Method and system for establishing carrier field map information

Abstract

The invention discloses a carrier field map information establishing method and a carrier system. According to the carrier field map information establishing method, a central control device controls a carrier to advance along a track and road sections one by one according to road section information and end point information which are pre-stored in a database. In the moving process of the carrying vehicle, the position data read by the carrying vehicle are updated to the corresponding end point information through a sensor and a reader of the carrying vehicle. Through the field domain graph information establishing method of the carrier, the central control device and the carrier can be matched with each other so as to automatically perfect data in information of each road section and information of each endpoint.

Description

Technical Field

[0001] The present invention relates to a method for establishing map data and a forklift truck system, and particularly to a method for establishing map data of a forklift truck yard and a forklift truck system including a central control device capable of executing the method for establishing map data of the forklift truck yard. Background Art

[0002] In the prior art, during the process of building an Overhead Hoist Transfer (OHT) system, it is necessary to manually control the forklift truck to move section by section on the track to obtain the positioning data set on the track, and use the manual copying method to record the relationship between the positioning data and the sections. Finally, manually input the recorded data into the database in a manual manner to establish the correspondence between each section of the track and the positioning data. This method is not only time-consuming and laborious but also prone to errors. The above process is what the industry commonly calls the field map data establishment operation. Summary of the Invention

[0003] The present invention discloses a method for establishing map data of a forklift truck yard and a forklift truck system, mainly used to improve the problem that during the process of building an overhead walking type unmanned forklift truck system in the prior art, it is necessary to rely on manpower to establish data in the database, resulting in time-consuming, laborious and error-prone problems.

[0004] One embodiment of the present invention discloses a method for establishing map data of a handling yard, which is applicable to be executed by a central control device of a handling vehicle system. The handling vehicle system includes a central control device, multiple handling vehicles, multiple tracks, P section endpoint marking units, and multiple position units. The central control device can control any handling vehicle to move on any track. The multiple tracks form N sections. A position unit and a section endpoint marking unit are provided at the starting position of each section. A position unit and a section endpoint marking unit are provided at the ending position of each section. Between the starting position and the ending position of at least a part of the sections, a position unit is provided at every preset distance. The central control device is connected to a database. The database stores N pieces of section information corresponding to the N sections, and the database stores P pieces of endpoint information corresponding to the P section endpoint marking units. Each piece of section information includes a starting point name and an ending point name. Each piece of endpoint information includes an endpoint name. The starting point name in each piece of section information is the same as the endpoint name in one piece of endpoint information. The ending point name in each piece of section information is the same as the endpoint name in one piece of endpoint information. When the handling vehicle is in front of the starting position of a preset section, the central control device can execute the method for establishing map data of the handling yard. When the central control device executes the method for establishing map data of the handling yard, it executes the map data update program Q times. Each time the map data update program is executed, the following steps are performed: A judgment step: Judge whether it is the first time to execute the map data update program. If the central control device is executing the map data update program for the first time, define the section information corresponding to the preset section as a current section information, and define one piece of endpoint information as a current endpoint information. The endpoint name of the current endpoint information is the same as the starting point name of the current section information. If the central control device is not executing the map data update program for the first time, find out a piece of section information according to the ending point name of the current section information, replace the current section information with the found section information, and find out a piece of endpoint information according to the starting point name of the found section information, and replace the current endpoint information with the found endpoint information. The starting point name of the found section information is the same as the ending point name of the current section information. The endpoint name of the found endpoint information is the same as the starting point name of the found section information. A movement step: Control the handling vehicle to move forward until a sensor of the handling vehicle senses the next section endpoint marking unit, and then control the handling vehicle to stop. A recording step: Use a reader of the handling vehicle to read the position units around the handling vehicle to obtain a position data, and store the position data in the current endpoint information. Wherein, N, P, and Q are positive integers greater than 0, and N≥Q. Wherein, when all the endpoint information already includes position data, the central control device will end the map data update program.

[0005] Optionally, during the recording step, if the central control device fails to obtain the position data, the central control device will perform a warning operation and end the current map data update program.

[0006] Optionally, after the central control device performs the recording step for the second time and subsequent times, the following steps are also executed: A calculation step: Calculate a road segment length based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; A length recording step: Store the road segment length in the current road segment information of the previous time.

[0007] Optionally, when a processor of the transport vehicle receives a sensing signal generated by the sensor sensing the road segment endpoint marking unit, it will also record a real-time feedback value of a servo motor of the transport vehicle; after the central control device performs the recording step for the second time and subsequent times, the following steps are also executed: A calculation step: Calculate a road segment length based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; A length recording step: Store the road segment length in the current road segment information of the previous time.

