Method and system for correcting resolution of motor of transport vehicle

Abstract

The invention discloses a method and a system for correcting resolution of a motor of a carrying vehicle. A motor resolution correction method for a transport vehicle includes an actual length acquisition program and a correction program. In the actual length obtaining program, one of the carrying vehicles is matched with a position marking piece located beside the track to calculate the actual track length of one of the linear tracks. In each correction procedure, the actual track length is utilized to be matched with a position marking piece arranged beside the track, and the actual motor resolution of each of the other carriers is calculated. Through the design of an actual length acquisition program and a correction program, each carrier can accurately move to a correct position along the track.

Description

Technical Field

[0001] The present invention relates to a method and system for correcting the resolution of a motor of a forklift truck, and particularly to a method for correcting the resolution of a motor suitable for an aerial walking forklift truck and a forklift truck system. Background Art

[0002] In the current aerial walking forklift truck system, the layout planning of the track depends on the drawing by CAD software, and the track information is generated therefrom. Then, after the track is completely erected on-site in the factory building, the forklift truck will be installed on the track. After the forklift truck is installed on the track, the relevant personnel will use the central control device to control the forklift truck to move along the track according to the track information, and adjust the forklift truck according to the actual walking state of the forklift truck, so that the central control device can accurately control the forklift truck to move to the correct position subsequently.

[0003] However, in practice, when the track is installed in the factory building, it is easy to have installation errors due to various factors, or there may be production errors in each track, resulting in the lengths of the tracks in the track information may not be the same as the lengths of the corresponding tracks in the factory building. Therefore, when the relevant personnel install the forklift truck on the track and use the central control device to control the forklift truck to move along the track, there is often a problem that the forklift truck cannot accurately move to the designated position. When this problem occurs, the relevant personnel must manually modify the track information or repair the forklift truck.

[0004] The above-mentioned method of manually modifying the track information or repairing the forklift truck requires a lot of time for the relevant personnel when there are multiple forklift trucks in the factory building (for example, more than 20 forklift trucks), in order to ensure that each forklift truck can be controlled by the central control device and accurately move to the designated position. Summary of the Invention

[0005] The present invention discloses a method for correcting the resolution of a motor of a forklift truck and a forklift truck system, mainly used to improve the prior art that a large amount of time must be consumed to adjust the forklift truck or modify the track information in order to ensure that each forklift truck can be controlled and accurately move to the designated position.

[0006] One embodiment of the present invention discloses a method for correcting the motor resolution of a transporter, which is applicable to correcting an initial motor resolution respectively stored in N - 1 transporters in a transporter system. The transporter system includes N transporters, a central control device, and multiple tracks. Each transporter has a processing module in which the initial motor resolution is stored. One of the transporters is defined as a standard vehicle, and the remaining transporters are defined as ordinary vehicles; the central control device can control any transporter to move along any track; the method for correcting the motor resolution of the transporter includes at least one actual length acquisition procedure and N - 1 correction procedures; wherein, when the standard vehicle is located at a starting position of one of the straight tracks, and a reading device of the standard vehicle reads a starting position identifier provided around the starting position, the actual length acquisition procedure will be executed, and the processing module of the standard vehicle will perform the following steps: a first initial step: zero the feedback value of an encoder of a servo motor of the standard vehicle; a first movement step: control the standard vehicle to move along the straight track, and when the reading device of the standard vehicle reads an end position identifier provided around an end position of the straight track, record an end feedback value of the encoder, and control the standard vehicle to stop; an actual track length calculation step: multiply the initial motor resolution of the standard vehicle by the end feedback value to calculate an actual track length of the straight track; wherein, when an ordinary vehicle is located at the starting position of the straight track, and the reading device of the ordinary vehicle reads the starting position identifier, one of the correction procedures will be executed, and the processing module of the ordinary vehicle will first execute a movement program a predetermined number of times and then execute a correction step: the predetermined number is greater than 10 times; the movement program includes the following steps: a second initial step: zero the feedback value of the encoder of the ordinary vehicle; a second movement step: control the ordinary vehicle to move along the straight track, and when the reading device of the ordinary vehicle reads the end position identifier, record an end feedback value of the encoder, and control the ordinary vehicle to stop; an actual motor resolution calculation step: divide the actual track length by the end feedback value to calculate an actual motor resolution of the ordinary vehicle; wherein, the correction step is: remove the outliers from multiple actual motor resolutions, and average the remaining multiple actual motor resolutions to calculate an average motor resolution, and store the average motor resolution in the processing module of the ordinary vehicle to replace the initial motor resolution in the processing module of the ordinary vehicle; wherein, when the central control device controls any ordinary vehicle to move a predetermined distance on any track, the processing module first divides the predetermined distance by the average motor resolution to calculate an operating pulse number (pulse), and then controls the servo motor according to the operating pulse number so that the ordinary vehicle can walk the predetermined distance along the track; wherein, N is a positive integer not less than 2.

[0007] Optionally, the actual track length obtaining program is executed M times, and after the actual track length obtaining program is executed M times, an actual track length averaging step is first executed, and then N - 1 calibration programs are executed; the actual track length averaging step is to average the M actual track lengths obtained after the actual track length obtaining program is executed M times; where M is a positive integer greater than 1.

[0008] Optionally, in the first movement step, the control device controls the servo motor of the standard vehicle to move from the starting position to the ending position along the linear track at a predetermined low speed and a predetermined high acceleration; the predetermined low speed is not greater than 100 millimeters per second (mm / s), and the predetermined high acceleration is not less than 1000 millimeters per second squared (mm / s 2 )

[0009] Optionally, after the actual motor resolution calculation step, the processing module controls the servo motor to move the ordinary vehicle along the linear track from the ending position to the starting position until the reading device of the ordinary vehicle reads the starting position marking piece, and then the processing module controls the ordinary vehicle to stop, and the processing module will continue to execute the next second movement step.

[0010] One embodiment of the present invention discloses a forklift truck system, which includes: a plurality of tracks for installation in a factory building; N - 1 forklift trucks, each forklift truck including a processing module in which an initial motor resolution is stored; one of the forklift trucks is defined as a standard truck, and the remaining forklift trucks are defined as ordinary trucks; where N is a positive integer not less than 2; a central control device capable of controlling any forklift truck to move along any track; where the central control device can execute a method for correcting the motor resolution of a forklift truck, and the method for correcting the motor resolution of a forklift truck includes at least one actual length acquisition procedure and N - 1 correction procedures; where when the standard truck is located at a starting position of a straight track and a reading device of the standard truck reads a starting position marking member provided around the starting position, the actual length acquisition procedure will be executed, and the processing module of the standard truck will perform the following steps: a first initial step: zeroing a feedback value of an encoder of a servo motor of the forklift truck; a first movement step: controlling the standard truck to move along the straight track, and when the reading device of the standard truck reads an ending position marking member provided around an ending position of the straight track, recording an ending feedback value of the encoder and controlling the standard truck to stop; an actual track length calculation step: multiplying the initial motor resolution of the standard truck by the ending feedback value to calculate an actual track length of the straight track; where when an ordinary truck is located at the starting position of the straight track and the reading device of the ordinary truck reads the starting position marking member, one of the correction procedures will be executed, and the processing module of the ordinary truck will first execute a movement program a predetermined number of times and then execute a correction step: the predetermined number is greater than 10 times; the movement program includes the following steps: a second initial step: zeroing the feedback value of the encoder of the ordinary truck; a second movement step: controlling the ordinary truck to move along the straight track, and when the reading device of the ordinary truck reads the ending position marking member, recording an ending feedback value of the encoder and controlling the ordinary truck to stop; an actual motor resolution calculation step: dividing the actual track length by the ending feedback value to calculate an actual motor resolution of the ordinary truck; where the correction step is: removing outliers from multiple actual motor resolutions and averaging the remaining multiple actual motor resolutions to calculate an average motor resolution, and storing the average motor resolution in the processing module of the ordinary truck to replace the initial motor resolution in the processing module of the ordinary truck; where when the central control device controls any ordinary truck to move a predetermined distance on any track, the processing module first divides the predetermined distance by the average motor resolution to calculate an operating pulse number (pulse), and then controls the servo motor according to the operating pulse number so that the ordinary truck can walk a predetermined distance along the track.

