Multi-vehicle walking positioning control method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment and storage medium for controlling the movement and positioning of multiple vehicles. The method includes obtaining a target travel distance, a starting deceleration speed, a PLC operation cycle T and the number of deceleration stages of a target vehicle on a target travel track; determining the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage based on the target travel distance, the starting deceleration speed, the PLC operation cycle and the number of deceleration stages; determining the remaining distance of the target vehicle on the target travel track based on the target travel distance and the stage deceleration distance; and controlling the target vehicle to travel at the stage deceleration speed and stage deceleration acceleration on the corresponding deceleration line segment. This scheme ensures a smooth parabolic speed output by continuously approaching the minimum limit of the multiple vehicle distance, thereby improving the stability and efficiency of the operation of the multiple vehicles.

Description

Technical Field

[0001] The present invention belongs to the technical field of position positioning and evaluation, and specifically relates to a method, device, equipment and storage medium for controlling the positioning of a multi-passenger vehicle. Background Art

[0002] At present, multi-car stereoscopic warehouses are more and more widely used in the logistics equipment industry. The most important equipment in a multi-car stereoscopic warehouse is the multi-car, and the precise positioning of the multi-car is the key technology in the entire multi-car system. The positioning methods of multi-car on the market include barcode positioning, laser ranging positioning, and encoder plus sensor hole counting positioning.

[0003] The barcode positioning method requires the installation of a whole barcode on the multi-vehicle walking track. At the same time, the barcode cannot be stained, torn, or broken. It also has high requirements for installation, and because there are many layers, the cost is relatively high.

[0004] The laser ranging sensor used in the laser ranging positioning method needs to detect distances of hundreds of meters, so the cost of this sensor is relatively high in the project, and a laser reflector needs to be installed at the end of each layer. This reflector needs to be at the same level as the laser ranging installed on the multi-carriage vehicle. Therefore, the installation requirements for the shelves and multi-carriage vehicles are particularly high. There will be installation errors between different layers, resulting in positioning errors for the multi-carriage vehicle after changing layers.

[0005] Encoder plus counting hole positioning is the most commonly used positioning method on the market. This method reads the travel motor encoder data for accurate calculations, but the travel wheels may slip, so the multi-pass vehicle cannot accurately stop at the target position and can only use the counting hole sensor to move back and forth at a low speed to find the target position.

[0006] In view of the above problems, an algorithm that can reduce costs and quickly locate while not having very high requirements on the slippage and installation of the vehicle body itself is the focus of multi-penetration vehicle research. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a method, device, equipment and storage medium for controlling the positioning of a multi-passenger vehicle, so as to solve the problems of low positioning efficiency and high cost in the prior art.

[0008] According to one aspect of the present application, a multi-pass vehicle walking positioning control method is disclosed, the method comprising:

[0009] Obtaining a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of the target traveling vehicle on the target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle;

[0010] Based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages, determine the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage;

[0011] Based on the target travel distance and the stage deceleration distance, determining the remaining distance of the target traveling vehicle on the target traveling track, wherein the remaining distance is determined based on the current storage hole where the target traveling vehicle is located, and when the current storage hole overlaps with the target storage hole, the remaining distance is zero;

[0012] The target traveling vehicle is controlled to travel on the corresponding deceleration line segment at a stage deceleration speed and a stage deceleration acceleration.

[0013] In some embodiments, obtaining a target traveling distance of a target traveling vehicle on a target traveling track includes:

[0014] Obtaining a starting storage hole, a target storage hole, and an initial acceleration on the target travel track;

[0015] Determining a total travel distance of the target traveling vehicle based on the starting reservoir hole and the target reservoir hole;

[0016] Determining an accelerated traveling distance of the target traveling vehicle based on the initial acceleration and the initial deceleration speed;

[0017] The target travel distance is determined based on the total travel distance and the accelerated travel distance.

