Moving vehicle system

Abstract

The present invention discloses a traveling vehicle system, including a traveling vehicle traveling on a track having a set of grid cells. The traveling vehicle communicates with a control system, and the control system confirms whether there are unlocking-needed grid cells in each grid cell of the track. When it is determined that there are unlocking-needed grid cells, it instructs an unlocking traveling vehicle on the track to unlock the unlocking-needed grid cells. When an unlocking-needed grid cell needs to be unlocked, the unlocking traveling vehicle determines whether there are other traveling vehicles at the unlocking-needed grid cell according to the signals of the obstacle avoidance sensors thereon to determine whether the unlocking-needed grid cell is successfully unlocked, and the control system updates the attribute information of the unlocking-needed grid cell according to the feedback of the unlocking traveling vehicle. The present invention can effectively ensure that grid cells in abnormal situations are unlocked in time, provides convenience for the passage of other traveling vehicles, and improves the passage efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic material handling, especially a traveling vehicle system. Background Art

[0002] The patent document with the authorization announcement number CN113874271B discloses a traveling vehicle system that uses traveling vehicles moving on a grid-shaped track to carry items such as handling containers (FOUP, reticle box) that house semiconductor wafers or reticles.

[0003] In such a system, it involves releasing the occupation of a grid cell by a traveling vehicle.

[0004] However, during the actual operation of the system, there are various situations that lead to the problem that the grid cell cannot be released from occupation in time. For example, the traveling vehicle crashes and cannot communicate; or the logical processing of the control system makes a mistake and does not automatically release the occupation of the grid cell that the traveling vehicle no longer needs, etc.

[0005] And the grid cell not being released from occupation in time will cause other traveling vehicles not to be able to pass, greatly affecting the passing efficiency. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and provide a traveling vehicle system.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] A traveling vehicle system includes a track having a set of grid cells and a traveling vehicle moving on the track. The traveling vehicle communicates with a control system. The control system confirms whether there is an unlockable grid cell in each grid cell of the track. When it is determined that there is an unlockable grid cell, the control system instructs an unlocking traveling vehicle on the track to unlock the unlockable grid cell. When unlocking an unlockable grid cell, the unlocking traveling vehicle determines whether there is another traveling vehicle at the unlockable grid cell according to the signal of the obstacle avoidance sensor on it. If it is determined that there is no other traveling vehicle at the unlockable grid cell, the unlocking traveling vehicle sends information to the control system that the unlocking of the unlockable grid cell is successful. If it is determined that there is another traveling vehicle at the unlockable grid cell, the unlocking traveling vehicle sends information to the control system that the unlocking of the unlockable grid cell fails. The control system updates the attribute information of the unlockable grid cell according to the feedback of the unlocking traveling vehicle.

[0009] Preferably, the control system determines whether a grid cell is an unlockable grid cell according to the following process:

[0010] The control system determines whether the duration for which the grid cell is occupied by a traveling vehicle exceeds a set threshold;

[0011] If it is determined that the duration for which the grid cell is occupied by a moving vehicle does not exceed a set threshold, it is determined that the grid cell is not a grid cell to be unlocked;

[0012] If it is determined that the duration for which the grid cell is occupied by a moving vehicle exceeds the set threshold, determine whether there is an abnormality in the communication of the moving vehicle;

[0013] If it is determined that there is an abnormality in the communication of the moving vehicle, it is determined that the grid cell is a grid cell to be unlocked;

[0014] If it is determined that the communication of the moving vehicle is normal, determine whether the grid cell is the grid cell currently occupied by the moving vehicle;

[0015] If it is determined that the grid cell is not the grid cell currently occupied by the moving vehicle, determine that the grid cell is a grid cell to be unlocked;

[0016] If it is determined that the grid cell is the grid cell currently occupied by the moving vehicle, determine whether there is a mechanical failure in the moving vehicle; if so, determine that the grid cell is a grid cell to be unlocked; if not, notify the moving vehicle to release the grid cell in a timely manner.

[0017] Preferably, when the control system determines that there is an abnormality in the communication of the moving vehicle and / or there is a mechanical failure in the moving vehicle, it is determined that all grid cells currently occupied by the moving vehicle are grid cells to be unlocked.

[0018] Preferably, the control system selects the idle moving vehicle that is closest to the grid cell to be unlocked or has the shortest travel time to the grid cell to be unlocked as the unlocking moving vehicle.

[0019] Preferably, when the unlocking moving vehicle moves to a predetermined distance from the grid cell to be unlocked, the unlocking moving vehicle moves towards the grid cell to be unlocked at a first speed that is less than the normal moving speed.

[0020] Preferably, when the unlocking moving vehicle moves to the grid cell to be unlocked, it sends information to the control system that the unlocking of the grid cell to be unlocked is successful.

[0021] Preferably, when an unlocking of a grid unit to be unlocked is required, if the control system determines that the moving path of a traveling vehicle performing a work task includes the grid unit to be unlocked and the traveling vehicle in the work has not requested to obtain the exclusive right to the grid unit to be unlocked, then when the traveling vehicle in the work requests to occupy an exclusive area including the grid unit to be unlocked, and the control system determines that the traveling vehicle in the work has obtained the exclusive rights to other grid units located before the grid unit to be unlocked in the exclusive area, the control system grants the exclusive right to the grid unit to be unlocked to the traveling vehicle in the work and instructs the traveling vehicle in the work to unlock the grid unit to be unlocked.

[0022] Preferably,

[0023] When the traveling vehicle in the work confirms that there is no other traveling vehicle at the grid unit to be unlocked, the traveling vehicle in the work sends information indicating that the unlocking of the grid unit to be unlocked is successful to the control system, and the traveling vehicle in the work determines whether to wait at the grid unit to be unlocked or continue to move downstream to other grid units based on whether it has obtained the exclusive rights to other grid units located downstream of the grid unit to be unlocked on its moving path;

[0024] When the traveling vehicle in the work confirms that there is another traveling vehicle at the grid unit to be unlocked, the traveling vehicle in the work sends information indicating that the unlocking of the grid unit to be unlocked fails to the control system, and requests the control system to re-plan the moving path, and the traveling vehicle in the work stops and waits at a grid unit before the grid unit to be unlocked.

[0025] Preferably, obstacle avoidance sensors are provided on all four sides of each traveling vehicle.

[0026] Preferably, the detection distance of the obstacle avoidance sensor is not less than the length or width of a grid unit, and the detection distance of the obstacle avoidance sensor satisfies that when the traveling vehicle is at a grid unit, the obstacle avoidance sensor on the traveling vehicle can detect whether there is an obstacle within the range of one grid unit in front of the obstacle avoidance sensor.

[0027] The advantages of the technical solution of the present invention are mainly reflected in:

[0028] By identifying the status of each grid unit, the present invention can timely discover grid units to be unlocked that have not been released in a timely manner. Moreover, by configuring obstacle avoidance sensors on the traveling vehicle, the control system can verify the situation of the grid unit to be unlocked through other traveling vehicles on the track, and unlock the grid unit to be unlocked when there is no traveling vehicle at the grid unit to be unlocked, which can effectively ensure that the grid unit to be unlocked in case of abnormal situations is unlocked in a timely manner, thereby providing convenience for the passage of other traveling vehicles and being conducive to improving the passage efficiency.

[0029] When determining the grid cells to be unlocked, the present invention can effectively identify different states of the grid cells, thereby making the judgment more accurate. At the same time, when it is determined that there is an abnormality in the communication of the traveling vehicle or there is a mechanical failure in the traveling vehicle, directly determining all the grid cells occupied by the traveling vehicle as the grid cells to be unlocked can effectively reduce the number of judgments and time, thereby improving the processing efficiency.

