase. The acceleration phase is an acceleration phase where the magnitude of acceleration gradually increases. The deceleration phase is an acceleration phase where the magnitude of acceleration gradually decreases. The constant speed phase is a phase of uniform motion. The acceleration / deceleration phase is a deceleration phase where the magnitude of acceleration gradually increases. The deceleration / deceleration phase is a deceleration phase where the magnitude of acceleration gradually decreases.

[0064] In the existing trapezoidal acceleration and deceleration operation mode, the impact during the start-stop process of the RGV shuttle can cause damage to the motor and braking device. Therefore, this invention abandons the trapezoidal acceleration and deceleration operation mode and instead adopts a five-segment S-shaped speed curve algorithm to control the speed of the RGV shuttle.

[0065] For details, please refer to Figure 2 , Figure 2The upper part is the vt plot, the middle part is the at plot, and the lower part is the Jt plot. In the plot, the time from 0 to t1 is T1, representing the acceleration phase. The time from t1 to t2 is T2, representing the deceleration phase. The time from t2 to t3 is T3, representing the constant velocity phase. The time from T3 to t4 is T4, representing the acceleration / deceleration phase. The time from T4 to t5 is T5, representing the deceleration / deceleration phase. The v in the plot... max For maximum operating speed, a max J represents the maximum acceleration, and J represents the jerkiness.

[0066] from Figure 2 As can be seen, when using the five-segment S-shaped speed curve algorithm, the speed change of the RGV shuttle is smooth, the acceleration changes slowly, there is no problem of sudden acceleration, and the speed curve is a continuous curve, which can effectively reduce the impact generated during the start-up and stop of the RGV shuttle and improve the stability of the RGV shuttle operation.

[0067] In the acceleration curve, the acceleration changes linearly, reaching its maximum at time t1, decreasing to zero at time t2, decreasing to its minimum at time t4, and increasing to zero at time t5.

[0068] In the jerk curve, the absolute value of jerk J is a constant. J reaches its maximum value j at the beginning, and abruptly changes to a negative maximum value -J at time t1. The deceleration phase is exactly the opposite.

[0069] When J remains constant, in order to make the acceleration at the start and end points zero during the acceleration and deceleration phases, the time of the acceleration phase must be equal to the time of the deceleration phase, i.e., T1 = T2. Similarly, T4 = T5. Let T1 = T2 = T4 = T5 = T. If the values ​​of T and T3 are determined, then the formulas for acceleration and velocity can be determined by the relationship between velocity and acceleration.

[0070] The relationship between the swiftness of the RGV shuttle and time is as follows:

[0071]

[0072] In the formula, J represents the dynamism of the RGV shuttle; t represents time, 0~t1 is the acceleration phase; t1~t2 is the deceleration phase; t2~t3 is the constant speed phase; t3~t4 is the acceleration / deceleration phase; t4~t5 is the deceleration / deceleration phase;

[0073] The relationship between the acceleration of the RGV shuttle and time is as follows:

[0074]

[0075] In the formula, J is the jerk of the RGV shuttle; a is the acceleration of the RGV shuttle; T is the time interval; t is the time, 0~t1 is the acceleration phase; t1~t2 is the deceleration phase; t2~t3 is the constant speed phase; t3~t4 is the acceleration and deceleration phase; t4~t5 is the deceleration and deceleration phase; T3 is the duration of the RGV shuttle's constant speed motion.

[0076] The relationship between the speed and time of the RGV shuttle is as follows:

[0077]

[0078] In the formula, J represents the jerkiness of the RGV shuttle; T represents the time interval; t represents time, where 0–t1 is the acceleration phase; t1–t2 is the deceleration phase; t2–t3 is the constant speed phase; t3–t4 is the acceleration / deceleration phase; and t4–t5 is the deceleration / deceleration phase.

[0079] As an example, let T = 1s and T3 = 4s, then the total duration of the RGV shuttle's movement is 8s. Furthermore, when t = 2T, the speed reaches v. max Substituting T and T3 into Equation 3, we get v max =JT 2 ,Right now

[0080] Therefore, by determining only the two variables T and T3, the maximum operating speed v can be obtained. max The relationship between J and swiftness J. J increases with v max Change, therefore, when v max When v increases, the jerkiness J increases, the RGV shuttle speed changes rapidly, and the stability decreases; when v max When the speed is reduced, the agitation rate J decreases, the RGV shuttle speed changes more slowly, and the stability is improved. Furthermore, by selecting an appropriate maximum operating speed and using a five-segment S-shaped speed curve algorithm, the RGV shuttle can operate smoothly, avoiding damage to the motor and braking system, as well as cargo overturning and RGV shuttle overshooting caused by unstable RGV shuttle operation.