[0018] In some embodiments, determining the acceleration travel distance of the target traveling vehicle based on the initial acceleration and the initial deceleration speed includes:

[0019] Determine that the initial speed is zero, and determine the acceleration time for the target traveling vehicle to run to the initial deceleration speed based on the speed formula and the initial deceleration speed;

[0020] Based on the initial acceleration and the acceleration running time, an acceleration traveling distance of the target traveling vehicle is determined.

[0021] In some embodiments, determining the stage deceleration speed corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes:

[0022] Obtaining the total deceleration time when the target traveling vehicle decelerates to the target storage hole;

[0023] Determine the first deceleration of the target vehicle in the first deceleration period using the first formula and the second formula based on the PLC operation cycle and the initial deceleration speed, wherein the first deceleration period is the period when the target vehicle decelerates from the initial deceleration speed to half of the total deceleration time;

[0024] The first formula is:

[0025] ;

[0026] Among them, T 2 is the total deceleration time, T is the PLC operation cycle, and m is the time from the highest speed to the The number of calculations required during the time limit;

[0027] The second formula is:

[0028] ;

[0029] in, is the maximum speed of the multi-passing vehicle, The first deceleration differential speed obtained by differentiating the first deceleration;

[0030] Determining the number of deceleration stages and the corresponding superposition time within the PLC operation cycle, wherein the number of deceleration stages and the corresponding superposition time are determined based on the third formula;

[0031] The third formula is:

[0032] ;

[0033] ;

[0034] Where i is the number of deceleration stages, T 21 [i] is from the beginning to The superposition time of each PLC operation cycle of time;

[0035] Based on the initial deceleration speed and the first deceleration speed combined with the fourth formula, determine the stage deceleration speed corresponding to each deceleration stage of the first deceleration cycle;

[0036] The fourth formula is:

[0037] ;

[0038] Among them, V D[i] The initial deceleration speed drops to Time: the deceleration speed of each deceleration stage;

[0039] Based on the initial deceleration speed and the first deceleration speed combined with the fifth formula, determine the stage deceleration speed corresponding to each deceleration stage of the target traveling vehicle in the second deceleration cycle;

[0040] The fifth formula is:

[0041] ;

[0042] in, ;

[0043] The entire deceleration time T from the highest speed to the lowest speed 2 The speed of each cycle, It is the superposition time of each PLC operation cycle which is equally divided from the start to n.

[0044] In some embodiments, determining the stage deceleration acceleration corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes:

[0045] Determine the stage deceleration acceleration corresponding to each deceleration stage of the first deceleration cycle based on the first deceleration speed and the total deceleration time in combination with a sixth formula;

[0046] The sixth formula is:

[0047] ;

[0048] in, The deceleration speed is reduced from the initial acceleration to The deceleration rate per cycle of time;

[0049] Determine the stage deceleration acceleration corresponding to each deceleration stage of the second deceleration cycle based on the first deceleration and the total deceleration time in combination with the seventh formula;

[0050] The seventh formula is:

[0051] ;

[0052] in, The deceleration time T from the highest speed to the lowest speed 2 The deceleration rate within each cycle.

[0053] In some embodiments, determining the deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes:

[0054] Based on the first deceleration and the total deceleration time combined with the eighth formula, determine the stage deceleration distance corresponding to each deceleration stage of the first deceleration cycle;

[0055] The eighth formula is:

[0056] ;

[0057] in, ;

[0058] is the deceleration distance of each stage from i 1 to m, t is based on T 21 [i] Determine;

[0059] Based on the first deceleration and the total deceleration time combined with the ninth formula, determine the stage deceleration distance corresponding to each deceleration stage of the second deceleration cycle;

[0060] The ninth formula is:

[0061] ;

[0062] in, ;

[0063] is the deceleration distance of each stage from 1 to m, and t is based on T 21 [n] OK.

[0064] In some embodiments, determining the remaining distance of the target traveling vehicle on the target traveling track based on the target traveling distance and the stage deceleration distance includes:

[0065] Step 1: Determine the deceleration speed corresponding to each deceleration stage in the entire deceleration cycle based on the tenth formula;

[0066] The tenth formula is:

[0067] ;

[0068] in, For the required multi-pass speed, To break down the speed of each cycle, To break down the acceleration per cycle, For the distances stacked in reverse order, For the target distance;

[0069] Step 2: Substitute the required multi-passing vehicle speed into the eleventh formula to determine the remaining distance;

[0070] The eleventh formula is:

[0071] ;

[0072] Step 3: Assign the remaining distance determined in step 3 to the tenth formula of step 1 for calculation until the remaining distance is zero.