[0030] When selecting an unlocked traveling vehicle, the present invention can select a free traveling vehicle nearby according to needs or select a traveling vehicle in operation that is performing a work task, having more choices. When selecting a traveling vehicle in operation for unlocking, there is no need to use an additional traveling vehicle to unlock the grid cells to be unlocked, reducing the control process. Moreover, the traveling vehicle in operation can not only identify whether the grid cells to be unlocked can be unlocked, but also timely confirm the passable state of its current moving path so as to switch the moving path as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a partial schematic view of the traveling vehicle system of the present invention;

[0032] Figure 2 is a three-dimensional schematic view of the track of the present invention;

[0033] Figure 3 is a partial top view of the track of the present invention;

[0034] Figure 4 is an end view of the first track or the second track and the structures thereon of the present invention;

[0035] Figure 5 is a cross-sectional view of the track of the present invention connected to the ceiling or ceiling through a connecting member;

[0036] Figure 6 is a front view of the traveling vehicle of the present invention;

[0037] Figure 7 is a top view of the traveling vehicle of the present invention;

[0038] Figure 8 is a schematic view of the traveling vehicle of the present invention grasping an object;

[0039] Figure 9 is a schematic view of the traveling vehicle of the present invention grasping an object and putting it into its storage space;

[0040] Figure 10 is a schematic view of the detection range of the obstacle avoidance radar on one side of the traveling vehicle of the present invention;

[0041] Figure 11 is a schematic view that the grid cell currently occupied by the traveling vehicle in the present invention is not connected to the exclusive interval requested to be occupied;

[0042] Figure 12 It is a schematic diagram of the connection between the end point of the exclusive interval currently occupied by the traveling vehicle in the present invention and the starting point of the exclusive interval requested to be occupied.

[0043] Figure 13 It is a schematic diagram of the connection between the starting point of the exclusive interval requested to be occupied by the traveling vehicle in the present invention and other points of the exclusive interval currently occupied.

[0044] Figure 14 It is a schematic diagram of the process of the traveling vehicle system in the present invention for checking and unlocking the grid cells to be unlocked.

[0045] Figure 15 It is a schematic diagram of the process by which the blocking control system in the present invention determines whether a grid cell is a grid cell to be unlocked.

[0046] Figure 16 It is a schematic diagram of the process of unlocking the grid cells to be unlocked by a traveling vehicle in an operation in the present invention.

[0047] Figure 17 It is an example diagram of unlocking the grid cells to be unlocked by a traveling vehicle in an operation in the present invention. Detailed implementation manners

[0048] The objectives, advantages, and features of the present invention will be illustrated and explained through the non-restrictive description of the following preferred embodiments. These embodiments are only typical examples of applying the technical solutions of the present invention, and all technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection required by the present invention.

[0049] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0050] Embodiment 1

[0051] The traveling vehicle system disclosed in the present invention will be described below with reference to the accompanying drawings. The specific structure of the traveling vehicle system can refer to the structure disclosed in the patent documents cited in the background art, as shown in the accompanying drawings Figure 1 As shown, it includes track A00 and a traveling vehicle B00 traveling along the first direction and the second direction on the track A00.

[0052] Of course, in other embodiments, the track A00 and the traveling vehicle B00 may also adopt other structures.

[0053] As shown in the Figure 2 accompanying drawings, the track A00 includes a plurality of first vehicle tracks A01 horizontally extending along the first direction X and a plurality of second vehicle tracks A02 horizontally extending along the second direction Y. The plurality of first vehicle tracks A01 are arranged at the same height and at equal intervals. A set of the second vehicle tracks A02 is arranged between two adjacent first vehicle tracks A01. The set of second vehicle tracks A02 is arranged at the same height and at equal intervals between the first vehicle tracks A01, and the top surface of the second vehicle tracks A02 is flush with the top surface of the first vehicle tracks A01. Moreover, the positions of multiple sets of second vehicle tracks A02 correspond to each other. Thus, two adjacent second vehicle tracks A02 and the two first vehicle tracks A01 connected to them enclose a grid unit A03.

[0054] Of course, the track A00 may also be processed in other ways. For example, the track A00 is a structure with a grid-like appearance when viewed from above, formed by stamping a plurality of rectangular holes distributed in a grid pattern on an integral plate member, or the track A00 is assembled from multiple plate members with grid-like rectangular holes, and one rectangular hole is one grid unit.

[0055] As shown in the Figure 2 accompanying drawings, the top surfaces of the first vehicle tracks A01 and the second vehicle tracks A02 cooperate to form a plurality of first bearing surfaces A04 extending in the first direction X and a plurality of second bearing surfaces A05 extending in the second direction Y. Each first bearing surface A04 includes two first passing surfaces A06 extending along the first direction X and maintaining a first interval A07. Each second bearing surface A05 includes two second passing surfaces A09 extending along the second direction Y and maintaining a second interval A08. The traveling vehicle moves on the adjacent first passing surfaces of two adjacent first bearing surfaces or on the adjacent second passing surfaces of two adjacent second bearing surfaces.

[0056] As shown in the Figure 3 accompanying drawings Figure 4As shown, in order to better guide the moving wheels of the traveling vehicle B00, separation bars A10 are provided at each of the first intervals A07 and the second intervals A08. The separation bars A10 at each first interval A07 are arranged at intervals in the first direction X, and the separation bars A10 at each second interval A08 are arranged at intervals in the second direction Y. Moreover, both ends of each separation bar A10 do not extend into the square area A11 where the first bearing surface A04 and the second bearing surface A05 intersect. At the same time, outer retaining bars A12 are provided near the outer sides of each of the first passage surfaces A06 and the second passage surfaces A09. Both ends of the outer retaining bars A12 also do not extend into the square area A11. Thus, the separation bars and the outer retaining bars do not affect the passage of the traveling vehicle in the square area, and the separation bar A10 and the outer retaining bar A12 on one side of it form a wheel groove A13. And the wheel groove A13 is an inverted trapezoidal groove. Of course, the separation bars and the outer retaining bars are not necessary.

[0057] As shown in the attached Figure 2 drawing, Figure 3 drawing, Figure 5 drawing, the track A00 is connected to the bottom of the ceiling or the ceiling D of the workshop through a set of connectors C. The connectors C can be connected at the first intervals A07 and the second intervals A08 to avoid interfering with the passage of the traveling vehicle B00. More preferably, the connectors C are connected to the intersection A14 of the first intervals A07 and the second intervals A08. The structure of the connectors C can be designed according to needs. In order to better support the track A00, the connectors C include connecting rods C01. The connecting rods C01 pass through the through holes A15 at the intersection A14. At the same time, the connecting rods C01 are connected to the reinforcement plates C02 located at the bottom of the track A00. The reinforcement plates C02 are fixed to the track A00, and the reinforcement plates C02 do not extend into the grid unit A03.

[0058] As shown in the attached Figure 6 drawing, Figure 7 drawing, the traveling vehicle B00 includes a vehicle frame B01. The vehicle frame B01 includes a hollow square frame B02. The size of the square frame B02 is adapted to the size of a grid unit A03 of the track A00. Generally, the size of the square frame is slightly larger than the size of a grid unit. The square frame B02 includes four horizontal carrier plates, and each carrier plate has sufficient thickness and width. At the top of the square frame B02, support rods B03 extending vertically are provided near the four top corner positions. The height of the support rods B03 can be designed according to needs to ensure that the storage space B20 below can effectively store an item E. An upper cover B04 is provided on a set of the support rods B03. Moreover, side enclosing plates can also be provided between the upper cover B04 and the square frame B02 to enclose the four sides of the vehicle frame B01.