[0011] Optionally, in the first moving step, the control device controls the servo motor of the standard vehicle to move from the starting position to the ending position along a linear track at a predetermined low speed and a predetermined high acceleration; the predetermined low speed is not greater than 100 millimeters per second (mm / s), and the predetermined high acceleration is not less than 1000 millimeters per second squared (mm / s 2 ).

[0012] Optionally, after the actual motor resolution calculation step, the processing module controls the servo motor to move the ordinary vehicle along the linear track from the ending position to the starting position until the reading device of the ordinary vehicle reads the starting position identifier, and then the processing module controls the ordinary vehicle to stop, and the processing module will continue to execute the next second moving step.

[0013] Optionally, a starting position identifier and an ending position identifier are respectively arranged at the starting position and the ending position of each track; at least one of the central control device and the processing modules of each standard vehicle pre-stores a known track information, and the known track information includes a starting position data, an ending position data and a length data of each track; after the central control device executes the motor resolution correction method of the transport vehicle, the central control device can execute a track exploration program to enable the processing module of the standard vehicle to execute the following steps: a first control step: according to the known track information, control the standard vehicle to travel along each track, and record a feedback value of the encoder when the standard vehicle reads the starting position identifier or the ending position identifier of each track; a first calculation step: use multiple feedback values obtained in the first control step and the initial motor resolution of the standard vehicle to calculate an actual track length of each track traveled by the standard vehicle in the first control step; a first update step: replace multiple length data in the known track information with multiple explored actual track lengths; a second update step: transmit all the explored actual track lengths to the central control device, so that the central control device updates the length data in the known track information stored in the remaining all transport vehicles.

[0014] Optionally, a position marking member is provided at each preset section interval on each track. The reading device of each carrier can read the position marking member to generate a position data. The central control device can determine the position of the carrier on the track based on the position data transmitted by the carrier. Each carrier is further provided with at least one detector for detecting whether there is a shelf around the carrier. When the detector detects that there is a shelf around the carrier, a detection signal will be generated. The central control device can execute a shelf exploration program to enable the processing module of the standard vehicle to perform the following steps: A second control step: controlling the standard vehicle to travel along each track. During the process of the carrier traveling along the track, when the processing module receives the detection signal, the processing module will record the position data read by the reading device as a shelf start position data. And when the detector no longer transmits the detection signal, the processing module will record the position data read by the reading device as a shelf end position data, and the processing module will transmit a shelf return message to the central control device. The shelf return message includes the shelf start position data and the shelf end position data. When the central control device receives the shelf return message, the central control device will perform the following steps: A query step: According to the shelf start position data and the shelf end position data, check whether there is a shelf information including the shelf start position data and the shelf end position data in a database connected to the central control device. If the central control device determines that there is no shelf information including the shelf start position data and the shelf end position data stored in the database, then a new shelf information will be stored in the database, and the new shelf information includes the shelf start position data and the shelf end position data.

[0015] Optionally, each carrier includes two detectors for respectively detecting whether there is a shelf on the left and right sides of the carrier. The shelf return message further includes a direction data. The direction data represents the direction of the shelf relative to the carrier. Each piece of shelf information in the database further includes the direction data.

[0016] Optionally, when the central control device executes the shelf exploration program and the processing module no longer receives the detection signal, the processing module will control the standard vehicle to stop so that the standard vehicle stops at a position adjacent to the position where the processing module receives the shelf end position data; in the query step, if the central control device determines that there is no shelf information including the shelf start position data and the shelf end position data stored in the database, the central control device will first execute the following steps: A reverse step: control the standard vehicle to slowly reverse backward at a predetermined speed, record the position data read by the reading device when the detector first generates a detection signal as the shelf end position data, and record the position data read by the reading device when the detector no longer generates a detection signal as the shelf start position data; while recording the shelf end position data or the shelf start position data, the processing module will also record the current feedback value of the encoder; A second calculation step: calculate a traveled distance using the two feedback values recorded by the processing module and the initial motor resolution of the standard vehicle; A comparison step: calculate whether the difference between the traveled distance and a preset shelf length meets an error range; if it is determined that the error range is met, store a new shelf information in the database, where the shelf information includes the shelf start position data and the shelf end position data; if it is determined that the error range is not met, do not store a new shelf information in the database.

[0017] Optionally, some of the tracks are curved tracks, and each curved track is provided with a curved track marking piece. The entire section of the curved track is provided with a curved track marking piece. The standard vehicle is provided with a curved track detector, and the curved track detector can generate a curved track signal correspondingly when detecting the curved track marking piece; the central control device can execute a curved track exploration program to enable the processing module of the standard vehicle to execute the following steps: A third movement step: make the standard vehicle move along the track and turn on the curved track detector; wherein, when the processing module receives the curved track signal transmitted by the curved track detector, execute the following steps: A stop step: control the standard vehicle to stop; A search step: make the standard vehicle move forward or backward at a predetermined slow speed until the standard vehicle stops at a position where the curved track detector can just detect the curved track marking piece; A recording and storing step: record the position data read by the reading device, and use the position data as a curved track position data, and store the curved track position data in a database connected to the central control device; wherein, when the handling vehicle moves to the position of the curved track marking piece corresponding to any curved track position data according to a movement information transmitted by the central control device, the processing module of the handling vehicle can control a switching mechanism to enable the handling vehicle to switch between a straight running state and a turning state.

[0018] In summary, the method for correcting the motor resolution of the transporter of the present invention and the transporter system can help relevant personnel quickly complete the correction of the motor resolution of each transporter, so that the transporter can accurately move to any position on the track. During the process of correcting the motor resolution of each transporter, basically no human intervention is required. Therefore, it can effectively solve the problem in the prior art that a large amount of manpower is required to correct each transporter.

[0019] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, these descriptions and drawings are only used to illustrate the present invention and do not impose any limitation on the protection scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a block diagram of the transporter system of the present invention.

[0021] Figure 2 It is a schematic diagram of the usage scenario of the transporter system of the present invention.

[0022] Figure 3 It is a flowchart of the actual track length acquisition program of the transporter system of the present invention.

[0023] Figure 4 It is a flowchart of the calibration program of the transporter system of the present invention.

[0024] Figure 5 It is a flowchart of the track exploration program of the transporter system of the present invention.

[0025] Figure 6 It is shown as a block diagram of the second embodiment of the transporter system of the present invention.

[0026] Figure 7 It is shown as a flowchart of the shelf exploration program of the transporter system of the present invention.

[0027] Figure 8 It is shown as a flowchart of another embodiment of the shelf exploration program of the transporter system of the present invention.

[0028] Figure 9 It is shown as a three-dimensional schematic diagram of the straight track and the curved track of the transporter system of the present invention.

[0029] Figure 10 It is shown as a flowchart of the curved track exploration program of the transporter system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] In the following description, if specific drawings are pointed out or as shown in specific drawings, it is only used to emphasize that in the subsequent description, most of the related content mentioned appears in that specific drawing, but it does not limit that only the specific drawing can be referred to in the subsequent description.

[0031] Please refer to Figures 1 to 4 , Figure 1 which is a block diagram of the forklift truck system of the present invention, Figure 2 which is a schematic diagram of the usage scenario of the forklift truck system of the present invention, Figure 3 which is a flowchart of the actual track length acquisition program of the forklift truck system of the present invention, Figure 4 which is a flowchart of the calibration program of the forklift truck system of the present invention.