[0081] S5. Control the movement of the RGV shuttle by the speed curve.

[0082] In summary, the method of dynamically adjusting the speed of the RGV shuttle based on the load weight of the present invention first obtains the load weight of the RGV shuttle in real time, then matches the maximum operating speed of the RGV shuttle according to the load weight, and then inputs the maximum operating speed as a parameter into the five-segment S-shaped speed curve algorithm to obtain the speed curve of the RGV shuttle.

[0083] Compared with the prior art, the method of dynamically adjusting the speed of the RGV shuttle according to the load weight of the present invention has the following advantages:

[0084] This invention employs different maximum operating speeds based on the varying load weight of the RGV shuttle. A greater load weight results in a heavier overall weight of the RGV shuttle, increased friction between the wheels and guide rails, higher starting torque, and greater vibration during operation, thus limiting the maximum permissible operating speed. Therefore, by detecting the load weight each time a task is performed and matching an appropriate maximum operating speed to the RGV shuttle, the stability of RGV shuttle operation is improved while maximizing operational efficiency.

[0085] The present invention also discloses a device for dynamically adjusting the speed of an RGV shuttle based on the load weight. The device adjusts the speed of the RGV shuttle using the above method and includes a position detection module, a load detection module, a data processing module, a control module, and an execution module.

[0086] The position detection module communicates with the data processing module to detect the real-time position of the RGV shuttle. The position detection module can use an encoder or a proximity switch. The encoder is mounted on the wheels of the RGV shuttle, determining its real-time position through the movement of the wheels. The proximity switch is mounted on the RGV shuttle's body to detect its real-time position. By detecting the RGV shuttle's real-time position, the data processing module can plan the RGV shuttle's route based on its target position.

[0087] The load module is connected to the data processing module to detect the load weight of the RGV shuttle.

[0088] Specifically, the load module may include a pressure sensor. The pressure sensor is installed on the lifting mechanism of the RGV shuttle, and can obtain the load weight of the RGV shuttle in real time when the lifting mechanism loads or unloads goods.

[0089] The load module can also communicate with the RGV shuttle to read the load inertia ratio of the RGV shuttle, and then calculate the load weight of the RGV shuttle based on the load inertia ratio. The method of calculating the load weight by the load inertia ratio has been described in the aforementioned method and will not be repeated here.

[0090] The data processing module communicates with the control module and is used to determine the maximum operating speed based on the load weight, calculate the motion path of the RGV shuttle based on the real-time location, and calculate the speed curve of the RGV shuttle using a five-segment S-shaped speed curve algorithm based on the motion path and load weight. The data processing module can be set up independently or integrated into the control system of the RGV shuttle.

[0091] The control module communicates with the execution module and is used to control the execution module according to the speed curve, thereby controlling the movement of the RGV shuttle.

[0092] The communication connection between the above components can be serial communication and / or Ethernet communication, wired communication, or wireless communication.