[0008] Optionally, when a processor of the transport vehicle receives a sensing signal generated by the sensor sensing the road segment endpoint marking unit, it will also record a real-time feedback value of a servo motor of the transport vehicle; each road segment is classified as a straight road segment or a turning road segment, and a position unit is set at intervals of a default distance between the starting position and the ending position of each straight road segment, and no position unit is set between the starting position and the ending position of each turning road segment; during the moving step, if a position unit is set around the road segment, the reader will continuously read the position data in the position unit, and the processor will record the position data; after the central control device performs the recording step for the second time and subsequent times, the following steps are also executed: A road segment type judgment step: Judge whether the transport vehicle records multiple pieces of position data during the moving step; if it is determined that multiple pieces of position data are recorded, calculate a road segment length based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; if it is determined that multiple pieces of position data are not recorded, calculate a road segment length based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; A length recording step: Store the road segment length in the current road segment information of the previous time.

[0009] Optionally, between the determination step and the movement step, the following steps are further included: A confirmation step: determining whether the current road segment information already includes the road segment length; if it is determined that the road segment length is not included, the movement step is executed; if it is determined that the road segment length is already included, the following steps are executed: A transporter update step: storing the road segment information with the road segment length already stored in the database and the endpoint information with the position data already stored in the database in a memory of each transporter; wherein, after multiple road segment information and multiple endpoint information are stored in the memory of the transporter, the processor of each transporter can control the transporter to move on the track at a normal speed, and the processor can determine whether the transporter has reached a designated position of a movement information transmitted by the central control device based on the position data in the position unit read by the reader.

[0010] Optionally, the transporter further includes a steering mechanism, and the processor can control the steering mechanism to switch between at least two states; the position where multiple road segments intersect is defined as a divergence position; when the steering mechanism of the transporter is in one of the states, after the transporter passes through a divergence position, it will move along one of the road segments, and when the steering mechanism of the transporter is in the other state, after the transporter passes through the same divergence position, it will move along another road segment; each road segment information further includes a steering data, and the steering data is used to indicate whether the transporter goes straight, turns left or turns right when passing through the road segment; in the movement step of each map data update program, the transporter moves at a exploration speed, and the normal speed is greater than the exploration speed; after the transporter update step, the following steps are further included: A search step: searching in the database for one piece of road segment information that does not include the road segment length, and searching for one piece of endpoint information with the starting point name of the found road segment information, the endpoint name of the found endpoint information being the same as the starting point name of the found road segment information, and replacing the current road segment information with the found road segment information and replacing the current endpoint information with the found endpoint information; A fast movement step: controlling the transporter to move to the position corresponding to the position data in the current endpoint information; A conversion step: controlling the steering mechanism of the transporter to switch to the corresponding state according to the steering data of the current road segment information, and then continuing to execute the movement step.

[0011] One embodiment of the present invention discloses a transporter system, which includes: multiple tracks, and the multiple tracks form N sections; multiple section end point marking units, with a section end point marking unit respectively set at the starting position and the ending position of each section; multiple position units, with a position unit respectively set at the starting position and the ending position of each section, and a position unit is set at every preset distance between the starting position and the ending position of each section; a central control device, which is connected to a database, the database stores N pieces of section information corresponding to the N sections, and the database stores P pieces of end point information corresponding to the P section end point marking units; each piece of section information includes a starting point name and an ending point name, and each piece of end point information includes an end point name; the starting point name in each piece of section information is the same as the end point name in one piece of end point information, and the ending point name in each piece of section information is the same as the end point name in one piece of end point information; multiple transporters, each of which respectively includes a processor, a driving module, a sensor and a reader; the processor is communicatively connected to the central control device; the processor can control the driving module to make the transporter move along the track; the sensor can sense the section end point marking unit to generate a sensing signal; the reader can read any position unit to obtain a position data; wherein, when the transporter is located in front of the starting position of a preset section, the central control device can execute a method for establishing the map data of the transporter yard.

[0012] Optionally, in the recording step, if the central control device fails to obtain the position data, the central control device will execute a warning operation and end the current map data update program.

[0013] Optionally, after the central control device executes the recording step for the second time and every time thereafter, the following steps are further executed: a calculation step: calculate a section length based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; a length recording step: store the section length in the current section information of the previous time.

[0014] Optionally, when the processor of the transporter receives the sensing signal, it will also record a real-time feedback value of a servo motor of the transporter; after the central control device executes the recording step for the second time and every time thereafter, the following steps are further executed: a calculation step: calculate a section length based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; a length recording step: store the section length in the current section information of the previous time.

[0015] Optionally, when the processor of the transporter receives a sensing signal, it also records a real-time feedback value of a servo motor of the transporter; any section of the road is classified as a straight section or a turning section. Between the starting position and the ending position of each straight section, a position unit is set at intervals of a default distance. Between the starting position and the ending position of each turning section, no position unit is set; in the moving step, if there are position units around the section of the road, the reader will continuously read the position data in the position units, and the processor will record the position data; after the central control device executes the recording step for the second time and subsequent times, the following steps are also executed: a road section type judgment step: judging whether the transporter has recorded multiple pieces of position data in the moving step; if it is determined that multiple pieces of position data have been recorded, then according to the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor, a road section length is calculated; if it is determined that multiple pieces of position data have not been recorded, then according to the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor, a road section length is calculated; a length recording step: storing the road section length in the current road section information of the previous time.