[0032] The forklift truck system 100 of the present invention includes multiple tracks 1, a central control device 2, and multiple forklift trucks 3. The multiple tracks 1 can be installed, for example, at a position close to the ceiling in a factory building, and each forklift truck 3 can be an overhead hoist transfer (OHT), but the types of the tracks 1 and the forklift trucks 3 are not limited thereto. In different embodiments, the multiple tracks 1 can also be arranged on the ground or at a position close to the ground in the factory building, and the multiple forklift trucks 3 move along the tracks 1 and are adjacent to the ground. The multiple tracks 1 can form at least one closed path, and the multiple forklift trucks 3 can move in the closed path. Around each track 1, a position marking member 4 (as Figure 9 shown) is provided at a preset distance interval. The position marking member 4 is, for example, various barcodes, radio-frequency identification (RFID), etc., but is not limited thereto. In other embodiments, the position marking member 4 can also be designed as a magnetic cylinder or an element with an infrared emission function, and with the detection of an infrared sensor, the position marking member 4 can be accurately positioned. Specifically, the magnetic cylinder can be paired with a specific magnetic head and a driver to read and write data, which can store a large amount of data and is not easily affected by the external environment; in addition, the element with an infrared emission function can be paired with a microcontroller or other elements with a storage function to transmit position data. In this embodiment, the data stored in each position marking member 4 is different from each other. The specific setting position of the position marking member 4 can be selected according to actual needs and is not limited herein.

[0033] The central control device 2 is connected to each transfer vehicle 3, and the central control device 2 can control any one of the transfer vehicles 3 to travel along any one of the tracks 1. The central control device 2 is what is commonly known in the industry as an OHTC (OHT Controller). The central control device 2 includes, for example, an industrial computer, a server, etc., and is not limited thereto. The central control device 2 generally consists of a central processing unit (CPU), a memory, an input / output (I / O) module, a communication interface, a power supply module, and a human machine interface (HMI), but is not limited thereto.

[0034] More specifically, the central processing unit (CPU), as the "brain" of the system, is responsible for processing all control instructions, data transmission, logical judgment, and other operations. The memory is used to store the programs, data, and set parameters of the system. The input / output (I / O) module is responsible for receiving signals from external devices (such as sensor data) and transmitting control instructions to the actuators (such as motors, valves, etc.). The communication interface is used to communicate with other devices or systems. Common interfaces include RS-232, RS-485, Ethernet, CAN bus, etc., but are not limited thereto.

[0035] Each transfer vehicle 3 includes a vehicle body 31, a processing module 32, a reading device 33, and a servo motor 34. The processing module 32, the reading device 33, and the servo motor 34 are disposed on the vehicle body 31. The processing module 32 can control the transfer vehicle 3 to move on any one of the tracks 1. An initial motor resolution 321 is stored in the processing module 32. The reading device 33 can read any one of the position markers 4 and obtain a position data 41 stored in the position marker 4. The servo motor 34 includes an encoder 341.

[0036] The central control device 2 can execute the motor resolution correction method for the transfer vehicle of the present invention. To clearly illustrate the motor resolution correction method for the transfer vehicle of the present invention, one of the transfer vehicles is defined as a standard vehicle, and the remaining transfer vehicles are defined as ordinary vehicles. In one embodiment, the "standard vehicle" and the "ordinary vehicle" mentioned are actually transfer vehicles 3 of the same specification. To ensure the stability and consistency of the system operation, all transfer vehicles in the system adopt the same standard design and can be interchangeably used. Of course, in practice, when relevant personnel select one of the transfer vehicles as the standard vehicle, they can first check whether there are obvious defects in the transfer vehicle. If there are obvious defects in the transfer vehicle (such as skewed wheels, etc., defects that can be judged by the naked eye), then the transfer vehicle is not used as the standard vehicle or the ordinary vehicle, but is sent for repair.

[0037] When the central control device 2 executes the motor resolution correction method of the transport vehicle, it sequentially executes at least one actual track length acquisition program and N - 1 correction programs. In practical applications, when the central control device 2 executes the motor resolution correction method of the transport vehicle, it is preferably to execute the actual track length acquisition program multiple times (for example, more than 10 times). N is a positive integer not less than 2.

[0038] As Figure 3 shown, when the central control device 2 executes the actual track length acquisition program, it controls the processing module 32 of the standard vehicle located at a starting position on a straight track 11 to execute the following steps:

[0039] A first initial step S11: Read a starting position identifier set around the starting position through the reading device 33, and zero a feedback value (i.e., the so-called Encoder value in the industry) of the encoder 341 of the standard vehicle.

[0040] A first moving step S12: Move the standard vehicle along the straight track 11, and when the reading device 33 reads an end position identifier set around an end position on the straight track 11, record an end feedback value (i.e., the so-called Encoder value in the industry) of the encoder 341, and control the standard vehicle to stop.

[0041] A first actual track length calculation step S13: Multiply the initial motor resolution 321 of the standard vehicle by the end feedback value to calculate an actual track length of the straight track 11.

[0042] The starting position identifier and the end position identifier described in the above steps are the same as the aforementioned position identifier 4. The starting position identifier only refers to the position identifier 4 around the starting position on the straight track 11, and the end position identifier only refers to the position identifier 4 around the end position on the straight track 11. The setting of the starting position and the end position can be designed according to the actual situation (such as the length of the straight track, the acceleration of the standard vehicle, the moving speed of the standard vehicle, etc.), and is not limited herein.

[0043] Before the first initial step S11, a standard vehicle can be placed at the starting position by relevant personnel, for example. In the first moving step S12, the reading device 33 will continuously read the position markers 4 located around the linear track 11, and the processing module 32 will continuously obtain the position data 41 obtained by the reading device 33 reading the position markers 4. Moreover, the processing module 32 will determine whether the position data 41 currently read by the reading device 33 is equal to the end position data stored in the end position marker. When the processing module 32 determines that the data currently read by the reading device 33 is equal to the end position data, the processing module 32 will control the servo motor 34 to stop running so that the standard vehicle stops. Of course, before the processing module 32 executes the actual track length acquisition program, it pre-obtains the end position data.

[0044] In practice, when the central control device 2 executes the actual length acquisition program S1, for example, it can first transfer the start position data and the end position data respectively stored in the start position marker and the end position marker to the processing module 32 of the standard vehicle. In this way, the processing module 32 can determine whether the standard vehicle is currently at the start position or the end position by the data in the position marker read by the reading device 33.

[0045] The unit of the motor resolution is mm / pulse. In the actual track length calculation step S13, the processing module 32 multiplies the pre-stored initial motor resolution by the end feedback value (i.e., the Encoder value commonly known in the industry) to obtain the moving distance that the standard vehicle actually moves from the start position to the end position (i.e., the actual track length).

[0046] For example, assume that the initial motor resolution of the standard vehicle is 0.0105 mm / pulse and the end feedback value is 100000 pulses. Then, after the actual track length calculation step S13, the processing module 32 will calculate that the actual track length is: 0.0105 * 100000 = 1050 mm. That is to say, the standard vehicle moves along the linear track from the start position to the end position and travels a total of 1050 mm.

[0047] Each time the central control device 2 executes the calibration program, it controls the processing modules 32 of different ordinary vehicles located on the linear track 11 to first execute a moving program S21 a predetermined number of times and then execute a calibration step S22. The predetermined number of times is greater than 10 times. That is to say, each time the central control device 2 executes the calibration program, the processing module 32 of each ordinary vehicle 1 first executes the moving program S21 more than 10 times and then executes the calibration step S22.