[0073] According to another aspect of the present application, a multi-pass vehicle walking positioning control device is also disclosed, the device comprising:

[0074] A first acquisition module is used to acquire a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of the target traveling vehicle on the target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle;

[0075] A stage data determination module, for determining the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages;

[0076] A remaining distance determination module is used to determine the remaining distance of the target traveling vehicle on the target traveling track based on the target traveling distance and the stage deceleration distance, wherein the remaining distance is determined based on the current storage hole where the target traveling vehicle is located, and when the current storage hole overlaps with the target storage hole, the remaining distance is zero;

[0077] The control module is used to control the target traveling vehicle to travel at a stage deceleration speed and a stage deceleration acceleration on a corresponding deceleration line segment.

[0078] According to another aspect of the present application, an electronic device is also disclosed, which includes a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the electronic device executes each step of the multi-vehicle walking positioning control method as described in any one of the above items.

[0079] According to another aspect of the present application, a computer-readable storage medium is also disclosed, on which instructions are stored. When the instructions are executed by a processor, the various steps of the multi-vehicle walking positioning control method as described in any one of the above items are implemented.

[0080] The present invention includes but is not limited to the following beneficial effects: The present invention ensures a smooth parabolic speed output by continuously approaching the minimum limit of the multi-pass vehicle's distance, thereby improving the stability and efficiency of the multi-pass vehicle's operation, reducing the damage to the wheels of the multi-pass vehicle, and extending the service life of the multi-pass vehicle. At the same time, the use of other sensors is also reduced accordingly, reducing costs and facilitating maintenance, which plays a positive role in promoting the promotion and use of multi-pass stereoscopic warehouses and the development of warehousing and logistics equipment. The present invention can not only be used in multi-pass vehicles, but its flexible parameter input can also be used in other similar logistics equipment, such as some heavy-loaded mobile equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0082] Figure 1 This is a flow chart of a multi-vehicle walking positioning control method according to an embodiment of the present invention;

[0083] Figure 2 It is another flow chart of the multi-vehicle walking positioning control method according to an embodiment of the present invention;

[0084] Figure 3 It is a structural block diagram of a multi-vehicle walking positioning control device according to an embodiment of the present application;

[0085] Figure 4 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0086] Figure 5 is a speed curve diagram of an embodiment of the present invention;

[0087] Figure 6 is an acceleration curve diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0088] The embodiment of the present invention provides a method for controlling the movement and positioning of multiple vehicles, characterized in that the method includes: obtaining a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of a target traveling vehicle on a target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle; determining the stage deceleration speed, the stage deceleration acceleration, and the stage deceleration distance corresponding to each deceleration stage based on the target traveling distance, the starting deceleration speed, the PLC operation cycle, and the number of deceleration stages; determining the remaining distance of the target traveling vehicle on the target traveling track based on the target traveling distance and the stage deceleration distance, wherein the remaining distance is determined based on a current storage hole where the target traveling vehicle is located, and when the current storage hole overlaps with the target storage hole, the remaining distance is zero; controlling the target traveling vehicle to travel at the stage deceleration speed and the stage deceleration acceleration on the corresponding deceleration segment. This solution and the present invention ensure a smooth parabolic speed output by continuously approaching the minimum limit of the multi-pass vehicle's distance, thereby improving the stability and efficiency of the multi-pass vehicle's operation, reducing the damage to the wheels of the multi-pass vehicle, and extending the service life of the multi-pass vehicle. At the same time, the use of other sensors is also reduced accordingly, reducing costs and facilitating maintenance, which plays a positive role in promoting the promotion and use of multi-pass stereoscopic warehouses and the development of warehousing and logistics equipment. The present invention can not only be used in multi-pass vehicles, but its flexible parameter input can also be used in other similar logistics equipment, such as some heavy-loaded mobile equipment.