[0059] As shown in the appended Figure 6 and appended Figure 7 figures, a first moving mechanism B05 for driving the frame B01 to translate along the first direction X and a second moving mechanism B06 for driving the frame B01 to translate along the second direction Y are provided at the lower part of the frame B01. The first moving wheels B07 of the first moving mechanism B05 are arranged on two opposite carrier plates of the square frame B02, and the second moving wheels B08 of the second moving mechanism B06 are arranged on the other two carrier plates of the square frame B02. The number of the first moving wheels B07 is preferably four and their axes extend along the second direction Y. The two first moving wheels B07 on one carrier plate are distributed in the first direction X and correspond to the two first moving wheels B07 on the other carrier plate one by one. The distance between the first moving wheels B07 on one side (the first moving wheels B07 on one carrier plate) and the first moving wheels B07 on the other side is equivalent to the extension distance of a grid unit A03 in the second direction Y, so that the first moving wheels B07 on both sides can effectively move on two first passing surfaces A06 on both sides of a grid unit A03.

[0060] The number of the second moving wheels B08 is also four and their axes extend along the first direction X. The two second moving wheels B08 on one carrier plate are distributed in the second direction Y and correspond to the two second moving wheels B08 on the other carrier plate one by one. The distance between the second moving wheels B08 on one side (the second moving wheels B08 on one carrier plate) and the second moving wheels B08 on the other side is equivalent to the extension distance of a grid unit A03 in the first direction X, so that the second moving wheels B08 on both sides can effectively move on two second passing surfaces A09 on both sides of a grid unit A03.

[0061] To drive the first moving wheels B07 and the second moving wheels B08, the two first moving wheels B07 at the same carrier plate can be driven by a motor located outside the first moving wheels B07 or each first moving wheel B07 can be driven by a motor located outside the first moving wheel B07. At this time, the motor can be a relatively thin motor. For example, among known motors, the thickness of the motor can be controlled within 2 - 5 cm, and the motor can drive the first moving wheels B07 to rotate through a transmission mechanism composed of a chain and a sprocket or a synchronous belt and a synchronous pulley. The second moving wheels B08 can be driven by the same structure, which will not be elaborated here.

[0062] Certainly, in a more preferred embodiment, at least one pair of the two pairs of coaxially arranged first moving wheels B07 can be driven by in-wheel motors and at least one pair of the two pairs of coaxially arranged second moving wheels B08 can be driven by in-wheel motors, which is beneficial to further reduce the space required for the driving structure.

[0063] Moreover, in order to ensure that when the first moving wheel B07 moves on the track A00, the second moving wheel B08 is located above the track A00 with a clearance, and when the second moving wheel B08 moves on the track A00, the first moving wheel B07 is located above the track A00 with a clearance, the first moving wheel B07 and the second moving wheel B08 can be respectively configured to move vertically relative to the vehicle frame B01.

[0064] The specific structures for the first moving wheel B07 and the second moving wheel B08 to move vertically relative to the vehicle frame B01 are the same or similar. Hereinafter, the structure for the first moving wheel B07 to move vertically relative to the vehicle frame B01 will be taken as an example for illustration.

[0065] As shown in the appended Figure 6 and appended Figure 7 figures, two first moving wheels B07 on the same side are arranged on a lifting plate B09, and the first moving wheels B07 are generally located outside the lifting plate B09. The lifting plate B09 is movably arranged on the square frame B02 in the vertical direction and is connected to a lifting drive mechanism B10 that drives it to move up and down relative to the square frame B02.

[0066] To meet the requirements of structural layout in a limited space, the lifting plate B09 is in a convex shape. The carrier plate is provided with guiding holes that match the protrusions B11 of the lifting plate B09, and the protrusions B11 are movably inserted into the guiding holes that guide them up and down. At this time, the lifting drive mechanism B10 for driving the lifting plate B09 to move up and down includes a lead screw and a lifting drive motor that drives the rotation of the nut B12 of the lead screw. One end of the screw rod B13 of the lead screw is connected to the lifting plate B09, and the connection position with the lifting plate B09 is located on one side of the protrusion B11. The screw rod B13 passes through an avoidance hole (not shown in the figure) provided on the square frame B02 with an axis extending in the vertical direction. The nut B12 of the lead screw can be set on the square frame B02 to rotate in place through components such as bearings and is connected to a lifting drive motor B15 that drives its rotation through a transmission mechanism B14. The transmission mechanism is, for example, a gear transmission mechanism, a transmission mechanism composed of a synchronous belt and synchronous wheels, etc. When the lifting drive motor drives the nut B12 to rotate, the screw rod B13 of the lead screw moves in the vertical direction, thereby driving the lifting plate B09 to move up and down. Of course, the lead screw can also be directly replaced by a screw rod and a nut.

[0067] In order to maintain the dynamic balance on both sides of the lifting plate B09, the lifting plate B09 can be connected to two lifting drive mechanisms B10 symmetrically distributed on both sides of the protrusion B11. The two lifting drive mechanisms B10 can respectively have lifting drive motors. Of course, in a more optimal embodiment, the two lifting drive mechanisms B10 can share a single lifting drive motor. At this time, the lifting drive motor can drive the two nuts or screw nuts B12 to rotate synchronously through a synchronization mechanism B16 composed of a synchronous belt and synchronous pulleys. At this time, the protrusion B11 of the lifting plate B09 can be located within the area enclosed by the synchronous belt of the linkage mechanism connecting the two nuts or screw nuts B12.

[0068] Of course, in other embodiments, the lifting plate B09 can also be of other shapes, and they can be respectively arranged on the side of the square frame B02 through slide rails. At this time, the lifting drive mechanism B10 can be, for example, an electric rod arranged in the vertical direction, or other devices or mechanisms capable of generating vertical movement, such as a structure in which a screw rod cooperates with a motor. At this time, the screw rod B13 of the screw rotates in place, while the screw nut B12 moves up and down along the screw rod B13 and is connected to the lifting plate B09.

[0069] As shown in the attached Figure 6 、attached Figure 7 As shown in the figure, in order to ensure that when the first moving wheel B07 travels, the square frame B02 does not move downward relative to the lifting plate B09, and at the same time, reduce the stress on the screw rod or screw and nut, when the first moving wheel B07 moves on the track A00, a limiting component B17 is provided on the square frame B02 to cooperate with the lifting plate B09 to limit the downward movement of the square frame B02 relative to the lifting plate B09. The limiting component B17 is, for example, a device such as an electromagnetic lock or an electric rod. The limiting component B17 includes a telescopic member B18 that can translate in a direction perpendicular to the lifting plate B09. The telescopic member B18 can extend above the top of the lifting plate B09. At this time, the telescopic member B18 abuts against the top of the lifting plate B09, so that the lifting plate B09 can limit the telescopic member B18 and prevent the carrier plate where the telescopic member B18 is located from moving downward relative to the lifting plate B09. When it is necessary to enable the lifting plate B09 to move upward relative to the square frame B02, the telescopic member B18 retracts to the side of the lifting plate B09, thereby releasing the restriction on the lifting plate B09. At this time, the lifting plate B09 can be driven to move upward by the lifting drive mechanism B10.

[0070] Moreover, in order to facilitate the installation of the limiting component B17, a notch B19 matching the telescopic member B18 is provided at the top of the lifting plate B09. The telescopic member B18 can extend into the notch B19 from the outside of the notch B19, and the bottom of the telescopic member B18 is kept at a small gap or in contact with the bottom of the notch B19 to limit the downward movement of the square frame B02 and limit the upward movement of the lifting plate B09.