[0093] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for dynamically adjusting the speed of a RGV shuttle vehicle according to the weight of a load, characterized by, The method comprises the following steps: S1, acquiring the load weight of the RGV shuttle vehicle; S2, based on the load weight, assigning a maximum running speed to the RGV shuttle vehicle; S3, based on the maximum running speed, calculating the speed curve of the RGV shuttle vehicle by using a five-section S-shaped speed curve algorithm; The speed curve comprises a jerk-increasing acceleration stage, a jerk-decreasing acceleration stage, a constant speed stage, a jerk-increasing deceleration stage, and a jerk-decreasing deceleration stage; wherein, The jerk-increasing acceleration stage is an acceleration stage in which the acceleration gradually increases; The jerk-decreasing acceleration stage is an acceleration stage in which the acceleration gradually decreases; The constant speed stage is a stage of uniform motion; The jerk-increasing deceleration stage is a deceleration stage in which the acceleration gradually increases; The jerk-decreasing deceleration stage is a deceleration stage in which the acceleration gradually decreases; S4, controlling the motion of the RGV shuttle vehicle through the speed curve; The step S1 comprises: S101, acquiring the load inertia ratio of the RGV shuttle vehicle; S102, calculating the load weight by the following formula: ； wherein dC is the load inertia ratio; M is the load weight; m is the self-weight of the RGV shuttle vehicle; r is the wheel radius of the RGV shuttle vehicle; i is the reduction ratio of the RGV shuttle vehicle reducer; J d the rotational inertia of the RGV shuttle vehicle reducer; J m is the rotational inertia of the RGV shuttle vehicle motor; In the step S4, The relationship between the jerk of the RGV shuttle vehicle and time is: ; In the formula, J is the jerk of the RGV shuttle vehicle; t is time, 0-t1 is the jerk-increasing acceleration stage, t1-t2 is the jerk-decreasing acceleration stage, t2-t3 is the constant speed stage, t3-t4 is the jerk-increasing deceleration stage, and t4-t5 is the jerk-decreasing deceleration stage; The relationship between the acceleration of the RGV shuttle vehicle and time is: ； In the formula, J is the jerk of the RGV shuttle vehicle; a is the acceleration of the RGV shuttle vehicle; T is the time interval; t is time, 0-t1 is the jerk-increasing acceleration stage, t1-t2 is the jerk-decreasing acceleration stage, t2-t3 is the constant speed stage, t3-t4 is the jerk-increasing deceleration stage, and t4-t5 is the jerk-decreasing deceleration stage; T3 is the time length of the uniform motion of the RGV shuttle vehicle; The relationship between the speed of the RGV shuttle vehicle and time is: ; In the formula, J is the jerk of the RGV shuttle vehicle; T is the time interval; t is time, 0-t1 is the jerk-increasing acceleration stage, t1-t2 is the jerk-decreasing acceleration stage, t2-t3 is the constant speed stage, t3-t4 is the jerk-increasing deceleration stage, and t4-t5 is the jerk-decreasing deceleration stage.

2. The method of claim 1, wherein, In the step S3, The load weight is divided into a plurality of weight intervals; each weight interval corresponds to a different maximum running speed; Based on the weight interval in which the load weight is located, the corresponding maximum running speed is assigned to the RGV shuttle vehicle.

3. The method of claim 2, wherein, The weight intervals are five in total, and are sequentially: 0kg-400kg, 400kg-800kg, 800kg-1200kg, 1200kg-1600kg, and 1600kg-2000kg; each weight interval includes the lower limit and does not include the upper limit; The maximum running speeds corresponding to the five weight intervals are sequentially: 800mm / s, 700mm / s, 650mm / s, 600mm / s, and 500mm / s.

4. A device for dynamically adjusting the speed of a RGV shuttle vehicle according to the weight of the load, the speed of the RGV shuttle vehicle being adjusted by the method according to any one of claims 1 to 3, characterized in that, The device comprises a position detection module, a load detection module, a data processing module, a control module, and an execution module; wherein, The position detection module is in communication connection with the data processing module, and is configured to detect a real-time position of the RGV shuttle vehicle; The load detection module is in communication connection with the data processing module, and is configured to detect the load weight of the RGV shuttle vehicle; The data processing module is in communication connection with the control module, and is configured to derive the maximum running speed according to the load weight, calculate a motion path of the RGV shuttle vehicle according to the real-time position, and calculate a speed curve of the RGV shuttle vehicle by using the five-segment S-shaped speed curve algorithm according to the motion path and the load weight; The control module is in communication connection with the execution module, and is configured to control the execution module according to the speed curve, thereby controlling the motion of the RGV shuttle vehicle.

5. The apparatus of claim 4, wherein, The load detection module is in communication connection with the RGV shuttle vehicle, and is configured to read a load inertia ratio of the RGV shuttle vehicle, so as to calculate the load weight of the RGV shuttle vehicle according to the load inertia ratio.

6. The apparatus of claim 4, wherein, The position detection module comprises an encoder or a proximity switch; The encoder is arranged on a wheel of the RGV shuttle vehicle, and the real-time position of the RGV shuttle vehicle is determined by the motion of the wheel of the RGV shuttle vehicle; The proximity switch is arranged on a vehicle body of the RGV shuttle vehicle, and is configured to detect the real-time position of the RGV shuttle vehicle.

7. The apparatus of claim 4, wherein, The communication connection comprises serial communication and / or Ethernet communication.

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