[0089] The terms "first", "second", "third", "fourth", etc. (if any) 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 described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "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.

[0090] Specifically, Figure 1 A flow chart of the multi-walking positioning control method is shown in Figure 1 As shown, the following steps are included:

[0091] S100, obtaining a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of the target traveling vehicle on the target traveling track.

[0092] The number of deceleration stages is divided based on the PLC operation cycle.

[0093] S102. Determine the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages.

[0094] S104. Based on the target traveling distance and the stage deceleration distance, determine the remaining distance of the target traveling vehicle on the target traveling track. The remaining distance is determined based on the current storage hole where the target traveling vehicle is located. When the current storage hole overlaps with the target storage hole, the remaining distance is zero.

[0095] S106. Control the target vehicle to travel on the corresponding deceleration line segment at a stage deceleration speed and a stage deceleration acceleration.

[0096] In some embodiments, Figure 2 As shown, it is another flow chart of the multi-passing vehicle walking positioning control method, which is an exemplary description of obtaining the target passing distance of the target passing vehicle on the target passing track in step S100, including:

[0097] S200: Acquire a starting storage hole, a target storage hole, and an initial acceleration on a target travel track.

[0098] S202: Determine the total travel distance of the target traveling vehicle based on the starting storage hole and the target storage hole.

[0099] S204: Determine the acceleration travel distance of the target traveling vehicle based on the initial acceleration and the initial deceleration speed.

[0100] S206: Determine a target travel distance based on the total travel distance and the accelerated travel distance.

[0101] In some embodiments, based on the initial acceleration and the initial deceleration speed, determining the acceleration travel distance of the target traveling vehicle includes:

[0102] Determine that the initial speed is zero, and determine the acceleration time for the target vehicle to run to the initial deceleration speed based on the speed formula and the initial deceleration speed;

[0103] Based on the initial acceleration and the acceleration running time, the acceleration running distance of the target traveling vehicle is determined.

[0104] In some embodiments, based on the target travel distance, the initial deceleration speed, the PLC operation cycle, and the number of deceleration stages, determining the stage deceleration speed corresponding to each deceleration stage includes:

[0105] Obtain the total deceleration time when the target vehicle decelerates to the target storage hole;

[0106] Based on the PLC operation cycle and the initial deceleration speed, the first deceleration speed of the target vehicle in the first deceleration cycle is determined by using the first formula and the second formula, wherein the first deceleration cycle is the period when the target vehicle decelerates from the initial deceleration speed to half of the total deceleration time;

[0107] The first formula is:

[0108] ;

[0109] Among them, T 2 is the total deceleration time, T is the PLC operation cycle, and m is the time from the highest speed to the The number of calculations required during the time limit;

[0110] The second formula is:

[0111] ;

[0112] in, is the maximum speed of the multi-passing vehicle, The first deceleration differential speed obtained by differentiating the first deceleration;

[0113] Determine the number of deceleration stages and the corresponding superposition time in the PLC operation cycle, wherein the determination is based on the third formula;

[0114] The third formula is:

[0115] ;

[0116] ;

[0117] Where i is the number of deceleration stages, T 21 [i] is from the beginning to The superposition time of each PLC operation cycle of time;

[0118] Based on the initial deceleration speed and the first deceleration speed combined with the fourth formula, determine the stage deceleration speed corresponding to each deceleration stage of the first deceleration cycle;

[0119] The fourth formula is:

[0120] ;

[0121] Among them, V D[i] The initial deceleration speed drops to Time: the deceleration speed of each deceleration stage;

[0122] Based on the initial deceleration speed and the first deceleration speed combined with the fifth formula, determine the stage deceleration speed corresponding to each deceleration stage of the target traveling vehicle in the second deceleration cycle;

[0123] The fifth formula is:

[0124] ;

[0125] in, ;

[0126] The entire deceleration time T from the highest speed to the lowest speed 2 The speed of each cycle, It is the superposition time of each PLC operation cycle which is equally divided from the start to n.