[0048] The moving program S21 includes the following steps:

[0049] A second initial step S211: Reading, by a reading device 33, the starting position identifier disposed around the starting position, and zeroing a feedback value (i.e., the Encoder value commonly known in the industry) of an encoder of a general vehicle;

[0050] A second moving step S212: Moving the general vehicle along a linear track 11, and when the reading device 33 reads the ending position identifier disposed around the ending position of the linear track 11, recording an ending feedback value of the encoder 341, and controlling the general vehicle to stop;

[0051] A second actual motor resolution calculation step S213: Dividing the actual track length by the ending feedback value to calculate an actual motor resolution of the general vehicle.

[0052] Continuing from the foregoing example, assuming that the actual track length is 1050 mm and the ending feedback value of the general vehicle is 100500 pulses, then after the actual motor resolution calculation step S213, the actual motor resolution calculated by the processing module is: 1050 / 100500 = 0.0104 mm / pulse.

[0053] In practical applications, after the actual motor resolution calculation step S213, the processing module 32 may control the servo motor 34 to move the general vehicle along the linear track 11 from the ending position to the starting position until the reading device 33 of the general vehicle reads the starting position identifier, and then the processing module 32 controls the general vehicle to stop, and the processing module 32 will continue to execute the next second moving step S212. In practical applications, the processing module 32 may, after controlling the general vehicle to stop, control the general vehicle to move forward or backward to move the general vehicle to a position where the starting position identifier is just read.

[0054] The calibration step S22 is: Removing the outliers from multiple actual motor resolutions, and averaging the remaining multiple actual motor resolutions to calculate an average motor resolution, and storing the average motor resolution in the processing module 32 of the general vehicle to replace the initial motor resolution in the processing module 32 of the general vehicle. For example, in one specific embodiment, the interquartile range (IQR) algorithm may be used to filter the outliers, but it is not limited thereto. In some other embodiments, with the development of data analysis technology, other methods can also be used to more accurately and effectively detect the outliers in the data, or a combination of several algorithms can be used. First, the IQR algorithm and the Z-score method can be used for preliminary screening, and then the method based on density estimation or isolation forest can be used for more refined analysis.

[0055] Continuing with the above example, assuming that after the ordinary vehicle executes the movement program S21 ten times, the calculated average motor resolution is 0.0104 mm / pulse, then in the calibration step S22, the processing module 32 will correct the originally pre-stored initial motor resolution to 0.0104 mm / pulse.

[0056] When the central control device 2 controls the ordinary vehicle to move a predetermined distance on one of the tracks 1, the processing module 32 divides the predetermined distance by the average motor resolution (i.e., the corrected motor resolution through the above steps) to calculate a running pulse number (pulse) for controlling the servo motor, and controls the servo motor according to the running pulse number, so that the ordinary vehicle can travel a predetermined distance along the track 1. For example, assuming that the average motor resolution (i.e., the corrected motor resolution) is 0.0104 mm / pulse, when the central control device 2 transmits a movement message 21 to request the ordinary vehicle to move 1050 mm, the processing module of the ordinary vehicle will first calculate the running pulse number (pulse) as 1050 / 0.0104 = 100961 pulse, and the processing module will then transmit a signal of 100961 pulse to the servo motor to control the operation of the servo motor.

[0057] In practical applications, the control process for the central control device 2 to control the carrier vehicle 3 to move along a straight track is generally as follows: The central control device 2 transmits a movement message 21 to the carrier vehicle. The movement message 21 includes the position data stored in the start position marker and the end position marker respectively, and a preset distance that the carrier vehicle needs to move. Then, after the processing module 32 of the carrier vehicle receives the movement message 21, the processing module 32 will control the reading device 33. If the reading device 33 reads the same position data as the start position marker, the processing module 32 will calculate the running pulse number based on the default distance and the motor resolution, so that the servo motor 34 runs according to the running pulse number. After the servo motor 34 runs according to the running pulse number, the processing module 32 will control the reading device 33 to read the surrounding position markers. If the position data in the position marker read by the reading device is the same as the position data in the end position marker in the movement message 21, the processing module 32 will control the carrier vehicle to stop. In the above process, when the processing module 32 fails to obtain the position data corresponding to the start position marker or the end position marker by using the reading device 33, the processing module 32 will, for example, control the servo motor 34 to move the carrier vehicle forward or backward step by step until the position data stored in the position marker read by the reading device 33 is the same as the position data stored in the start position marker or the end position marker.

[0058] In the above process, if the motor resolution of each carrier 3 is not corrected by the motor resolution correction method of the carrier of the present invention, it is easy to occur that the processing module 32 of the carrier 3 receives the movement information 21 and controls the carrier 3 to move. After that, the carrier 3 cannot reach the end position at one time, and the processing module 32 may need to repeatedly control the carrier 3 to make the carrier 3 stop at the correct end position. That is to say, when the motor resolution of the carrier 3 is not corrected, it is easy to occur that after the processing module 32 of the carrier 3 controls the carrier 3 to move to the end position according to the movement information 21, the carrier 3 may actually stop at the position marker in front of the end position marker corresponding to the end position, or stop at the position marker after the end position marker. For this reason, the carrier must perform relevant position adjustments again, otherwise, it will be difficult to carry out the handling of items.

[0059] In a preferred embodiment, the actual track length acquisition program may be executed M times. After the actual track length acquisition program is executed M times, an actual track length averaging step SX is first executed, and then N - 1 correction programs are executed. The actual track length averaging step SX is to average the M actual track lengths obtained after the actual track length acquisition program is executed M times. Of course, in practice, in the actual track length averaging step SX, the outliers in the M actual track lengths may be removed and then averaged. By designing the execution of the M actual track length acquisition programs and the actual track length averaging step SX, it can be ensured that the finally obtained actual track length is more accurate. Wherein, M is a positive integer greater than 1, and preferably, M is not less than 3.

[0060] In one of the embodiments, in any of the above movement steps, the processing module 32 may control the servo motor 34 to move from the starting position to the end position along the linear track 11 at a predetermined low speed and a predetermined high acceleration; the predetermined low speed is not greater than 100 millimeters per second (mm / s), and the predetermined high acceleration is not less than 1000 millimeters per second squared (mm / s 2 ). With such a design, the carrier 3 can move smoothly along the linear track 11, and problems such as slipping are not likely to occur in the servo motor 34 and its connected components such as gears. Thereby, it can be ensured that the subsequent obtained feedback value is more accurate. In addition, the length of the linear track 11 is preferably not less than 1000 millimeters (mm).

[0061] As described above, the motor resolution correction method for the transporter system and the transporter of the present invention enables each transporter to accurately stop at the designated position on the track. After the transporter reaches the designated position, there is no need to repeatedly adjust the position. Therefore, the overall transportation efficiency of the transporter system can be improved. In the prior art, the transporter moves along the track according to the instructions of the central control device, and it is easy to occur that it cannot move to the designated position correctly. In this case, the transporter must repeatedly adjust the position to move to the correct position before it can continue the transportation operation.

[0062] Please refer to Figure 1 and Figure 5 , Figure 5 which is a flowchart of the track exploration program of the transporter system of the present invention. In practical applications, a start position marking member and an end position marking member are respectively provided at the start position and the end position of each track 1. The setting of the start position and the end position of each track 1 can be set according to actual needs and is not limited herein.

[0063] At least one of the central control device 2 and the processing module 32 of each standard vehicle stores a known track information 22 in advance. The known track information 22 includes a start position data 221, an end position data 222 and a length data 223 of each track.