[0016] Optionally, between the judgment step and the moving step, the following steps are further included: a confirmation step: judging whether the current road section information already includes the road section length; if it is determined that the road section length is not included, then the moving step is executed; if it is determined that the road section length is already included, then the following steps are executed: a transporter update step: storing the road section information in the database that already stores the road section length, and the endpoint information in the database that already stores the position data, in a memory of each transporter; wherein, after multiple pieces of road section information and multiple pieces of endpoint information are stored in the memory of the transporter, the processor of each transporter can control the transporter to move on the track at a normal speed, and the processor can judge whether the transporter has reached a specified position of a movement information transmitted by the central control device according to the position data in the position units read by the reader.

[0017] Optionally, the transporter further includes a steering mechanism, and the processor can control the steering mechanism to switch between at least two states; the position where multiple road segments intersect is defined as a divergence position; when the steering mechanism of the transporter is in one of the states, after the transporter passes through a divergence position, it will move along one of the road segments, and when the steering mechanism of the transporter is in the other state, after the transporter passes through the same divergence position, it will move along another road segment; each piece of road segment information further includes a steering data, and the steering data is used to indicate whether the transporter goes straight, turns left or turns right when passing through the road segment; in the moving step of each map data update process, the transporter moves at a exploration speed, and the normal speed is greater than the exploration speed; after the transporter update step, the following steps are further included: a searching step: search in the database for a piece of road segment information that does not include the road segment length, and use the starting point name of the found road segment information to search for a piece of endpoint information, and the endpoint name of the found endpoint information is the same as the starting point name of the found road segment information, and replace the current road segment information with the found road segment information, and replace the current endpoint information with the found endpoint information; a fast moving step: control the transporter to move to the position corresponding to the position data in the current road segment information; a conversion step: according to the steering data of the current road segment information, control the steering mechanism of the transporter to switch to the corresponding state, and then continue to execute the moving step. The design of the searching step, the moving step, and the recording step can enable the central control device and the transporter to cooperate with each other to automatically complete the update of each piece of endpoint information.

[0018] 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

[0019] Figure 1 It is a schematic diagram of the usage state of the transporter system of the present invention.

[0020] Figure 2 It is another schematic diagram of the usage state of the transporter system of the present invention.

[0021] Figure 3 It is a block diagram of the transporter system of the present invention.

[0022] Figure 4 It is a flowchart of the first embodiment of the method for establishing the map data of the transporter yard of the present invention.

[0023] Figure 5 It is a flowchart of the second embodiment of the method for establishing the map data of the transporter yard of the present invention.

[0024] Figure 6It is a flowchart of the third embodiment of the method for establishing map data of the handling yard of the present invention. Detailed implementation manners

[0025] In the following description, if it is pointed out to refer to a specific drawing or as shown in a specific drawing, 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 that specific drawing can be referred to in the subsequent description.

[0026] Please refer to Figures 1 to 3 , Figure 1 which is a schematic diagram of the usage state of the handling vehicle system of the present invention, Figure 2 which is another schematic diagram of the usage state of the handling vehicle system of the present invention, Figure 3 which is a block diagram of the handling vehicle system of the present invention. The handling vehicle system 100 of the present invention includes multiple tracks, a central control device 1, multiple position units, P section endpoint marking units, and multiple handling vehicles 3. For the convenience of description, in the drawings of this embodiment, only a single handling vehicle 3 is shown.

[0027] The multiple tracks form N sections. A single section can cover an entire track, a part of a track, at least a part of more than one track, etc., and can be designed according to actual needs, and is not limited herein. The N sections are connected to each other to form a closed path.

[0028] The central control device 1 is connected to a database 2. The central control device 1 is, for example, a server, an industrial computer, etc. The database 2 can be stored in a hard disk, a server, etc., for example. The database 2 stores N pieces of section information 21 corresponding to the N sections, and the database 2 stores P pieces of endpoint information 22 corresponding to the P section endpoint marking units. Each piece of section information 21 includes a starting point name 211 and an ending point name 212, and each piece of endpoint information 22 includes an endpoint name 221. The starting point name 211 in each piece of section information 21 is the same as the endpoint name 221 of one piece of endpoint information 22, and the ending point name 212 in each piece of section information 21 is the same as the endpoint name 221 of one piece of endpoint information 22.

[0029] A position unit and a section endpoint marking unit are respectively arranged at the starting point position and the ending point position of each section, and a position unit is arranged at every preset distance between the starting point position and the ending point position of each section.

[0030] Each transporter 3 includes a processor 31, a drive module 32, a sensor 33, and a reader 34. The processor 31 is communicatively connected to the central control device 1. The processor 31 can control the drive module 32 to move the transporter 3 along the track. The sensor 33 can sense the section endpoint marking unit to generate a sensing signal 331. The reader 34 can read the position unit to obtain a position data 341. Each position unit is, for example, various barcodes, and the position data 341 is the barcode value (i.e., the barcode value), but it is not limited thereto. In different embodiments, the section endpoint marking unit can also be a Radio-frequency identification (RFID) tag, etc., any component that can store data and the data can be read.