[0127] In some embodiments, based on the target travel distance, the initial deceleration speed, the PLC operation cycle, and the number of deceleration stages, determining the stage deceleration acceleration corresponding to each deceleration stage includes:

[0128] Based on the first deceleration and the total deceleration time combined with the sixth formula, determine the stage deceleration acceleration corresponding to each deceleration stage of the first deceleration cycle;

[0129] The sixth formula is:

[0130] ;

[0131] in, The deceleration speed is reduced from the initial acceleration to The deceleration rate per cycle of time;

[0132] Based on the first deceleration and the total deceleration time combined with the seventh formula, determine the stage deceleration acceleration corresponding to each deceleration stage of the second deceleration cycle;

[0133] The seventh formula is:

[0134] ;

[0135] in, The deceleration time T from the highest speed to the lowest speed 2 The deceleration rate within each cycle.

[0136] In some embodiments, based on the target travel distance, the initial deceleration speed, the PLC operation cycle, and the number of deceleration stages, determining the deceleration distance corresponding to each deceleration stage includes:

[0137] Based on the first deceleration and the total deceleration time combined with the eighth formula, determine the stage deceleration distance corresponding to each deceleration stage of the first deceleration cycle;

[0138] The eighth formula is:

[0139] ;

[0140] in, ;

[0141] S D[i] is the deceleration distance of each stage from i 1 to m, t is based on T 21 [i] Determine;

[0142] Based on the first deceleration and the total deceleration time combined with the ninth formula, determine the stage deceleration distance corresponding to each deceleration stage of the second deceleration cycle;

[0143] The ninth formula is:

[0144] ;

[0145] in, ;

[0146] is the deceleration distance of each stage from 1 to m, and t is based on T 21 [n] OK.

[0147] In some embodiments, based on the target traveling distance and the stage deceleration distance, determining the remaining distance of the target traveling vehicle on the target traveling track includes:

[0148] Step 1: Determine the deceleration speed corresponding to each deceleration stage in the entire deceleration cycle based on the tenth formula;

[0149] The tenth formula is:

[0150] ;

[0151] in, For the required multi-pass speed, To break down the speed of each cycle, To break down the acceleration per cycle, For the distances stacked in reverse order, For the target distance;

[0152] Step 2: Substitute the required multi-passing vehicle speed into the eleventh formula to determine the remaining distance;

[0153] The eleventh formula is:

[0154] ;

[0155] Step 3: Assign the remaining distance determined in step 3 to the tenth formula in step 1 for calculation until the remaining distance is zero.

[0156] For example, an intelligent multi-pass warehouse is in operation, and the warehousing and logistics system receives a command from the factory to move the materials from the starting position 10 of the multi-pass vehicle in the lane to the storage position 21. At this time, the warehousing and logistics system will send the command to the multi-pass vehicle through a common protocol with the multi-pass vehicle. After receiving the command, the multi-pass vehicle starts to calculate its own parameters. First, the multi-pass vehicle will mobilize the fork and the claw to grab the goods at the location, and then start the walking calculation. The calculation process is completed within 10 milliseconds. The calculation process is as follows:

[0157] like Figure 5 and Figure 6 As shown, Figure 5 The horizontal axis represents time, unit is s, and the vertical axis represents speed, unit is mm / s; Figure 5 It represents the acceleration and deceleration process of speed increasing from 0 to maximum and then decreasing from maximum to 0, that is, the speed increases from 0 to the top of the curve over time. In this process, the speed increases from 0 to the maximum and then decreases from the maximum to 0 in an S-shaped curve; when the speed starts to decrease from the top of the curve, that is, the maximum speed, to 0, the speed decreases from 0 to a negative value to the minimum and then increases from the minimum to 0 in an S-shaped curve until it reaches 0 due to the acceleration. Figure 6 The horizontal axis represents time, in seconds, and the vertical axis represents acceleration, in mm / s 2 ; Figure 6 It represents a variable acceleration process, that is, the acceleration increases linearly from 0 to 10000. Figure 5 The speed shown also increases with the increase of acceleration and time in an S-shaped curve, first slowly and then steeply. When the acceleration increases to the set maximum value, it begins to decrease. In this process, the speed increases in an S-shaped curve, first steeply and then slowly. When the acceleration decreases to 0, the speed is the maximum value. As time changes, the acceleration changes to the fourth quadrant, that is, the acceleration is negative. The speed begins to decrease in an S-shaped curve, first slowly and then steeply. When the acceleration drops to the minimum value, it begins to increase toward 0. The speed begins to decrease in an S-shaped curve, first steeply and then slowly, until the acceleration is 0, at which time the speed is also 0. Take this as an example to illustrate. For ease of understanding, the deceleration stage is divided into two parts, front and back. In the first stage, first calculate the number of decelerations:

[0158] ;

[0159] T 2 is the total deceleration time, T is the PLC operation cycle, and m is the calculated speed from the highest speed to The number of calculations to be performed during the time limit.

[0160] 1) Calculate the deceleration J D :

[0161] ;

[0162] V MAX is the maximum speed of the multi-pass vehicle;

[0163] 2) Calculate the number of deceleration cycles and stage time during the PLC operation cycle:

[0164] ;

[0165] ;

[0166] T 21[i] From the beginning to The superposition time of each PLC operation cycle of time;

[0167] 3) Calculation The speed and deceleration acceleration of each cycle in the first deceleration stage within time:

[0168] ;

[0169] ;

[0170] ;

[0171] V D[i] To reduce from the highest speed to The deceleration rate per time cycle; a D[i] To reduce from the highest speed to The deceleration rate per cycle of time;

[0172] 4) Calculation The deceleration distance of each cycle in the first deceleration stage during the time period is:

[0173] ;

[0174] ;

[0175] ;

[0176] 5) Calculate the remaining The speed of each cycle in the second deceleration stage during time:

[0177] ;

[0178] ;

[0179] ;

[0180] V D[m+n] The entire deceleration time T from the highest speed to the lowest speed2 The speed of each cycle; a D[m+n] The deceleration time T from the highest speed to the lowest speed 2 The deceleration rate of each cycle;

[0181] 6) Calculate the remaining The deceleration distance of each cycle in the second deceleration stage during the time period is:

[0182] ;

[0183] ;

[0184] ;

[0185] 7) Calculate the deceleration stage S [1] To S [z] The distance of each stage, in reverse order, S [1] The distance is the shortest, S [2m] The maximum distance:

[0186] ;

[0187] ;

[0188] 8) Calculate the target distance S of the shuttle from 10 to 21 d :

[0189] ;

[0190] ;

[0191] L [i] is the distance between holes on the track;

[0192] 9) Calculate the speed of the shuttle at each point between 10 and 21:

[0193] ;

[0194] ;

[0195] 10) Calculate the actual shuttle output running speed and first determine the target distance S d and deceleration distance S D[i] The size of the , and then according to the judgment to perform the following speed calculation:

[0196] ;

[0197] If S d >S D[i]， Then the acceleration a = a D[i-1]，The instantaneous speed is V D[i-1] , then the continuous speed formula is:

[0198] ;

[0199] 11) Calculate the distance reduction. The distance is reduced accordingly according to the current speed V and PLC operation cycle T. Substitute the speed calculated in step 10) into the following formula:

[0200] ;

[0201] ;

[0202] Calculate the reduced distance S d Then return to step 10) to calculate the speed until At the same time, the hole counting photoelectric detection detects the target position, completes the positioning, and stops the multi-pass vehicle; if the target distance has been reached but the hole counting photoelectric detection has not detected it, the multi-pass vehicle will crawl towards the target position at a minimum speed until the hole counting photoelectric finds the position and stops.