[0064] After the central control device 2 executes the aforementioned motor resolution correction method for the transporter of the present invention, the central control device 2 can execute a track exploration program to enable the processing module 32 of the standard vehicle to perform the following steps:

[0065] A first control step S31: According to the known track information 22, control the standard vehicle to travel along each track 1, and record a feedback value of the encoder 341 of the servo motor 34 when the standard vehicle reads the start position marking member or the end position marking member of each track 1;

[0066] A first calculation step S32: Use the multiple feedback values obtained in the first control step S31 and the initial motor resolution 321 of the standard vehicle to calculate an actual exploration track length of each track 1 traveled by the standard vehicle in the first control step S31;

[0067] A first update step S33: Replace the multiple length data 223 in the known track information 22 with the multiple actual exploration track lengths;

[0068] A second update step S34: Transmit all the actual exploration track lengths to the central control device 2, so that the central control device 2 updates the length data 223 in the known track information 22 stored in the remaining all transporters 3.

[0069] It should be noted that in the embodiment where the known track information 22 is pre-stored in the central control device 2, when the central control device 2 executes the track exploration program, the central control device 2 will first transmit the known track information 22 to the standard vehicle.

[0070] As described above, through the motor resolution correction method of the forklift truck of the present invention and in cooperation with the track exploration program of this embodiment, when each forklift truck 3 is controlled by the central control device 2 and moves along the track 1, it can accurately move to the starting position and the ending position of each track 1.

[0071] More specifically, in practice, after the relevant manufacturers complete the construction of the tracks, they will pre-store in the central control device 2 data such as the actual length of each track (i.e., the length data 223), the starting position, and the ending position. In the movement information 21 transmitted by the central control device 2 to each forklift truck, there will be data such as the actual length of the track, the starting position data 221, and the ending position data 222. After the processing module 32 of the forklift truck 3 receives the movement information 21, it can calculate the number of operation pulses of the servo motor 34 based on the actual length and in cooperation with the motor resolution. Therefore, through the track exploration program of this embodiment, the correctness of the length data 223 in the known track information 22 in the central control device 2 and each forklift truck can be ensured.

[0072] Please also refer to Figures 6 to 8 , Figure 6 which shows a block diagram of a second embodiment of the forklift truck system of the present invention, Figure 7 which shows a flowchart of a shelf exploration program of the forklift truck system of the present invention, Figure 8 which shows a flowchart of another embodiment of the shelf exploration program of the forklift truck system of the present invention.

[0073] A position marking member 4 is provided at each interval of a preset section of each track. The reading device 33 of each forklift truck 3 can read the position data 41 stored in the position marking member 4. The central control device 2 can determine the position of the forklift truck 3 on the track 1 based on the position data 41 transmitted by the forklift truck 3.

[0074] Each forklift truck 3 is further provided with at least one detector 35. The detector 35 is used to detect whether there is a shelf 5 around the forklift truck 3 (as Figure 2 shown). When the detector 35 detects that there is a shelf 5 around the forklift truck 3, it will generate a detection signal 351.

[0075] In practical applications, the detector 35 includes, for example, an optical transmitter and an optical receiver. The shelf 5 is correspondingly provided with a reflective member. The optical transmitter of the detector 35 can emit a light beam of a specific wavelength. When the optical receiver of the detector 35 receives the light beam of the specific wavelength reflected by the reflective member, the detector 35 will correspondingly generate a detection signal 351, and the processing module 32 will be able to confirm that the shelf 5 appears around the carrier vehicle 3. Of course, the types and operating methods of the detector 35 are not limited to this. As long as it can be installed on the carrier vehicle 3 and can be used to detect whether the shelf 5 appears around the carrier vehicle 3, it belongs to the applicable range of the detector 35 described in this embodiment.

[0076] As Figure 7 shown, the central control device 2 can execute a shelf exploration program to enable the processing module 32 of the standard vehicle to perform the following steps:

[0077] A second control step S41: Control the standard vehicle to travel along each track 1. During the process of the carrier vehicle 3 traveling along the track 1, when the processing module 32 receives the detection signal 351, the processing module 32 will record the position data 41 read by the reading device 33 as a shelf start position data 3221. And when the detector 35 no longer transmits the detection signal 351, the processing module 32 will record the position data 41 read by the reading device 33 as a shelf end position data 3222, and the processing module 32 will transmit a shelf return information 322 to the central control device 2. The shelf return information 322 includes the shelf start position data 3221 and the shelf end position data 3222;

[0078] When the central control device 2 receives the shelf return information 322, the central control device 2 will perform the following steps:

[0079] An inquiry step S42: According to the shelf start position data 3221 and the shelf end position data 3222, check whether there is a shelf information 61 in a database 6 connected to the central control device 2 that includes the shelf start position data 3221 and the shelf end position data 3222;

[0080] If the central control device 2 determines that the database 6 does not store the shelf information 61 that includes the shelf start position data 3221 and the shelf end position data 3222, then execute a storage step S43: In the database 6, store a new shelf information 61, and the new shelf information 61 includes the shelf start position data 3221 and the shelf end position data 3222.

[0081] If the central control device 2 determines that the rack information 61 including the rack start position data 3221 and the rack end position data 3222 is already stored in the database 6, an end judgment step S44 is executed: determining whether the standard vehicle has traveled through all the tracks; if it is determined that not all the tracks have been traveled through, the second control step S41 is executed again.

[0082] Specifically, in practical applications, relevant personnel in the factory building may adjust the positions of the respective racks 5 in the factory building according to different requirements in different periods. Therefore, the positions of some of the racks 5 in the factory building may be different from the positions at the time of the initial factory construction plan. Therefore, in the prior art, there often occurs a problem that the transporter 3 does not know that the position of the rack has changed, and the transporter 3 cannot effectively use the rack for temporary storage of goods.

[0083] If the relevant personnel forget to update the data of the rack position, it may occur that the rack with the changed position, because the control system does not know that there is a rack at this position, resulting in the rack not being used, or it is easy to occur that when the transporter transports the goods to the position where the rack was originally set, the transporter finds that there is no longer a rack at this position, and the transporter is forced to suspend operation, thus causing the problem of traffic jams on the track.

[0084] In practice, the central control device 2 can periodically execute a rack exploration program. In this way, the rack information 61 in the database 6 can be kept with correct data, and the above problems in the prior art can be greatly avoided. Since in the rack exploration program, the transporter will move along each track, and no personnel are required to participate in the process of executing any step, so whether the position of any rack is changed, or a new rack is added beside any track, after the rack exploration program is executed, the rack information 61 in the database 6 will be automatically updated.

[0085] It is worth mentioning that in the situation where the central control device 2 has already executed a calibration program and the motor resolutions of each ordinary vehicle have been calibrated, the steps included in the above rack exploration program can be executed by the processing module of any one transporter.

[0086] In practice, according to the different space plans of each factory building, the shelf 5 can be arranged on the left side of the track 1, on the right side of the track 1, or there are shelves 5 on both the left and right sides of the track 1 relative to the track 1. Therefore, in one of the variation examples of this embodiment, each carrier 3 may include two detectors 35, and the two detectors 35 are respectively used to detect whether there are shelves on the left and right sides of the carrier 3, that is to say, the two detectors 35 may be respectively arranged on the left and right sides of the carrier 3. The shelf return information 322 also includes a direction data 3223. The direction data 3223 represents the direction of the shelf 5 relative to the carrier 3. Each piece of shelf information 61 in the database 6 also includes the direction data 3223.

[0087] Specifically, the two detectors arranged on the left and right sides of the carrier 3 can be respectively defined as a left detector and a right detector. When the processing module 32 receives the detection signal transmitted by the left detector and determines that there is a shelf 5 on the left side of the carrier 3, the direction data 3223 stored by the processing module 32 in the shelf return information 322 will include data content representing "left".