[0071] When it is necessary to travel through the first moving wheel B07, the second moving wheel B08 can be lifted above the track A00 by means of a lifting drive mechanism B10 connected to the lifting plate B09 where the second moving wheel B08 is located; when it is necessary to switch to the second moving wheel B08 for traveling, first lower the second moving wheel B08 onto the track A00, and then lift the first moving wheel B07 above the track A00 by means of a lifting drive mechanism B10 connected to the lifting plate B09 where the first moving wheel B07 is located.

[0072] As shown in the attached Figure 6 figure, the vehicle frame B01 has a storage space B20 with an open lower end, and the storage space B20 extends in the vertical direction within the range of the inner hole of the square frame B02. For example, the range of its vertical extension is between the bottom of the upper cover B04 and the bottom of the lower one of the lifting plates B09. A material taking and placing mechanism B21 is provided below the upper cover B04 of the vehicle frame B01. The material taking and placing mechanism B21 includes a rotation drive assembly B22 provided at the bottom of the upper cover B04, a lifting assembly B23 driven by the rotation drive assembly B22 to rotate about an axis extending in the vertical direction, and a grasping assembly B24 driven by the lifting assembly B23 to move up and down. The specific structures of the rotation drive assembly B22, the lifting assembly B23, and the grasping assembly B24 are known technologies and will not be elaborated here. And the rotation drive assembly B22 is not necessary and can be omitted.

[0073] As shown in the attached Figure 8 and the attached Figure 9 figure, the traveling vehicle moves above the track. When the traveling vehicle B00 needs to take and place an item E, the traveling vehicle B00 moves to directly above the grid unit A03, and then drives the grasping assembly B24 to move up and down through the lifting assembly B23, so that the grasping assembly B24 takes and places the item E. Moreover, after the traveling vehicle B00 grasps an item E directly below a grid unit A03, the item E is extracted through the grid unit A03 into its storage space B20 for transportation.

[0074] Meanwhile, different from the existing traveling vehicle B00: as shown in the attached Figure 6 figure, obstacle avoidance sensors B25 are provided on all four sides of each traveling vehicle B00. The obstacle avoidance sensors B25 are used to determine whether there are obstacles in the front of the traveling direction of the traveling vehicle B00 that impede passage. The obstacle avoidance sensors B25 are, for example, known obstacle avoidance radars, ultrasonic sensors, laser sensors, etc., which are not limited here. The detection distance of the obstacle avoidance sensors B25 is not less than the length or width of a grid unit A03, and, as shown in the attached Figure 10As shown, the detection range B26 of the obstacle avoidance sensor B25 satisfies the detection distance of a vehicle at a grid cell. The obstacle avoidance sensor on the vehicle can detect whether there is an obstacle within the range of one grid cell in front of the obstacle avoidance sensor. To ensure that the obstacle avoidance sensor B25 can fully detect obstacles, the obstacle avoidance sensor B25 is located in the middle of the horizontal direction on each side of the vehicle B00. The specific height of the obstacle avoidance sensor B25 on each side of the vehicle B00 can be designed as needed and is not limited here. In addition to being used for obstacle recognition, the obstacle avoidance sensor B25 of the present invention is a major innovation: it uses the obstacle avoidance sensor B25 of the vehicle B00 to unlock the grid cell to be unlocked. This unlocking removes the state in which a grid cell A03 without a vehicle B00 parked is occupied by a vehicle B00 that may be down or experiencing a mechanical failure, or a vehicle B00 that does not need to occupy the grid cell. This will be explained in detail below and will not be repeated here.

[0075] The obstacle avoidance sensor B25 is connected to and communicates with the onboard controller of the traveling vehicle B00 , which is used to control the movement of the traveling vehicle B00 , perform pick-and-place operations, request exclusive rights to the grid unit A03 , and the like.

[0076] The onboard controller of the traveling vehicle B00 communicates with a control system. The control system may include a transport control system (TCS) and a blocking controller system (BCS) that communicate with each other. These can be integrated into a single controller, which typically comprises a processor, memory, software, and other components, which are not described in detail here. Of course, the transport control system and the blocking control system can also be two independent controllers that communicate with each other. For example, the blocking control system shares attribute information of the grid cell A03 it manages with the transportation control system so that the transportation control system can plan a movement path for the traveling vehicle B00 and instruct the traveling vehicle to unlock the grid cell to be unlocked.

[0077] The transportation control system is also used to receive work tasks, determine the vehicles B00 that perform various work tasks, plan moving paths for the vehicles B00 that perform work tasks, and instruct each vehicle B00 to perform work tasks according to the planned moving paths. The work tasks include but are not limited to handling tasks, scheduling tasks, unlocking tasks, etc.

[0078] The blocking control system is also used to communicate with the vehicle-mounted controller of the traveling vehicle B00 to allocate the exclusive rights of each grid unit A03 to the traveling vehicle B00. At any moment, the exclusive rights of a grid unit A03 can only be granted to one traveling vehicle B00. That is, when the exclusive rights of a grid unit A03 have been granted to a traveling vehicle B00 (the grid unit A03 is occupied by a traveling vehicle B00), other traveling vehicles B00 cannot obtain the exclusive rights of this grid unit A03. After obtaining the exclusive rights of a grid unit, the corresponding traveling vehicle B00 can move to the grid unit.

[0079] The blocking control system maintains a grid unit status table, which stores the attribute information of each grid unit A03 and is dynamically updated. The attribute information of each grid unit A03 includes but is not limited to the status of the grid unit A03, the result of the pending unlock status check, the occupied traveling vehicle B00, the start time of occupancy, the idle time, etc. Among them, the status of the grid unit A03 includes but is not limited to: occupied, idle, locked, etc. And when the blocking control system allocates the exclusive rights of a grid unit A03, it is determined according to the order of the traveling vehicle B00 requesting to obtain the exclusive rights of this grid unit A03. That is, the traveling vehicle B00 that requests to obtain the exclusive rights of this grid unit A03 first is granted the exclusive rights of this grid unit A03 first, and the traveling vehicle B00 that requests to obtain the exclusive rights of this grid unit A03 later is granted the exclusive rights of this grid unit A03 later.

[0080] When the traveling vehicle system is working, when the transportation control system receives a work task, it determines a traveling vehicle as the working traveling vehicle for executing the work task, plans a moving path for the working traveling vehicle and sends a work instruction to the working traveling vehicle. When the working traveling vehicle receives the work instruction, it determines the grid unit A03 it needs to occupy according to the moving path, that is, determines which grid units the working traveling vehicle needs to obtain the exclusive rights of.

[0081] When requesting the exclusive right to occupy the grid cell A03 to be occupied, the traveling vehicle in the operation can request the exclusive rights to all the grid cells A03 on its moving path at one time. More preferably, the traveling vehicle in the operation can request the exclusive rights to all the grid cells A03 on the moving path in batches, that is, taking some of the grid cells on the moving path as an exclusive interval to request the exclusive right to this exclusive interval. The exclusive interval can include only one grid cell A03. More preferably, in order to reduce the number of communications, the exclusive interval includes a plurality of grid cells A03 that are continuously distributed in the moving direction of the traveling vehicle in the operation. The specific number of the grid cells A03 in the exclusive interval can be designed as needed. In one way, the number of the exclusive intervals can be a fixed value. For example, the exclusive interval can include 3 or 5 grid cells A03, that is, the traveling vehicle in the operation can request the exclusive rights to 3 or 5 consecutive grid cells A03 at one time, which is not limited here. Of course, in other embodiments, the number of grid cells A03 included in an exclusive interval can also be determined within a threshold range according to the moving speed of the traveling vehicle in the operation, the distribution direction of the grid cells A03, etc. For example, it can be selected within the range of 2-10, which is not limited here. More preferably, when the traveling vehicle in the operation requests to occupy an exclusive interval, all the grid cells A03 in the exclusive interval are continuously distributed only in one direction. For example, when all the grid cells A03 that the moving path needs to pass through include 4 grid cells A03 continuously distributed along the first direction X and 5 grid cells A03 continuously distributed along the second direction Y, then when requesting the exclusive interval, the traveling vehicle in the operation can first request the exclusive rights to the 4 grid cells A03 continuously distributed along the first direction X, and then request the exclusive rights to the 5 grid cells A03 continuously distributed along the second direction Y.