[0203] According to another aspect of the present application, Figure 3 As shown, a multi-pass vehicle walking positioning control device is also disclosed, the device comprising:

[0204] The first acquisition module is used to obtain the target traveling distance, the initial deceleration speed, the PLC operation cycle T and the number of deceleration stages of the target traveling vehicle on the target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle;

[0205] The stage data determination module is used to determine the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages;

[0206] The remaining distance determination module is used to determine the remaining distance of the target traveling vehicle on the target traveling track based on the target traveling distance and the stage deceleration distance. The remaining distance is determined based on the current storage hole where the target traveling vehicle is located. When the current storage hole overlaps with the target storage hole, the remaining distance is zero;

[0207] The control module is used to control the target vehicle to travel on the corresponding deceleration line segment at a stage deceleration speed and a stage deceleration acceleration.

[0208] The application introduction of the relevant modules of the device in this example can refer to the relevant introduction of the principle of the above method, which will not be repeated here.

[0209] According to another aspect of the present application, the present application also discloses an electronic device, which includes a memory and at least one processor, wherein instructions are stored in the memory; at least one processor calls the instructions in the memory so that the electronic device executes each step of the above-mentioned multi-vehicle walking positioning control method.

[0210] above Figure 3 The multi-vehicle walking positioning control device in the embodiment of the present invention is described in detail from the perspective of modular functional entities, and the electronic device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0211] Figure 4 4 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device 400 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 410 (for example, one or more processors) and a memory 420, and one or more storage media 430 (for example, one or more mass storage devices) storing application programs 433 or data 432. Among them, the memory 420 and the storage medium 430 can be short-term storage or permanent storage. The program stored in the storage medium 430 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the electronic device 400. Furthermore, the processor 410 may be configured to communicate with the storage medium 430 to execute a series of instruction operations in the storage medium 430 on the electronic device 400.

[0212] The electronic device 400 may also include one or more power supplies 440, one or more wired or wireless network interfaces 450, one or more input and output interfaces 460, and / or one or more operating systems 431, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 4 The structure of the electronic device shown does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0213] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the multi-vehicle walking positioning control method.

[0214] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0215] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0216] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-pass vehicle walking positioning control method, characterized in that: The method comprises: Obtaining a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of the target traveling vehicle on the target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle; Based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages, determine the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage; Based on the target travel distance and the stage deceleration distance, determining the remaining distance of the target traveling vehicle on the target traveling track, wherein the remaining distance is determined based on the current storage hole where the target traveling vehicle is located, and when the current storage hole overlaps with the target storage hole, the remaining distance is zero; Controlling the target vehicle to travel on the corresponding deceleration line segment at a stage deceleration speed and a stage deceleration acceleration; Determining the stage deceleration speed corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes: Obtaining the total deceleration time when the target traveling vehicle decelerates to the target storage hole; Determine the first deceleration of the target vehicle in the first deceleration period using the first formula and the second formula based on the PLC operation cycle and the initial deceleration speed, wherein the first deceleration period is the period when the target vehicle decelerates from the initial deceleration speed to half of the total deceleration time; The first formula is: ； in, is the total deceleration time, T is the PLC operation cycle, and m is the time from the highest speed to the The number of calculations required during the time limit; The second formula is: ； in, is the maximum speed of the multi-passing vehicle, is the first deceleration differential speed after the first deceleration differential; Determining the number of deceleration stages and the corresponding superposition time in the PLC operation cycle, wherein the determination is based on a third formula; The third formula is: ； ； Where i is the number of deceleration stages, From the beginning to The superposition time of each PLC operation cycle of time; Based on the initial deceleration speed and the first deceleration speed combined with the fourth formula, determine the stage deceleration speed corresponding to each deceleration stage of the first deceleration cycle; The fourth formula is: ； in, The initial deceleration speed drops to Time: the deceleration speed of each deceleration stage; Based on the initial deceleration speed and the first deceleration speed combined with the fifth formula, determine the stage deceleration speed corresponding to each deceleration stage of the target traveling vehicle in the second deceleration cycle; The fifth formula is: ； in, ; It is the speed of each cycle during the entire deceleration time T2 from the highest speed to the lowest speed. It is the superposition time of each PLC operation cycle divided equally from the start to n; Determining the stage deceleration acceleration corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes: Determine the stage deceleration acceleration corresponding to each deceleration stage of the first deceleration cycle based on the first deceleration speed and the total deceleration time in combination with a sixth formula; The sixth formula is: ； in, The deceleration speed is reduced from the initial acceleration to The deceleration rate per cycle of time; Determine the stage deceleration acceleration corresponding to each deceleration stage of the second deceleration cycle based on the first deceleration and the total deceleration time in combination with the seventh formula; The seventh formula is: ； in, The deceleration time from the highest speed to the lowest speed The deceleration rate of each cycle; Determining the deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages includes: Based on the first deceleration and the total deceleration time combined with the eighth formula, determine the stage deceleration distance corresponding to each deceleration stage of the first deceleration cycle; The eighth formula is: ； in, ; is the deceleration distance of each stage from i 1 to m, t is based on Sure; Based on the first deceleration and the total deceleration time combined with the ninth formula, determine the stage deceleration distance corresponding to each deceleration stage of the second deceleration cycle; The ninth formula is: ； in, ; is the deceleration distance of each stage from 1 to m, t is based on Sure.