[0031] A section endpoint marking unit is respectively arranged at the starting position and the ending position of each section. Therefore, when the processor 31 of the transporter 3 receives the sensing signal 331 of the sensor 33, the processor 31 can know thereby that the transporter is currently located at the starting position or the ending position of a certain section.

[0032] When the tracks in the factory building have been built, but the section information in the database 2 has not been updated yet, it can be to first place the transporter 3 before the starting position of a preset section, and then make the central control device 1 execute the method for establishing the field map data of the transporter yard of the present invention. It should be noted that the transporter 3 being before the starting position of the preset section means that the transporter 3 is close to the starting position but has not reached the starting position. For example, assuming that section A is connected to section B, and the preset section is section B, when the transporter is located in section A and is adjacent to the starting position of section B (i.e., the ending position of section A), the central control device 1 can execute the method for establishing the field map data of the transporter yard of the present invention. The field map data referred to herein refers to section information and endpoint information, and the method for establishing the field map data of the transporter yard of the present invention is used to improve each section information and each endpoint information.

[0033] When the central control device 1 executes the method for establishing the field map data of the transporter yard, it executes the map data update program Q times. Each time the map data update program is executed, the following steps are performed:

[0034] A judgment step S1: Judge whether it is the first time to execute the map data update program;

[0035] If the central control device is executing the map data update program for the first time, then the following steps are performed:

[0036] An initialization step S11: Define the section information corresponding to the default section as the current section information, and define one piece of endpoint information as the current endpoint information; the endpoint name of the current endpoint information is the same as the starting point name of the current section information;

[0037] If the central control device does not execute the map data update program for the first time, the following steps are executed:

[0038] A replacement step S12: According to the end point name of the current road section information, find a piece of road section information, and replace the current road section information with the found road section information. And according to the start point name of the found road section information, find a piece of the end point information, and replace the current end point information with the found end point information; the start point name 211 of the found road section information is the same as the end point name of the current road section information; the end point name of the found end point information is the same as the start point name of the found road section information.

[0039] After the initialization step S11 or the replacement step S12, the following steps are executed:

[0040] A movement step S2: Control the carrier vehicle to move forward until a sensor of the carrier vehicle senses the next road section end point marking unit, and then control the carrier vehicle to stop;

[0041] A recording step S3: Use a reader of the carrier vehicle to read the position unit around the carrier vehicle to obtain a position data, and store the position data in the current end point information.

[0042] Wherein, N, P, and Q are positive integers greater than 0, and N≥Q.

[0043] Wherein, when all the end point information 22 already contains the position data 341, the central control device will end the map data update program.

[0044] In practical applications, in the recording step S3, if the central control device 1 fails to obtain the position data 341 from the carrier vehicle 3, the central control device 1 will execute a warning operation to prompt the user to go for maintenance and end the current map data update program. When the central control device 1 executes the warning operation, the central control device 1 can, for example, control the carrier vehicle 3 to emit sound, light, etc. to prompt the user to go for maintenance. When the central control device 1 executes the warning operation, the central control device 1 can also transmit a warning message to an external electronic device (such as a computer, a mobile phone, etc.), and relevant personnel can view the warning message on the external electronic device to know that an abnormality has occurred during the process of the carrier vehicle performing the map data update program.

[0045] For example, such as Figure 1As shown, it is assumed that the central control device 1 executes the map data update program for the first time, and the transport vehicle 3 is adjacent to the starting position of section R02. Tables 1 and 2 below respectively show three pieces of section information 21 and three pieces of endpoint information 22 pre-stored in the database 2. After the central control device 1 performs the judgment step S1, it will execute the initialization step S11. The section information numbered R2 in Table 1 below will be defined as the current section information, and the endpoint information numbered P2 in Table 2 below will be defined as the current endpoint information. In practical applications, the position data of each endpoint information 22 in Table 2 below can also be defaulted to 0 or null. In practice, the various section information 21 and various endpoint information 22 respectively shown in Tables 1 and 2 below are map data pre-stored in the database 2. Therefore, the multiple pieces of section information 21 and the multiple pieces of endpoint information 22 can be referred to as preliminary map data information.

[0046] Table 1:

[0047] Number Section Name Starting Point Name End Point Name R1 R01 P01 P02 R2 R02 P02 P03 R3 R03 P03 P04

[0048] Table 2:

[0049] Number Endpoint Name Location Data P1 P01 P2 P02 P3 P03

[0050] As Figure 1 shown, after the movement step S2, the transport vehicle 3 will move to the starting position of section R02 (i.e., the endpoint P02 marked in the figure), and the central control device 1 will store the position data read by the reader 34 of the transport vehicle 3 in the current endpoint information 22. Table 2 below will be updated to Table 3 below. In this way, the central control device 1 will complete the first map data update program.