[0082] After the traveling vehicle in the operation determines the exclusive interval to be occupied at one time, it sends an occupancy request for the exclusive right to occupy the exclusive interval to the blocking control system. When the blocking control system receives the occupancy request sent by the traveling vehicle in the operation each time, it first confirms whether the exclusive interval requested by the traveling vehicle in the operation to occupy is connected to the grid cell A03 currently occupied by the traveling vehicle in the operation. The blocking control system maintains an occupancy data table for each traveling vehicle, and the occupancy data table stores information such as the grid cells currently occupied by each overhead crane, the status and position of the traveling vehicle.

[0083] When it is determined that the two are not connected, the blocking control system sends a message indicating occupancy failure to the vehicle in operation, and at the same time, it can also send a message to the vehicle in operation to check the exclusive area requested for occupancy. After receiving the feedback message from the blocking control system, the vehicle in operation can re-determine the exclusive area for which it wants to obtain the exclusive right based on the grid cell A03 it currently occupies and the grid cells A03 through which its moving path passes, and then send a new occupancy request to the blocking control system. As shown in the appendix Figure 11 As shown, the vehicle numbered V01 currently occupies the grid cells numbered 11-14, and the next exclusive area requested by the vehicle numbered V01 for occupancy includes the grid cells numbered 16-18. At this time, the blocking control system confirms that the exclusive area requested by the vehicle numbered V01 for occupancy is not connected to the grid cells it currently occupies, and then sends a message indicating occupancy failure to the vehicle in operation.

[0084] When it is determined that the exclusive area requested by the vehicle in operation for occupancy is connected to the grid cell A03 currently occupied by the vehicle in operation, the blocking control system sequentially determines whether each grid cell A03 is idle from the start point to the end point of the exclusive area requested for occupancy. That is, the blocking control system first determines whether the first grid cell A03 of the exclusive area to be occupied by the vehicle in operation is idle. If it is determined that the first grid cell A03 is not idle (i.e., the first grid cell A03 is occupied by another vehicle B00), a message indicating occupancy failure is returned to the vehicle in operation, and the continued authorization of the other grid cells in the exclusive area is terminated. If it is determined that the first grid cell A03 is idle (not occupied by another vehicle B00), the exclusive right of the first grid cell A03 is assigned to the vehicle in operation, and then it is determined whether the next grid cell A03 is idle.

[0085] When it is determined that any grid cell A03 in the exclusive area is not idle, a message indicating occupancy failure is fed back to the vehicle in operation, and the continued authorization of the remaining grid cells A03 in the exclusive area is terminated. When it is determined that the exclusive rights of all grid cells A03 in the exclusive area have been granted to the vehicle in operation, the blocking control system sends a message indicating occupancy success to the vehicle in operation. The vehicle-mounted controller of the vehicle in operation updates the occupancy information table it maintains and can move into the exclusive area.

[0086] When the vehicle in operation moves to a certain position within the exclusive section it currently occupies, the vehicle in operation can request the blocking control system to obtain the exclusive right to the next exclusive section. In one example, the vehicle in operation can request to obtain the exclusive right to the next exclusive section when it moves to the last grid cell A03 of the currently occupied exclusive section. However, since the blocking control system requires a certain response time to grant the exclusive right, in order to ensure the smooth movement of the vehicle in operation as much as possible, the vehicle in operation can request to obtain the exclusive right to the next exclusive section in advance before it moves to the last grid cell A03 of the currently occupied exclusive section. The timing of the request can be determined based on the moving speed of the vehicle in operation and the response time of the blocking control system. Specifically, each vehicle in operation can count the response time of the blocking control system when it recently requested to obtain the exclusive right, and calculate the average value of the recent response times as the possible response time for the next request to obtain the exclusive right. Thus, when it is determined that the time taken for the vehicle in operation to reach the last grid cell A03 of the currently occupied exclusive section from a certain position is slightly longer than the possible response time, the vehicle in operation requests the blocking control system to obtain the exclusive right to the next exclusive section.

[0087] The timing of the above request for the exclusive right to the next exclusive section is usually based on the grid cell A03 of the next exclusive section and the currently occupied grid cell being continuously distributed in one direction, that is, continuously distributed in the first direction or the second direction. When the moving direction of the vehicle in operation in the next exclusive section to be occupied is different from the moving direction of the vehicle in operation in the currently occupied exclusive section, since the vehicle in operation needs to stop at the last grid cell A03 of the currently occupied exclusive section to switch the first moving wheel B07 and the second moving wheel B08, the vehicle in operation can request the blocking control system to obtain the exclusive right to the next exclusive section when it moves to the last grid cell A03 of the currently occupied exclusive section or a grid cell A03 upstream of the last grid cell A03.

[0088] The timing of releasing a grid cell A03 (that is, releasing the occupancy of a grid cell A03 by a vehicle in operation and restoring the grid cell A03 to the idle state) will also greatly affect the traffic efficiency. Preferably, the blocking control system determines whether to release at least some of the grid cells A03 in the currently occupied exclusive section of the vehicle in operation based on the connection position between the next exclusive section requested by the vehicle in operation to occupy and the currently occupied exclusive section of the vehicle in operation and whether to grant the exclusive right to all grid cells A03 in the next exclusive section requested by the vehicle in operation to occupy.

[0089] Specifically, when the blocking control system determines that the end point of the exclusive interval currently occupied by the traveling vehicle in the operation (the last grid cell A03 of the exclusive interval) is connected to the start point of the next exclusive interval requested to be occupied (the first grid cell A03 of the exclusive interval), and the exclusive rights of all grid cells A03 in the next exclusive interval requested to be occupied by the traveling vehicle in the operation are granted to the traveling vehicle in the operation, the blocking control system releases the grid cells A03 in the exclusive interval currently occupied by the traveling vehicle in the operation that are upstream of the grid cell A03 where the traveling vehicle in the operation issues an occupancy request for obtaining the exclusive right of the next exclusive interval.

[0090] As shown in the Figure 12 attachment, the exclusive interval currently occupied by the traveling vehicle numbered V01 includes grid cells A03 numbered 11 - 14. The traveling vehicle numbered V01 issues an occupancy request for the next exclusive interval to the blocking control system at the grid cell numbered 13. The next exclusive interval it requests to occupy includes grid cells A03 numbered 15 - 17. The end point of the currently occupied exclusive interval (grid cell A03 numbered 14) is connected to the start point of the next exclusive interval (grid cell A03 numbered 15). When it is determined that the exclusive rights of all grid cells in the next exclusive interval are granted to the traveling vehicle numbered V01, the blocking control system releases grid cells A03 numbered 11 and 12. Adopting such a strategy can release the unused grid cells A03 as early as possible, thereby improving the utilization rate of grid cells A03 and further improving the handling efficiency.