2. The multi-pass vehicle walking positioning control method according to claim 1 is characterized in that: Obtaining the target traveling distance of the target traveling vehicle on the target traveling track includes: Obtaining a starting storage hole, a target storage hole, and an initial acceleration on the target travel track; Determining a total travel distance of the target traveling vehicle based on the starting reservoir hole and the target reservoir hole; Determining an accelerated traveling distance of the target traveling vehicle based on the initial acceleration and the initial deceleration speed; The target travel distance is determined based on the total travel distance and the accelerated travel distance.

3. The multi-pass vehicle walking positioning control method according to claim 2 is characterized in that: The determining of the acceleration travel distance of the target traveling vehicle based on the initial acceleration and the initial deceleration speed comprises: Determine that the initial speed is zero, and determine the acceleration time for the target traveling vehicle to run to the initial deceleration speed based on the speed formula and the initial deceleration speed; Based on the initial acceleration and the acceleration running time, an acceleration traveling distance of the target traveling vehicle is determined.

4. The multi-pass vehicle walking positioning control method according to claim 1 is characterized in that: The determining, based on the target traveling distance and the stage deceleration distance, the remaining distance of the target traveling vehicle on the target traveling track comprises: Step 1: Determine the deceleration speed corresponding to each deceleration stage in the entire deceleration cycle based on the tenth formula; The tenth formula is: ； in, For the required multi-pass speed, To break down the speed of each cycle, To break down the acceleration per cycle, For the distances stacked in reverse order, For the target distance; Step 2: Substitute the required multi-passing vehicle speed into the eleventh formula to determine the remaining distance; The eleventh formula is: ； Step 3: Assign the remaining distance determined in step 3 to the tenth formula of step 1 for calculation until the remaining distance is zero.

5. A multi-vehicle travel positioning control device for executing the multi-vehicle travel positioning control method according to any one of claims 1 to 4, characterized in that: The device comprises: A first acquisition module is used to acquire a target traveling distance, a starting deceleration speed, a PLC operation cycle T, and the number of deceleration stages of the target traveling vehicle on the target traveling track, wherein the number of deceleration stages is divided based on the PLC operation cycle; A stage data determination module, for determining the stage deceleration speed, stage deceleration acceleration and stage deceleration distance corresponding to each deceleration stage based on the target travel distance, the initial deceleration speed, the PLC operation cycle and the number of deceleration stages; A remaining distance determination module is used to determine the remaining distance of the target traveling vehicle on the target traveling track based on the target traveling distance and the stage deceleration distance, wherein the remaining distance is determined based on the current storage hole where the target traveling vehicle is located, and when the current storage hole overlaps with the target storage hole, the remaining distance is zero; The control module is used to control the target traveling vehicle to travel at a stage deceleration speed and a stage deceleration acceleration on a corresponding deceleration line segment.

6. An electronic device, characterized in that: The electronic device includes a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the electronic device executes each step of the multi-vehicle walking positioning control method as described in any one of claims 1-4.

7. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the multi-vehicle walking positioning control method as described in any one of claims 1-4 are implemented.

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