[0051] Table 3:

[0052]

[0053]

[0054] As Figure 2 shown, when the central control device 1 continues to execute the second map data update program, after the judgment step S1, it will execute the replacement step S12. The central control device 1 will search for the section information numbered R3 in Table 1 based on the end point name (P03) of the current section information (the section information numbered R2 in Table 1), and define the section information numbered R3 as the current section information. The central control device 1 will search for the endpoint information 22 numbered P3 in Table 2 based on the start point name (P03) of the section information numbered R3 (the replaced current section information), and define the endpoint information numbered P3 as the current endpoint information.

[0055] Next, after the central control device 1 sequentially executes the moving step S2 and the recording step S3, the carrier vehicle 3 will move to the starting position of section R03 (which is also the ending position of section R012), and the central control device 1 will store the position data read by the reader of the carrier vehicle 3 in the endpoint information 22 numbered P3, and the above table 3 will be updated to the following table 4. In this way, the central control device 1 will complete the second map data update program.

[0056] Table 4:

[0057] Number Endpoint Name Location Data P1 P01 P2 P02 10002 P3 P03 10003

[0058] As described above, in the method for establishing the map data of the carrier vehicle yard of the present invention, through the above-mentioned judgment step S1, initialization step S11, replacement step S12, moving step S2 and recording step S3, the carrier vehicle can automatically complete the update of the position data in each endpoint information.

[0059] In the prior art, after the track is built, relevant personnel must stand under the carrier vehicle, control the carrier vehicle to walk section by section, and record the position data read by the reader of the carrier vehicle in a manual copying manner. This method is not only time-consuming and laborious, but also prone to errors.

[0060] Please also refer to Figure 3 and Figure 5 , Figure 5 is a flowchart of the second embodiment of the method for establishing the map data of the carrier vehicle yard of the present invention. One difference between this embodiment and the previous embodiment is that when the processor 31 of the carrier vehicle 3 receives the sensing signal 331, it will also record a real-time feedback value 3211 of a servo motor 321 of the carrier vehicle 3. Any section is classified as a straight section or a turning section. Between the starting position and the ending position of each straight section, a position unit is set at intervals of a default distance. Between the starting position and the ending position of each turning section, no position unit is set. In the moving step S2, if a position unit is set around the section, the reader 34 of the carrier vehicle 3 will continuously read the position data 341 in the position unit, and the processor 31 will record the position data 341. As Figure 3 shown, in this embodiment, the carrier vehicle 3 is provided with a steering mechanism 36, and the processor 31 can control the steering mechanism 36 to switch between at least two states.

[0061] One difference between this embodiment and the previous embodiment is that when the central control device 1 executes the map data update program for the second time and after the second time, after the central control device 1 executes the recording step S3 each time, it also executes the following steps:

[0062] A section type determination step S4: Determine whether multiple position data are recorded during the movement step S2 of the transport vehicle;

[0063] If it is determined that multiple position data are recorded, then perform the following steps:

[0064] A first length calculation step S41: Calculate a section length based on the position data obtained in the recording step S3 and the position data obtained in the previous execution of the recording step S3. As described in the foregoing embodiments, since the starting point name 211 of the current section information is the same as the end point name 221 of the current end point information, and the starting point name 211 of the current section information is the same as the end point name 212 of the previous current section information, and the end point name 221 of the previous end point information is the same as the starting point name 211 of the previous current section information, therefore, the central control device 1 obtains the position data in the previous current end point information (i.e., the position data obtained in the previous execution of the recording step S3) through simple query.

[0065] If it is determined that multiple position data are not recorded, then perform the following steps:

[0066] A second length calculation step S42: Calculate a section length based on the real-time feedback value recorded in the recording step S3, the real-time feedback value recorded in the previous execution of the recording step S3, and a motor resolution of the servo motor. Calculating the section length using two real-time feedback values and the motor resolution belongs to the prior art and will not be elaborated herein.

[0067] A length recording step S5: Store the section length in the previous current section information.

[0068] Briefly speaking, when the transport vehicle 3 is moving in a straight line during the movement step S2, the central control device 1 will calculate the section length of the straight line section using the position data corresponding to the starting position and the ending position of the straight line section. On the contrary, if the transport vehicle 3 is moving through a turning section during the movement step S2, the central control device 1 cannot calculate the section length of the turning section using the starting position and the ending position of the turning section. Therefore, the central control device 1 will calculate the section length corresponding to the turning section using two real-time feedback values of the servo motor of the transport vehicle 3.

[0069] As described above, through the design of the section type determination step S4, the first length calculation step S41, and the length recording step S5, the central control device 1 can automatically calculate the length of each section and update each piece of section information 21 in the database 2, and during this process, no human intervention is required. By enabling each piece of section information 21 to have the correct section length data, the transport vehicle 3 can accurately move to the specified position subsequently.

[0070] In the prior art, at the initial stage of building a track, relevant personnel will draw a track map in a computer, and the track map includes the position of the track in the factory building and the lengths corresponding to each section. In practice, after the track is installed in the factory building, it often happens that the length of the section marked in the track map is different from the actual length of the corresponding section in the factory building. Therefore, when the transport vehicle travels on the track, it may cause the problem that the transport vehicle cannot accurately move to the designated position. This embodiment can effectively improve this problem.