[0091] When the blocking control system determines that the end point of the exclusive interval currently occupied by the traveling vehicle in the operation is connected to the start point of the next exclusive interval requested to be occupied, but the exclusive rights of all grid cells A03 in the next exclusive interval requested to be occupied by the traveling vehicle in the operation are not all granted to the traveling vehicle in the operation, the blocking control system does not release at least some of the grid cells in the exclusive interval currently occupied by the traveling vehicle in the operation. As shown in the Figure 12As shown, if the moving vehicle numbered V01 is only granted the exclusive rights to the grid cells A03 numbered 15 and 16 and does not obtain the exclusive rights to the grid cell A03 numbered 17, the blocking control system does not release the grid cells A03 numbered 11 and 12. Instead, after the moving vehicle numbered V01 is granted the exclusive rights to the grid cell A03 numbered 17, it determines which grid cells A03 to release according to the request position when the moving vehicle numbered V01 requests to occupy the exclusive rights to the grid cell A03 numbered 17 again. For example, when the moving vehicle numbered V01 requests to obtain the exclusive rights to the grid cell A03 numbered 17 at the grid cell A03 numbered 14 and is granted the exclusive rights, at this time, the blocking control system can release the grid cells A03 numbered 11 - 13. This can provide a fallback in case it is impossible to obtain the exclusive rights to all grid cells A03 for a long time and the moving path needs to be changed.

[0092] As shown in the appendix Figure 13 When the blocking control system determines that the end point (the grid cell A03 numbered 14) of the exclusive interval (the grid cells A03 numbered 11 - 14) currently occupied by the moving vehicle numbered V01 does not connect to the starting point (the grid cell A03 numbered 15) of the next exclusive interval (the grid cells A03 numbered 15 - 17) to be occupied, and the starting point of the next exclusive interval connects to other points (the grid cell A03 numbered 13) of the currently occupied exclusive interval. This situation usually occurs because the transportation control system determines that there is congestion at the grid cells downstream of the previously planned moving path for the moving vehicle numbered V01 according to the dynamically updated grid cell status table or the positions of each moving vehicle, and needs to switch the moving path and plans a new moving path for the moving vehicle numbered V01.

[0093] In this case, even when the moving vehicle numbered V01 is granted the exclusive rights to the grid cells numbered 15 - 17, the blocking control system does not release the grid cells currently occupied by the moving vehicle numbered V01. It can release the currently occupied exclusive interval when the moving vehicle numbered V01 moves to the starting point of the next exclusive interval. That is, when the moving vehicle numbered V01 moves to the grid cell A03 numbered 15, the previously occupied exclusive interval is released. Such a strategy can meet the requirement that when it is found that there is congestion at the grid cells A03 on the moving path and the moving path needs to be changed, the moving vehicle during operation still has a fallback for moving path switching, which is beneficial to ensuring the handling flexibility and timeliness of the moving vehicle during operation.

[0094] When the block control system releases each grid cell A03, it notifies the traveling vehicle in the corresponding operation of the grid cell A03 to be released, so that the traveling vehicle in the operation can update the occupancy information table it maintains in a timely manner. And the block control system can integrate information such as the grid cell A03 to be released, the occupancy result of whether the traveling vehicle in the operation successfully obtains the exclusive right of an exclusive interval, and all grid cells A03 currently occupied by the traveling vehicle in the operation (excluding the released grid cells) into a response message and then feedback it to the traveling vehicle in the operation.

[0095] Of course, other methods can also be used to release the occupied grid cell A03. For example, after receiving the response message from the block control system, the traveling vehicle in the operation updates the information of the grid cell A03 it occupies and determines whether the number of grid cells A03 it occupies exceeds a threshold. If so, it actively applies to release the grid cell A03 that is no longer needed. The threshold can be set as needed, such as 5-8, etc., which is not limited here. The grid cell A03 that is no longer needed can be determined as needed, which is not limited here.

[0096] To ensure that the grid cell A03 can be released fully and in a timely manner, as shown in the appendix Figure 14 The block control system can confirm in real time or periodically whether there are grid cells to be unlocked in each grid cell A03; specifically, the block control system can continuously poll the attribute information of each grid cell A03 to determine whether a grid cell A03 is a grid cell to be unlocked.

[0097] As shown in the appendix Figure 15 The block control system determines whether a grid cell A03 is a grid cell to be unlocked according to the following process:

[0098] The block control system determines whether the duration that the grid cell A03 is occupied by a traveling vehicle B00 exceeds a set threshold; for example, when a grid cell A03 is occupied by a traveling vehicle B00, the start occupancy time T1 of the grid cell A03 by the traveling vehicle B00 is recorded in its attribute information. When the block control system polls the attribute information of the grid cell A03 at time T2 and determines that the grid cell A03 is still occupied by the traveling vehicle B00, it judges whether T2 - T1 is greater than the set threshold.

[0099] If it is determined that the duration that the grid cell A03 is occupied by a traveling vehicle B00 does not exceed the set threshold, the judgment of this grid cell ends, and it can be determined that the grid cell A03 is not a grid cell to be unlocked. In the corresponding attribute information of the grid cell A03, the check result of the to-be-unlocked status is "no".

[0100] If it is determined that the duration for which the grid cell A03 is occupied by a moving vehicle B00 exceeds a set threshold, determine whether there is an abnormality in the communication of the moving vehicle B00. For example, the blocking control system sends a communication request to the moving vehicle B00. If the blocking control system determines that it receives the communication feedback from the moving vehicle B00 for the first time, it is determined that the communication of the moving vehicle B00 is normal. On the contrary, if the blocking control system fails to receive the communication feedback from the moving vehicle B00 continuously for multiple times, it is determined that there is an abnormality in the communication of the moving vehicle B00. At this time, the moving vehicle B00 may be in a downtime state.

[0101] If it is determined that there is an abnormality in the communication of the moving vehicle B00, then determine that the grid cell A03 is a grid cell to be unlocked. This is because when there is an abnormality in the communication of the moving vehicle B00, it cannot continue to request the exclusive right to the next exclusive interval. Therefore, it can only stay at the currently occupied exclusive interval, resulting in all grid cells A03 in the currently occupied exclusive interval being continuously occupied by it and unable to be released. Correspondingly, in the attribute information of the grid cell A03, the check result of the to-be-unlocked state is "yes".

[0102] If it is determined that the communication of the moving vehicle B00 is normal, then determine whether the grid cell A03 is the grid cell A03 currently occupied by the moving vehicle B00. For example, the blocking control system can send a message to the moving vehicle B00 to request it to feedback the grid cell A03 it currently occupies, and compare the grid cell A03 with the grid cell A03 feedback by the moving vehicle B00 to determine whether the grid cell A03 is the grid cell A03 currently occupied by the moving vehicle B00.

[0103] If it is determined that the grid cell A03 is not the grid cell A03 currently occupied by the moving vehicle B00, that is, the moving vehicle B00 has stopped occupying the grid cell A03, confirm that the grid cell A03 is a grid cell to be unlocked. Correspondingly, in the attribute information of the grid cell A03, the check result of the to-be-unlocked state is "yes".

[0104] If it is determined that the grid cell A03 is the grid cell A03 currently occupied by the moving vehicle B00, communicate with the moving vehicle B00 to determine whether there is a mechanical failure in the moving vehicle B00 and it cannot continue to work. The mechanical failures include but are not limited to failures of the first moving mechanism B05, the second moving mechanism B06, the picking and placing mechanism B21, etc. If it is determined that there is a mechanical failure in the moving vehicle B00, then determine that the grid cell A03 is a grid cell to be unlocked. Correspondingly, in the attribute information of the grid cell A03, the check result of the to-be-unlocked state is "yes". If it is determined that there is no mechanical failure in the moving vehicle B00, notify the moving vehicle B00 to release the grid cell A03 in a timely manner.