[0088] In practice, when any carrier 3 receives the movement information 21 and the shelf information 61 transmitted by the central control device 2, the processing module 32 of the carrier 3 can move to a specific shelf 5 according to the movement information 21 and the shelf information 61, and move the items carried on the carrier 3 to the shelf 5, or move the items on the shelf 5 to the carrier 3.

[0089] In practical applications, when the central control device 2 executes the shelf exploration program and the processing module 32 no longer receives the position of the detection signal 351, the processing module 32 will control the standard vehicle to stop, so that the standard vehicle stops at a position adjacent to the position where the processing module 32 receives the shelf end position data 3222.

[0090] As Figure 8 shown, in the query step S42, if the central control device 2 determines that there is no shelf information 61 including the shelf start position data 3221 and the shelf end position data 3222 stored in the database 6, the central control device 2 may first execute the following steps:

[0091] A reversing step S421: Control the standard vehicle to reverse at a predetermined slow speed, so that the position data 41 read by the reading device 33 when the detector 35 generates the detection signal 351 for the first time is recorded as the shelf end position data 3222, and when the detector 35 no longer generates the detection signal 351, the position data 41 read by the reading device 33 is recorded as the shelf start position data 3221, and while recording the shelf end position data 3222 or the shelf start position data 3221, the processing module 32 will also record the feedback value of the current encoder 341.

[0092] A second calculation step S422: using the two feedback values recorded by the processing module and the initial motor resolution of the standard vehicle to calculate a line distance;

[0093] A comparison step S423: calculating the difference between the travel distance and a preset shelf length to determine whether the difference falls within an error range;

[0094] If it is determined to be within the error range, a new shelf information 61 is stored in the database 6. The shelf information 61 includes the shelf start position data 3221 and the shelf end position data 3222.

[0095] If it is determined that the error range is not met, no new shelf information 61 is stored in the database 6, and the above-mentioned end determination step S44 is executed.

[0096] The design of the aforementioned reverse step S421, second calculation step S422, and comparison step S423 ensures that the processing module 32 will not store incorrect shelf information 61 in the database 6 due to a misjudgment by the detector 35. Specifically, in actual applications, the detector 35 may misjudge due to various factors. When a misjudgment occurs, the aforementioned reverse step S421, second calculation step S422, and comparison step S423 prevent the processing module 32 from generating the shelf information 61, and the database 6 will not store the shelf information 61.

[0097] Please also refer to Figure 1 、 Figure 9 and Figure 10 , Figure 9 It is a three-dimensional schematic diagram of the straight track and the curved track of the transport vehicle system of the present invention. Figure 10 Shown is a flow chart of a curve exploration procedure of the transport vehicle system of the present invention.

[0098] like Figure 1 and Figure 9As shown, part of the track is a straight track 11 and part is a curved track 12. Each track may include a body portion 1A and an extension portion 1B. The body portion 1A is used to provide rolling for the drive wheels of the carrier 3, and the extension portion 1B is a structure extended from the body portion 1A. The extension portion 1B is used to set the position marking member 4 and a curved track marking member 7.

[0099] Around each curved track 12, a curved track marking member 7 is provided. The curved track marking member 7 is provided throughout the entire section of the curved track 12. And a part of the curved track marking member 7 is provided at the position where the curved track 12 is connected to the straight track 11. Around the position where the straight track 11 is connected to the curved track 12, there are both the position marking member 4 and the curved track marking member 7. The standard vehicle is provided with a curved track detector 36. When the curved track detector 36 detects the curved track marking member 7, it will correspondingly generate a curved track signal 361.

[0100] In one specific embodiment, the curved track marking member 7 and the aforementioned position marking member 4 may be different components. For example, the curved track marking member 7 may be a reflective strip, RFID, etc., and the aforementioned position marking member 4 may be a barcode. The curved track marking member 7 is mainly used to enable the processing module 32 of the carrier 3 to know that the current position of the carrier 3 is in the curved track 12 or is about to enter the curved track 12.

[0101] In the embodiment where the curved track marking member 7 is a reflective strip, the curved track detector 36 may include a light emitter and a light receiver, and the reflective strip can reflect the light beam emitted by the emitter; when the light beam emitted by the light emitter is reflected by the reflective strip and received by the light receiver, the curved track detector 36 will correspondingly generate the curved track signal 361.

[0102] In practice, the traveling speed of the carrier 3 in the curved track 12 is lower than that in the straight track 11. Therefore, through the design of the curved track marking member 7 and the curved track detector 36, etc., the processing module 32 can adjust the traveling speed of the carrier 3 at an appropriate time.

[0103] In practical applications, before the transporter 3 enters the curved track 12, the processing module 32 will control a switching mechanism (i.e., what is commonly known in the industry as a handover mechanism or a steering mechanism) to switch the transporter from a straight-ahead state to a turning state. When the transporter is switched to the turning state, the transporter 3 will be able to move along the curved track 12 in an inclined state; conversely, when the transporter is in the straight-ahead state, the transporter will not exhibit an inclined state. Through the design of the switching mechanism, the transporter can exhibit an inclined state during the process of passing through the curved track 12, and one of the inner wheels and the outer wheels of the transporter does not contact the curved track 12. In this way, during the process of the transporter 3 passing through the curved track 12, the transporter 3 will not be prone to problems such as skidding due to the speed difference between the inner wheels and the outer wheels.

[0104] Continuing from the above, assuming that the transporter is prepared to pass through the intersection of the straight track 11 and the curved track 12 in a straight-ahead manner according to the movement information 21, the processing module 32 can keep the transporter 3 in the straight-ahead state. In this way, when the transporter 3 passes through this intersection, the transporter 3 will move along the straight track 11, and the transporter 3 will not move along the curved track 12.

[0105] In practice, the processing module 32 must control the switching mechanism to actuate before the transporter 3 enters the curved track 12, so that the switching mechanism can be switched to the turning state before the transporter 3 enters the curved track 12. Since it takes time for the processing module 32 to control the switching mechanism to switch states until the switching mechanism completes the state switching, the processing module 32 must control the switching mechanism to actuate before the transporter 3 enters the curved track 12, so that after the transporter 3 enters the curved track 12, the switching mechanism can correctly connect to the curved track 12, and the transporter 3 can pass through the curved track 12 in an inclined state.

[0106] As described above, for the processing module 32 of the transporter 3, it must accurately know the intersection position of the curved track 12 and the straight track 11. Only in this way can it control the switching mechanism to complete the switching operation before the transporter 3 enters the curved track 12. Then, after the transporter 3 enters the curved track 12, the switching mechanism will be able to smoothly make the transporter 3 exhibit an inclined state, and the transporter 3 can smoothly pass through the curved track 12 at the default speed.

[0107] Therefore, in order for the processing module 32 of the transporter 3 to more accurately know the junction position between the curved track 12 and the straight track 11, in practice, in addition to being provided throughout the entire section of the curved track 12, a part of the curved track marker 7 can also be provided on the straight track 11 connected to the curved track 12, and a part of the straight track 11 adjacent to the curved track 12 is provided with both the position marker 4 and the curved track marker 7. The position where the position marker 4 and the curved track marker 7 are provided simultaneously is the position where the processing module 32 needs to control the switching mechanism to switch the transporter 3 from the straight-ahead state to the turning state. In other words, when the processing module 32 determines that the transporter 3 is located at a position where both the position marker 4 and the curved track marker 7 are present, and the processing module 32 determines based on the movement information 21 that the transporter 3 needs to continue moving along the curved track 12, the processing module 32 will control the switching mechanism to switch the transporter 3 to the turning state.