[0071] Please also refer to Figures 3 to 6 , Figure 6 which is a flowchart of the third embodiment of the method for establishing the map data of the transport vehicle field of the present invention. The process steps after the moving step S2 in this embodiment are the same as those after the moving step S2 in the foregoing second embodiment. Therefore, Figure 6 the process steps after the moving step S2 are not shown.

[0072] The difference between this embodiment and the foregoing second embodiment is that between the replacement step S12 and the moving step S2, the following steps are further included:

[0073] A confirmation step SX1: Determine whether the current section information already includes the section length;

[0074] If it is determined that the section length is not included, the moving step S2 is executed.

[0075] If it is determined that the section length is already included, the following steps are executed:

[0076] A transport vehicle update step SX2: Store the section information 21 with the section length already stored in the database 2 and the end point information 22 with the position data 341 already stored in the database 2 in a memory 35 of each transport vehicle 3;

[0077] Wherein, after multiple pieces of section information 21 and multiple pieces of end point information 22 are stored in the memory 35 of the transport vehicle 3, the processor 31 of each transport vehicle 3 can control the transport vehicle 3 to move on the track at a normal speed, and the processor 31 can determine whether the transport vehicle 3 has reached a designated position of a movement information 10 transmitted by the central control device 1 according to the position data 341 in the position unit read by the reader 34.

[0078] It should be noted that before the central control device 1 performs the transport vehicle update step SX2, the processor 31 of the transport vehicle 3 cannot know the current position of the transport vehicle 3 because there is no section information 21 and end point information 22. Therefore, the processor 31 must continuously communicate with the central control device 1 to know the current position of the transport vehicle 3.

[0079] Conversely, after the central control device 1 executes the forklift update step SX2, the processor 31 of the forklift 3 will obtain multiple pieces of section information 21 that have stored the section lengths and multiple pieces of endpoint information 22 that have stored the position data. Therefore, the processor 31 can compare the position data 341 read by the reader 34 with the position data 341 in the endpoint information 22 stored in the forklift 3, so as to know the current position where the forklift 3 is located.

[0080] In other words, when the central control device 1 executes the map data update program Q times and enables the forklift 3 to travel through all sections, all forklifts 3 will store all the section information 21 that have stored the section lengths and all the endpoint information 22 that have stored the position data. By doing so, the central control device 1 completes the map data establishment of the forklift yard area, and the processor 31 of each forklift 3 can move from the current position to the designated position in the movement information 10 according to the movement information 10 sent by the central control device 1.

[0081] The position where multiple sections intersect is defined as a divergence position. When the steering mechanism 36 of the forklift 3 is in one state, after the forklift 3 passes through the divergence position, it will move along one of the sections. When the steering mechanism 36 of the forklift 3 is in another state, after the forklift 3 passes through the same divergence position, it will move along another section. For example, Figure 1 the endpoint P04 in [] is a divergence position. When the steering mechanism 36 of the forklift 3 is in one state, after the forklift 3 passes through the endpoint P04, it will move forward along the section R04. On the contrary, when the steering mechanism 36 of the forklift 3 is in another state, after the forklift 3 passes through the endpoint P04, it will move forward along the section R11.

[0082] Each piece of section information 21 further includes a steering data 213, and the steering data 213 is used to indicate whether the forklift 3 goes straight, turns left or turns right when passing through the section. In the movement step S2 of each map data update program, the forklift 3 moves at a survey speed, and the normal speed is greater than the survey speed.

[0083] After the forklift update step SX2, the following steps are further included:

[0084] A search step SX3: Search for a piece of section information in the database that does not include the section length, and use the starting point name of the found section information to search for a piece of endpoint information. The endpoint name of the found endpoint information is the same as the starting point name of the found section information, and replace the current section information with the found section information, and replace the current endpoint information with the found endpoint information;

[0085] A fast movement step SX4: Control the carrier vehicle to move to the position corresponding to the position data in the current endpoint information;

[0086] A conversion step SX5: According to the steering data of the current road segment information, control the steering mechanism 36 of the carrier vehicle to switch to the corresponding state, and then continue to execute the movement step S2.

[0087] As Figure 1 shown, assume that during the execution of the map update program by the central control device 1 for multiple times, the steering mechanism 36 of the carrier vehicle 3 remains in the same state. Then, the carrier vehicle 3 will move along the road segments R02, R03, R04, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R10. In this way, the carrier vehicle 3 will finally move to the position as Figure 2 shown, that is, the starting position of the road segment R02. In Figure 2 the shown scenario, when the central control device 1 executes the map update program again, after the confirmation step SX1, the central control device 1 will then continue to execute the carrier vehicle update step SX2 and the search step SX3.

[0088] After the central control device 1 controls the carrier vehicle 3 to complete the exploration of the road segments R02, R03, R04, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R10, the 14 road segment information 21 in the database 2 will be updated as shown in Table 5 below.