[0105] Further, when the blocking control system determines that there is a communication anomaly in the traveling vehicle B00 and when it determines that the traveling vehicle B00 has a mechanical failure, it determines that all grid cells A03 in the exclusive area currently occupied by the traveling vehicle B00 are to-be-unlocked grid cells, which can effectively reduce the number of times of determining whether the grid cell A03 is a to-be-unlocked grid cell.

[0106] As shown in the Figure 14 attachment, when it is determined that there are to-be-unlocked grid cells, the blocking control system communicates with the transportation control system to inform the to-be-unlocked grid cells that need to be unlocked. The transportation control system instructs the unlocking traveling vehicle on the track A00 to unlock the to-be-unlocked grid cells. Of course, the blocking control system can also directly instruct the unlocking traveling vehicle to unlock the to-be-unlocked grid cells.

[0107] When unlocking a to-be-unlocked grid cell, the unlocking traveling vehicle determines whether there is another traveling vehicle B00 at the to-be-unlocked grid cell according to the signal of the obstacle avoidance sensor B25 on it. If it is determined that there is no other traveling vehicle B00 at the to-be-unlocked grid cell, the unlocking traveling vehicle sends a message to the blocking control system that the unlocking of the to-be-unlocked grid cell is successful. If it is determined that there is another traveling vehicle B00 at the to-be-unlocked grid cell, the unlocking traveling vehicle sends a message to the blocking control system that the unlocking of the to-be-unlocked grid cell fails. The blocking control system updates the attribute information of the to-be-unlocked grid cell. That is, when the unlocking of the to-be-unlocked grid cell is successful, the status in its attribute information switches to idle or occupied. If the unlocking of the to-be-unlocked grid cell fails, the status in its attribute information switches to locked.

[0108] Of course, when it is necessary to unlock multiple consecutive to-be-unlocked grid cells in an exclusive area, one unlocking traveling vehicle can be used to unlock all the to-be-unlocked grid cells in the exclusive area. That is, it can be instructed that the unlocking traveling vehicle sequentially unlocks all the to-be-unlocked grid cells in the exclusive area according to the serial numbers, or multiple unlocking traveling vehicles can be used to unlock different to-be-unlocked grid cells in the exclusive area respectively.

[0109] When determining the unlocking traveling vehicle, the transportation control system can select the idle traveling vehicle that is the closest to the to-be-unlocked grid cell or has the shortest passing time to the to-be-unlocked grid cell as the unlocking traveling vehicle. The specific determination method is a known technology and will not be elaborated here.

[0110] Of course, in other embodiments, it is also possible to select a traveling vehicle performing a work task during an operation to unlock a to-be-unlocked grid cell. Specifically, when it is necessary to unlock a to-be-unlocked grid cell, the transportation control system determines that the movement path of a traveling vehicle performing a work task during an operation includes the to-be-unlocked grid cell and the traveling vehicle during the operation has not requested to obtain the exclusive right to the to-be-unlocked grid cell, and then selects the traveling vehicle during the operation as the unlocking traveling vehicle to unlock the to-be-unlocked grid cell.

[0111] When the unlocking traveling vehicle moves towards the to-be-unlocked grid cell according to the planned movement path, the traveling vehicle B00 initially moves towards the to-be-unlocked grid cell at a relatively high normal movement speed. For example, the normal movement speed is 2 m / s, which is not limited herein. When the unlocking traveling vehicle moves to a predetermined distance from the to-be-unlocked grid cell, for example, when the grid cell A03 where the unlocking traveling vehicle currently moves is separated from the to-be-unlocked grid cell by one grid cell A03, the unlocking traveling vehicle moves towards the to-be-unlocked grid cell at a first speed less than the normal movement speed. The first speed is, for example, 0.5 m / s, which is specifically designed according to needs and is not limited herein. This can effectively avoid the possibility of the unlocking traveling vehicle colliding with the traveling vehicle B00 at the to-be-unlocked grid cell and improve the safety during unlocking.

[0112] Since the detection distance of the obstacle avoidance sensor B25 can cover one grid cell, when the unlocking traveling vehicle moves to the grid cell A03 adjacent to the to-be-unlocked grid cell, it is already possible to identify whether there is another traveling vehicle B00 at the to-be-unlocked grid cell. However, to ensure reliable unlocking of the to-be-unlocked grid cell, when the unlocking traveling vehicle can determine according to the signal of the obstacle avoidance sensor B25 thereon that there is no other traveling vehicle B00 at the to-be-unlocked grid cell, the unlocking traveling vehicle continues to move towards the to-be-unlocked grid cell at the first speed until the unlocking traveling vehicle moves to the position of the to-be-unlocked grid cell (that is, the unlocking traveling vehicle is directly above the to-be-unlocked grid cell), and the unlocking traveling vehicle sends the information that the to-be-unlocked grid cell is successfully unlocked and occupied to the blocking control system, so that the blocking control system updates the status in the attribute information of the to-be-unlocked grid cell to occupied.

[0113] If during the movement of the unlocking traveling vehicle towards the to-be-unlocked grid cell, the obstacle avoidance sensor B25 detects that there is another traveling vehicle B00 at the to-be-unlocked grid cell, the unlocking traveling vehicle stops at the grid cell A03 upstream of the to-be-unlocked grid cell and sends a message to the blocking control system that there is another traveling vehicle B at the to-be-unlocked grid cell and the unlocking fails. The blocking control system switches the status of the to-be-unlocked grid cell to locked.

[0114] As shown in the appendix Figure 16 When a traveling vehicle in an operation is used as the unlocking traveling vehicle to unlock a grid unit to be unlocked, when the traveling vehicle in the operation requests the exclusive right to an exclusive interval including the grid unit to be unlocked, at this time, preferably, the grid unit to be unlocked is the last grid unit in the exclusive interval. When it is determined that the traveling vehicle in the operation has obtained the exclusive rights to other grid units A03 before the grid unit to be unlocked in the exclusive interval, the exclusive right to the grid unit to be unlocked is granted to the traveling vehicle in the operation and it is indicated that the traveling vehicle in the operation unlocks the grid unit to be unlocked.

[0115] When the traveling vehicle in the operation confirms that there is no other traveling vehicle B00 at the grid unit to be unlocked and moves to the grid unit to be unlocked, the traveling vehicle in the operation sends information that the unlocking of the grid unit to be unlocked is successful to the control system, and the traveling vehicle in the operation determines whether to wait at the grid unit to be unlocked or continue to move to other grid units downstream according to whether it obtains the exclusive rights to other grid units downstream of the grid unit to be unlocked on its moving path.

[0116] On the contrary, when the traveling vehicle in the operation confirms that there is other traveling vehicle B00 at the grid unit to be unlocked, the traveling vehicle in the operation sends information that there is other traveling vehicle B00 at the grid unit to be unlocked and the unlocking fails to the control system, and requests the control system to re-plan the moving path, and the traveling vehicle in the operation stops at a grid unit A03 before the grid unit to be unlocked and waits for further instructions from the control system.

[0117] For example, as shown in the appendix Figure 17 As shown, the grid unit numbered 53 is a grid unit to be unlocked, and the traveling vehicle numbered V01 is performing a handling task, and its moving path needs to pass through the grid units numbered 23, 33, 43, 53, 63, 73, that is, the traveling vehicle numbered V01 performing the handling task needs to pass through the grid unit to be unlocked. If the traveling vehicle numbered V01 has not requested to obtain the exclusive interval including the grid unit numbered 53, the traveling vehicle numbered V01 can be selected as the unlocking traveling vehicle to unlock the grid unit numbered 53.