[0108] As described above, to facilitate the processing module 32 of the transporter 3 to be able to control the switching mechanism at the correct position during the process of moving along the track according to the movement information 21, after the track is built, the central control device 2 can first execute a curved track exploration program so that the processing module 32 of the standard vehicle performs the following steps:

[0109] A third movement step S51: Move the standard vehicle along the track and turn on the curved track detector 36;

[0110] A judgment step S52: Judge whether the processing module 32 receives the curved track signal 361 transmitted by the curved track detector 36;

[0111] If it is determined that the curved track signal 361 is not received, the third movement step S51 is re-executed;

[0112] If it is determined that the curved track signal 361 is received, the following steps are executed:

[0113] A parking step S53: Control the standard vehicle to stop;

[0114] A search step S54: Move the standard vehicle forward or backward at a predetermined slow speed until the standard vehicle stops at a position where the curved track detector 36 can just detect the curved track marker 7;

[0115] A recording and storage step S55: Record the position data read by the recording and reading device 33 as a curved track position data, store the curved track position data in the database 6, and store each piece of curved track position data in the processing module of each transporter.

[0116] It is worth mentioning that in the searching step S54, when the standard vehicle is moving forward or backward, the vehicle speed can be gradually reduced so that the standard vehicle can accurately stop at the position where the curve detector can just detect the curve marking member 7.

[0117] As described above, through the design of the curve exploration program, each transport vehicle can store correct curve position data. Thereby, during the movement of each transport vehicle along the straight track and the curve track according to the movement information, when the processing module receives the position data read by the reading device and it is the same as the curve position data, the processing module can control the switching mechanism to switch the transport vehicle from the straight running state to the turning state, so that the transport vehicle can smoothly pass through the curve track.

[0118] In the embodiment where the curve marking member 7 is only arranged on the curve track 12 and not on the straight track 11, in order to enable the processing module 32 to reduce (or increase) the vehicle speed of the transport vehicle in advance and smoothly control the switching mechanism to change the transport vehicle from the straight running state to the turning state (or from the turning state to the straight running state), in the recording and storing step S55, the first N position data (or the last N position data) of the position data read by the reading device 33 can be used as the curve position data. With such a design, before the transport vehicle enters the curve track, the processing module can determine that the transport vehicle is about to enter the curve track by reading the curve position data through the reading device. At this time, the processing module can control the switching mechanism to switch the transport vehicle from the straight running state to the turning state, and the processing module can reduce the vehicle speed of the transport vehicle. Similarly, before the transport vehicle is about to leave the curve track, the processing module will read the curve position data in advance through the reading device, and the processing module can control the switching mechanism to switch the transport vehicle from the turning state to the straight running state, and the processing module can increase the vehicle speed of the transport vehicle. The above-mentioned N can be any number greater than 0, and is not limited herein.

[0119] In summary, for the forklift truck system and the method for correcting the motor resolution of the forklift truck of the present invention, after the relevant personnel complete the construction of the track in the factory building, the calibration of each forklift truck can be completed relatively quickly, so that each forklift truck can correctly move to the designated position according to the movement information transmitted by the central control device. Moreover, during the calibration process of each forklift truck, basically no human intervention is required. Through the design of the track exploration program and the shelf exploration program, the forklift truck system of the present invention enables the central control device and each forklift truck to correctly know the length of each track and the position of each shelf. Thereby, each forklift truck can correctly move to the designated position and can effectively use each shelf. Through the design of the bend exploration program, the forklift truck system of the present invention enables the processing module of the forklift truck to switch the forklift truck to the straight state or the turning state through the switching mechanism before entering each bend track, so that the forklift truck can smoothly enter or leave the bend track.

[0120] The above are only the preferred and feasible embodiments of the present invention, and do not limit the patent scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention.

Claims

1. A method for correcting the resolution of a motor of a carrier vehicle, characterized in that, The method for correcting the motor resolution of the transporter is applicable to correcting an initial motor resolution respectively stored in N - 1 transporters in a transporter system. The transporter system includes N transporters, a central control device, and multiple tracks. Each transporter has a processing module, and the initial motor resolution is stored in the processing module. One of the transporters is defined as a standard vehicle, and the remaining transporters are defined as ordinary vehicles; the central control device can control any one of the transporters to move along any one of the tracks; the method for correcting the motor resolution of the transporter includes at least one actual length acquisition procedure and N - 1 correction procedures; Wherein, when the standard vehicle is located at a starting position of one of the straight tracks, and a reading device of the standard vehicle reads a starting position marking member arranged around the starting position, the actual length acquisition procedure will be executed, and the processing module of the standard vehicle will execute the following steps: A first initial step: zero the feedback value of an encoder of a servo motor of the standard vehicle; A first moving step: control the standard vehicle to move along the straight track, and when the reading device of the standard vehicle reads an end position marking member arranged around an end position of the straight track, record an end feedback value of the encoder, and control the standard vehicle to stop; An actual track length calculation step: multiply the initial motor resolution of the standard vehicle by the end feedback value to calculate an actual track length of the straight track; Wherein, when the ordinary vehicle is located at the starting position of the straight track, and the reading device of the ordinary vehicle reads the starting position marking member, one of the correction procedures will be executed, and the processing module of the ordinary vehicle will first execute a moving program a predetermined number of times and then execute a correction step: the predetermined number is greater than 10 times; The moving program includes the following steps: A second initial step: zero the feedback value of the encoder of the ordinary vehicle; A second moving step: control the ordinary vehicle to move along the straight track, and when the reading device of the ordinary vehicle reads the end position marking member, record an end feedback value of the encoder, and control the ordinary vehicle to stop; An actual motor resolution calculation step: divide the actual track length by the end feedback value to calculate an actual motor resolution of the ordinary vehicle; wherein, the correction step is: remove the outliers from multiple actual motor resolutions, and use the remaining multiple actual motor resolutions for averaging to calculate an average motor resolution, and store the average motor resolution in the processing module of the ordinary vehicle to replace the initial motor resolution in the processing module of the ordinary vehicle; Among them, when the central control device controls any one of the ordinary vehicles to move a predetermined distance on any one of the tracks, the processing module first divides the predetermined distance by the average motor resolution to calculate an operating pulse number, and then controls the servo motor according to the operating pulse number, so that the ordinary vehicle can travel the predetermined distance along the track; where N is a positive integer not less than 2.

2. The method for calibrating the resolution of the electric motor of the transporter according to claim 1, wherein The actual track length obtaining program is executed M times, and after the actual track length obtaining program is executed M times, an actual track length averaging step is first executed, and then N-1 correction programs are executed; the actual track length averaging step is: averaging the M actual track lengths obtained after the actual track length obtaining program is executed M times; where M is a positive integer greater than 1.

3. The motor resolution correction method for the carrier vehicle according to claim 1, characterized in that, In the first moving step, the control device controls the servo motor of the standard vehicle to move from the starting position to the ending position along the linear track at a predetermined low speed and a predetermined high acceleration; the predetermined low speed is not greater than 100 millimeters per second, and the predetermined high acceleration is not less than 1000 millimeters per second squared.

4. The method for correcting the resolution of the motor of the transporter according to claim 1, characterized in that, After the actual motor resolution calculation step, the processing module controls the servo motor to move the ordinary vehicle along the linear track from the ending position to the starting position until the reading device of the ordinary vehicle reads the starting position marker, and then the processing module controls the ordinary vehicle to stop, and the processing module will continue to execute the next second moving step.