[0089] Table 5:

[0090]

[0091]

[0092] As shown in the above Table 5, it can be seen that the road lengths in the road segment information 21 corresponding to the road segments R04, R05, R06, R07, R08, R09, R10 have not been written yet. Therefore, in the search step SX3, the central control device 1 will find that in the road segment information 21 corresponding to the above road segments, the road length is not included yet, and the central control device 1 will use the starting point name P04 of the road segment R04 to find the endpoint information with the endpoint name P04. The road segment information corresponding to the road segment R04 and the endpoint information with the endpoint name P04 will be defined as the current road segment information and the current endpoint information respectively.

[0093] In the fast movement step SX4, the central control device 1 will control the carrier vehicle 3 to move to the corresponding position according to the position data of the current endpoint information. That is to say, the central control device 1 will control the carrier vehicle 3 to move to Figure 2 the shown endpoint P04.

[0094] In the conversion step SX5, the central control device 1 will find that the steering data in the road section information 21 of the road section R04 is "turn right", and accordingly control the processor 31 of the carrier vehicle 3, so that the processor 31 can control the steering mechanism 36 to change its state. Thus, in the subsequent moving step S2, when the carrier vehicle 3 continues to move forward, the carrier vehicle 3 will turn right and move forward along the road section R04.

[0095] As described above, after the central control device 1 executes the above-mentioned searching step SX3, fast moving step SX4, conversion step SX5 and moving step S2, the central control device 1 will continue to execute the recording step S3, road section type judging step S4, first length calculating step S41, second length calculating step S42 and length recording step S5, and the road section length in the road section information corresponding to the road section R04 in the above table will be written. Then, the central control device 1 will continue to execute the map data updating program 6 times, and the carrier vehicle 3 will move along the road sections R05, R06, R07, R08, R09, R10, and the above table 5 will be updated to the following table 6.

[0096] Table 6:

[0097]

[0098]

[0099] As described above, when each road section information 21 in the database 2 is updated to the state shown in the above table, the central control device 1 has completed the exploration of all road sections and the update of all field map data.

[0100] In summary, the method for establishing the field map data of the carrier vehicle yard and the carrier vehicle system of the present invention can enable the central control device and the carrier vehicle to cooperate with each other through designs such as the judging step, moving step, recording step, etc., so as to complete the update of each piece of road section information and each piece of endpoint information. And in this process, basically no personnel intervention is required. Thus, the efficiency of updating the above-mentioned multiple pieces of information can be greatly improved.

[0101] The above is only the preferred feasible embodiment of the present invention, and it does 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 establishing cartographic data of a handling yard, characterized in that, The method for establishing the handling yard area map data is applicable to be executed by a central control device of a handling vehicle system. The handling vehicle system includes the central control device, multiple handling vehicles, multiple tracks, P section endpoint marking units, and multiple position units. The central control device can control any one of the handling vehicles to move on any one of the tracks; The multiple tracks form N sections. One position unit and one section endpoint marking unit are arranged at the starting position of each section. One position unit and one section endpoint marking unit are arranged at the ending position of each section. Between the starting position and the ending position of at least a part of the sections, one position unit is arranged at every preset distance; The central control device is connected to a database. The database stores N pieces of section information corresponding to the N sections, and the database stores P pieces of endpoint information corresponding to the P section endpoint marking units; Each piece of the section information includes a starting point name and an ending point name. Each piece of the endpoint information includes an endpoint name; The starting point name in each piece of the section information is the same as the endpoint name in one piece of the endpoint information. The ending point name in each piece of the section information is the same as the endpoint name in one piece of the endpoint information; When the handling vehicle is in front of the starting position of a preset section, the central control device can execute the method for establishing the handling yard area map data. When the central control device executes the method for establishing the handling yard area map data, it executes the map data update program Q times. Each time the map data update program is executed, the following steps are performed: A judgment step: Judge whether it is the first time to execute the map data update program; If the central control device executes the map data update program for the first time, define the section information corresponding to the preset section as a current section information, and define one piece of the endpoint information as a current endpoint information; The endpoint name of the current endpoint information is the same as the starting point name of the current section information; If the central control device does not execute the map data update program for the first time, find out a piece of the section information according to the ending point name of the current section information, and replace the current section information with the found section information. And find out a piece of the endpoint information according to the starting point name of the found section information, and replace the current endpoint information with the found endpoint information; The starting point name of the found section information is the same as the ending point name of the current section information. The endpoint name of the found endpoint information is the same as the starting point name of the found section information; A moving step: Control the handling vehicle to move forward until a sensor of the handling vehicle senses the next section endpoint marking unit, and then control the handling vehicle to stop; A recording step: Using a reader of the carrier vehicle to read the position unit located around the carrier vehicle to obtain a position data, and storing the position data in the current endpoint information; Wherein, N, P, and Q are positive integers greater than 0, and N ≥ Q; Wherein, when all the endpoint information already contains the position data, the central control device will end the map data update program.

2. The method for establishing cartographic data of a handling yard according to claim 1, wherein In the recording step, if the central control device fails to obtain the position data, the central control device will execute a warning operation and end the current map data update program.