[0118] When the traveling vehicle numbered V01 requests to obtain the exclusive right to the exclusive interval including the grid units A03 numbered 23, 33, 43, 53, if the blocking control unit has granted the exclusive rights to the grid units A03 numbered 23, 33, 43 to the traveling vehicle B00, it also grants the exclusive right to the grid unit numbered 53 to the traveling vehicle numbered V01, and instructs the traveling vehicle numbered V01 to unlock the grid unit numbered 53.

[0119] Thus, the vehicle numbered V01 moves along the exclusive section. When the vehicle numbered V01 moves to the grid cell A03 numbered 33, the vehicle numbered V01 reduces its speed to the first speed and continues to move towards the grid cell numbered 53. At this time, if there is no other vehicle B00 at the grid cell numbered 53, the obstacle avoidance sensor B25 facing the forward direction on the vehicle numbered V01 will not detect any obstacles during the movement. Thus, when the vehicle numbered V01 moves to the grid cell numbered 53, the vehicle numbered V01 sends a message to the blocking control system indicating that the grid cell numbered 53 has been successfully unlocked. Also, when the vehicle numbered V01 moves to the grid cell A03 numbered 43, it can already determine that there is no other vehicle B00 at the grid cell numbered 53. At this time, it can request the blocking control system to obtain the exclusive right to the next exclusive section including the grid cells A03 numbered 63 and 73. If the vehicle numbered V01 has obtained the exclusive right to the exclusive section including the grid cells A03 numbered 63 and 73 when it moves to the grid cell numbered 53, the vehicle numbered V01 continues to move towards the grid cell A03 numbered 73. Conversely, if the vehicle numbered V01 has not obtained the exclusive right to the exclusive section including the grid cells A03 numbered 63 and 73 when it moves to the grid cell numbered 53, the vehicle numbered V01 waits at the grid cell numbered 53.

[0120] If there is other vehicle B00 at the grid cell numbered 53, then when the vehicle numbered V01 starts to move into the range of the grid cell A03 numbered 43, the obstacle avoidance sensor B25 may already be able to start detecting the other vehicle B00 at the grid cell numbered 53. When the obstacle avoidance sensor B25 of the vehicle numbered V01 detects that there is other vehicle B00 at the grid cell numbered 53, the vehicle numbered V01 can send a message to the transportation control system to re-plan the movement path. At the same time, the vehicle numbered V01 sends a message to the blocking control system indicating that there is other vehicle at the grid cell numbered 53 and the unlocking fails. Also, the vehicle numbered V01 moves to the grid cell A03 numbered 43 and waits for further instructions from the transportation control system.

[0121] The present invention has multiple implementation manners. All technical solutions formed by using equivalent transformations or equivalent substitutions fall within the protection scope of the present invention.

Claims

1. A vehicle system comprising a track having a set of grid cells and a vehicle traveling on the track, the vehicle communicating with a control system, characterized in that: The control system confirms whether there is a grid unit to be unlocked among the grid units of the track; when it is determined that there is a grid unit to be unlocked, the control system instructs the unlocking vehicle on the track to unlock the grid unit to be unlocked; When unlocking a grid cell to be unlocked, the unlocking vehicle determines whether there is another vehicle at the grid cell to be unlocked based on the signal of the obstacle avoidance sensor on it. If it is determined that there is no other vehicle at the grid cell to be unlocked, the unlocking vehicle sends a message to the control system indicating that the grid cell to be unlocked is successfully unlocked. If it is determined that there is another vehicle at the grid cell to be unlocked, the unlocking vehicle sends a message to the control system indicating that the grid cell to be unlocked fails to be unlocked. The control system updates the attribute information of the grid cell to be unlocked based on the feedback from the unlocking vehicle. The control system determines whether a grid cell is a grid cell to be unlocked according to the following process: The control system determines whether a time period during which the grid cell is occupied by a moving vehicle exceeds a set threshold; If it is determined that the time period during which the grid cell is occupied by a moving vehicle does not exceed a set threshold, then the grid cell is determined not to be unlocked. If it is determined that the time period for which the grid unit is occupied by a traveling vehicle exceeds a set threshold, determining whether there is an abnormality in the communication of the traveling vehicle; If it is determined that there is an abnormality in the communication of the traveling vehicle, determining the grid unit as a grid unit to be unlocked; If it is determined that the communication of the traveling vehicle is normal, determining whether the grid cell is a grid cell currently occupied by the traveling vehicle; If it is determined that the grid cell is not the grid cell currently occupied by the traveling vehicle, determining the grid cell as a grid cell to be unlocked; If it is determined that the grid unit is the grid unit currently occupied by the traveling vehicle, determine whether the traveling vehicle has a mechanical failure; if so, determine that the grid unit is a grid unit to be unlocked; if not, notify the traveling vehicle to release the grid unit in time.

2. The vehicle system according to claim 1, wherein: When determining that there is an abnormality in the communication of the traveling vehicle and / or a mechanical failure of the traveling vehicle, the control system determines that all grid cells currently occupied by the traveling vehicle are grid cells to be unlocked.

3. The vehicle system according to claim 1, wherein: The control system selects an idle vehicle that is closest to the grid unit to be unlocked or has the shortest travel time to the grid unit to be unlocked as the unlocking vehicle.

4. The vehicle system according to claim 1, wherein: When the unlocking vehicle moves to maintain a predetermined distance from the grid unit to be unlocked, the unlocking vehicle moves toward the grid unit to be unlocked at a first speed that is lower than a normal moving speed.

5. The vehicle system according to claim 1, wherein: When the unlocking vehicle moves to the grid unit to be unlocked, it sends information indicating that the grid unit to be unlocked is successfully unlocked to the control system.

6. The vehicle system according to claim 1, wherein: When it is necessary to unlock a grid unit to be unlocked, the control system determines that a moving path of a vehicle performing a work task includes the grid unit to be unlocked and the vehicle has not yet requested to obtain the exclusive right to the grid unit to be unlocked. Then, when the vehicle requests to occupy the exclusive interval including the grid unit to be unlocked, the control system grants the exclusive right to the grid unit to be unlocked to the vehicle and instructs the vehicle to unlock the grid unit to be unlocked when it determines that the vehicle has obtained the exclusive rights to other grid units located before the grid unit to be unlocked in the exclusive interval.

7. The vehicle system according to claim 6, characterized in that: When the operating vehicle confirms that there is no other vehicle at the grid unit to be unlocked, the operating vehicle sends a message to the control system indicating that the grid unit to be unlocked is successfully unlocked, and the operating vehicle determines whether to wait at the grid unit to be unlocked or continue to move to the other grid units downstream of the grid unit to be unlocked based on whether it obtains exclusive rights to other grid units downstream of the grid unit to be unlocked on its moving path; When the operating vehicle confirms that there is another vehicle at the grid unit to be unlocked, the operating vehicle sends information that the unlocking of the grid unit to be unlocked has failed to the control system, and requests the control system to replan the moving path, and the operating vehicle stops at a grid unit before the grid unit to be unlocked and waits.

8. The vehicle system according to any one of claims 1 to 7, characterized in that: The obstacle avoidance sensors are arranged on the four sides of each of the traveling vehicles.

9. The vehicle system according to claim 8, characterized in that: The detection distance of the obstacle avoidance sensor is not less than the length or width of a grid unit, and the detection distance of the obstacle avoidance sensor satisfies that when the traveling vehicle is at a grid unit, the obstacle avoidance sensor on the traveling vehicle can detect whether there is an obstacle within the range of a grid unit in front of the obstacle avoidance sensor.

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