5. A transporter system, characterized in that, Including: Multiple tracks, which are used to be installed in a factory building; N-1 handling vehicles, each handling vehicle includes a processing module, and an initial motor resolution is stored in the processing module; one of the handling vehicles is defined as a standard vehicle, and the rest of the handling vehicles are defined as ordinary vehicles; where N is a positive integer not less than 2; A central control device, which can control any one of the handling vehicles to move along any one of the tracks; Among them, the central control device can execute a method for correcting the motor resolution of a handling vehicle, and the method for correcting the motor resolution of the handling vehicle includes at least one actual length obtaining program and N-1 correction programs; Among them, when the standard vehicle is located at a starting position of one of the linear tracks, and a reading device of the standard vehicle reads a starting position marker set around the starting position, the actual length obtaining program will be executed, and the processing module of the standard vehicle will execute the following steps: A first initial step: zero the feedback value of an encoder of a servo motor of the handling vehicle; A first moving step: control the standard vehicle to move along the linear track, and when the reading device of the standard vehicle reads an ending position marker set around an ending position of the linear track, record an ending feedback value of the encoder, and control the standard vehicle to stop; A step for calculating the actual track length: multiplying the initial motor resolution of the standard vehicle by the end feedback value to calculate an actual track length of the linear track; Wherein, when the ordinary vehicle is located at the starting position of the linear track, and the reading device of the ordinary vehicle reads the starting position marker, one of the calibration procedures will be executed, and the processing module of the ordinary vehicle will first execute a movement program a predetermined number of times and then execute a calibration step: the predetermined number of times is greater than 10 times; The movement program includes the following steps: A second initial step: zeroing the feedback value of the encoder of the ordinary vehicle; A second movement step: controlling the ordinary vehicle to move along the linear track, and when the reading device of the ordinary vehicle reads the end position marker, recording an end feedback value of the encoder and controlling the ordinary vehicle to stop; A step for calculating the actual motor resolution: dividing the actual track length by the end feedback value to calculate an actual motor resolution of the ordinary vehicle; wherein, the calibration step is: removing the outliers from multiple actual motor resolutions, and averaging the remaining multiple actual motor resolutions to calculate an average motor resolution, and storing the average motor resolution in the processing module of the ordinary vehicle to replace the initial motor resolution in the processing module of the ordinary vehicle; Wherein, when the central control device controls any one of the ordinary vehicles to move a predetermined distance on any one of the tracks, the processing module first divides the predetermined distance by the average motor resolution to calculate an operating pulse number, and then controls the servo motor according to the operating pulse number so that the ordinary vehicle can travel the predetermined distance along the track.

6. The transporter system according to claim 5, characterized in that, In the first movement step, the control device controls the servo motor of the standard vehicle to move from the starting position to the end position along the linear track at a predetermined low speed and a predetermined high acceleration; the predetermined low speed is not greater than 100 mm / s, and the predetermined high acceleration is not less than 1000 mm / s².

7. The carrier system according to claim 5, characterized in that After the step for calculating the actual motor resolution, the processing module controls the servo motor, and makes the ordinary vehicle move from the end position to the starting position along the linear track until the reading device of the ordinary vehicle reads the starting position marker, then the processing module controls the ordinary vehicle to stop, and the processing module will continue to execute the next second movement step.

8. The forklift truck system according to claim 5, characterized in that An initial position indicator and a end position indicator are respectively arranged at the starting position and the end position of each of the described tracks; at least one of the central control device and the processing modules of each of the standard vehicles pre-stores a known track information, and the known track information includes an initial position data, an end position data and a length data of each of the tracks; after the central control device executes the motor resolution correction method of the transfer vehicle, the central control device can execute a track exploration program to enable the processing module of the standard vehicle to perform the following steps: A first control step: According to the known track information, control the standard vehicle to travel along each of the tracks, and record a feedback value of the encoder when the standard vehicle reads the initial position indicator or the end position indicator of each of the tracks; A first calculation step: Using the multiple feedback values obtained in the first control step and the initial motor resolution of the standard vehicle, calculate an actual track length explored by the standard vehicle for each of the tracks traveled in the first control step; A first update step: Replace the multiple length data in the known track information with the multiple actual track lengths explored; A second update step: Transmit all the actual track lengths explored to the central control device, so that the central control device updates the length data in the known track information stored in the remaining all transfer vehicles.

9. The transporter system according to claim 5, characterized in that, A position indicator is arranged at each of the tracks at intervals of a preset section, and the reading device of each of the transfer vehicles can read the position indicator to generate a position data; the central control device can determine the position of the transfer vehicle on the track according to the position data transmitted by the transfer vehicle; each of the transfer vehicles is further provided with at least one detector for detecting whether there is a shelf around the transfer vehicle, and when the detector detects that there is a shelf around the transfer vehicle, a detection signal will be generated; the central control device can execute a shelf exploration program to enable the processing module of the standard vehicle to perform the following steps: A second control step: Control the standard vehicle to travel along each of the tracks; during the process of the transfer vehicle traveling along the track, when the processing module receives the detection signal, the processing module will record the position data read by the reading device as a shelf start position data, and when the detector no longer transmits the detection signal, the processing module will record the position data read by the reading device as a shelf end position data, and the processing module will transmit a shelf return information to the central control device, and the shelf return information includes the shelf start position data and the shelf end position data; When the central control device receives the shelf return information, the central control device will perform the following steps: A query step: According to the shelf start position data and the shelf end position data, check whether there is a shelf information in a database connected to the central control device that includes the shelf start position data and the shelf end position data; If the central control device determines that the database does not store the shelf information that includes the shelf start position data and the shelf end position data, then in the database, store a new piece of the shelf information, and the new shelf information includes the shelf start position data and the shelf end position data.

10. The carrier system according to claim 9, characterized in that, Each transporter includes two of the detectors, and the two detectors are respectively used to detect whether the shelf appears on the left and right sides of the transporter; the shelf return information also includes a direction data; the direction data represents the direction of the shelf relative to the transporter; each piece of the shelf information in the database also includes the direction data.

11. The forklift truck system according to claim 9, characterized in that, When the central control device executes the shelf exploration program, when the processing module no longer receives the detection signal, the processing module will control the standard vehicle to stop, so that the standard vehicle stops at a position adjacent to the position where the processing module receives the shelf end position data; in the query step, if the central control device determines that the database does not store the shelf information that includes the shelf start position data and the shelf end position data, the central control device will first execute the following steps: A reverse step: Control the standard vehicle to slowly reverse backward at a predetermined speed, record the position data read by the reading device when the detector first generates the detection signal as the shelf end position data, and record the position data read by the reading device when the detector no longer generates the detection signal as the shelf start position data; when recording the shelf end position data or the shelf start position data, the processing module will also record the current feedback value of the encoder; A second calculation step: Use the two feedback values recorded by the processing module and the initial motor resolution of the standard vehicle to calculate a travel distance; A comparison step: Calculate whether the difference between the travel distance and a preset shelf length meets an error range; If it is determined that the error range is met, then in the database, store a new piece of the shelf information, and the shelf information includes the shelf start position data and the shelf end position data; If it is determined that the error range is not met, then do not store a new piece of the shelf information in the database.

12. The transporter system according to claim 5, characterized in that, Part of the tracks are curved tracks, and each of the curved tracks is provided with a curved track marking piece. The entire section of the curved track is provided with the curved track marking piece. The standard vehicle is provided with a curved track detector, and the curved track detector can generate a curved track signal when detecting the curved track marking piece; the central control device can execute a curved track exploration program, so that the processing module of the standard vehicle executes the following steps: A third moving step: moving the standard vehicle along the track and turning on the curve detector; wherein, when the processing module receives the curve signal transmitted by the curve detector, the following steps are executed: A parking step: controlling the standard vehicle to stop; A searching step: moving the standard vehicle forward or backward at a predetermined slow speed until the standard vehicle stops at a position where the curve detector can just detect the curve marking member; A recording and storing step: recording the position data read by the reading device, taking the position data as a curve position data, and storing the curve position data in a database connected to the central control device; Wherein, when the handling vehicle moves to the position of the curve marking member corresponding to any one of the curve position data transmitted by the central control device, the processing module of the handling vehicle can control a switching mechanism to enable the handling vehicle to switch between a straight running state and a turning state.

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