3. The method for establishing the map data of the handling yard according to claim 1, wherein After the central control device executes the recording step for the second time and subsequent times, the following steps are also executed: A calculation step: Calculating a section length based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; A length recording step: Storing the section length in the previous current section information.

4. The method for establishing the map data of the handling yard according to claim 1, wherein When a processor of the carrier vehicle receives a sensing signal generated by the sensor sensing the section endpoint marking unit, it will also record a real-time feedback value of a servo motor of the carrier vehicle; After the central control device executes the recording step for the second time and subsequent times, the following steps are also executed: A calculation step: Calculating a section length based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; A length recording step: Storing the section length in the previous current section information.

5. The method for establishing the map data of the handling yard according to claim 1, wherein When a processor of the carrier vehicle receives a sensing signal generated by the sensor sensing the section endpoint marking unit, it will also record a real-time feedback value of a servo motor of the carrier vehicle; Any one of the sections is classified as a straight section or a turning section. Between the starting position and the ending position of each straight section, a position unit is set at intervals of the preset distance. Between the starting position and the ending position of each turning section, no position unit is set; In the moving step, if a position unit is set around the section, the reader will continuously read the position data in the position unit, and the processor will record the position data; After the central control device executes the recording step for the second time and subsequent times, the following steps are also executed: A section type judgment step: Judging whether the carrier vehicle records multiple pieces of position data in the moving step; If it is determined that multiple pieces of position data are recorded, a section length is calculated based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; If it is determined that multiple pieces of position data are not recorded, a section length is calculated based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; A length recording step: storing the length of the section in the previous current section information.

6. The method for establishing cartographic data of a handling yard according to claim 5, wherein, Between the judgment step and the movement step, the following steps are further included: A confirmation step: judging whether the current section information already contains the length of the section; If it is determined that the length of the section is not included, the movement step is executed; If it is determined that the length of the section is already included, the following steps are executed: A carrier update step: storing the section information in the database that already stores the length of the section and the endpoint information in the database that already stores the position data in a memory of each carrier; Wherein, after storing multiple pieces of the section information and multiple pieces of the endpoint information in the memory of the carrier, the processor of each carrier can control the carrier to move on the track at a normal speed, and the processor can determine whether the carrier has reached a designated position of a movement information transmitted by the central control device according to the position data in the position unit read by the reader.

7. The method for establishing cartographic data of a handling yard according to claim 6, wherein The carrier further includes a steering mechanism, and the processor can control the steering mechanism to switch between at least two states; the position where multiple sections meet is defined as a divergence position; when the steering mechanism of the carrier is in one of the states, after the carrier passes through a divergence position, it will move along one of the sections. When the steering mechanism of the carrier is in the other state, after the carrier passes through the same divergence position, it will move along another section. Each piece of the section information further includes a steering data, and the steering data is used to indicate whether the carrier goes straight, turns left or turns right when passing through the section; in the movement step of each map data update program, the carrier moves at a survey speed. The normal speed is greater than the survey speed; after the carrier update step, the following steps are further included: A search step: searching for a piece of the section information in the database that does not include the length of the section, and searching for a piece of the endpoint information with the starting point name of the found section information, the endpoint name of the found endpoint information being the same as the starting point name of the found section information, and replacing the current section information with the found section information and replacing the current endpoint information with the found endpoint information; A fast movement step: controlling the carrier to move to the position corresponding to the position data in the current endpoint information; A conversion step: controlling the steering mechanism of the carrier to switch to the corresponding state according to the steering data of the current section information, and then continuing to execute the movement step.

8. A carrier vehicle system, characterized in that, The carrier system includes: Multiple tracks, and the multiple tracks form N sections; Multiple section endpoint marking units, and one section endpoint marking unit is respectively arranged at the starting point position and the ending point position of each section. Multiple position units, one of which is provided at the starting position and one at the ending position of each section of the road, and one such position unit is provided at intervals of a preset distance between the starting position and the ending position of each section of the road; A central control device, which is connected to a database. The database stores N pieces of road section information corresponding to N sections of the road, and the database stores P pieces of endpoint information corresponding to P road section endpoint marking units; each piece of road section information includes a starting point name and an ending point name, and each piece of endpoint information includes an endpoint name; the starting point name in each piece of road section information is the same as the endpoint name in one piece of the endpoint information, and the ending point name in each piece of road section information is the same as the endpoint name in one piece of the endpoint information; Multiple transport vehicles, each of which respectively includes a processor, a drive module, a sensor, and a reader; the processor is communicatively connected to the central control device; the processor can control the drive module to make the transport vehicle move along the track; the sensor can sense the road section endpoint marking unit to generate a sensing signal; the reader can read any one of the position units to obtain a position data; Wherein, when the transport vehicle is in front of the starting position of a preset road section, the central control device can execute the method for establishing the map data of the transport vehicle yard according to any one of claims 1 to 7.

9. The carrier system according to claim 8, characterized in that, In the recording step, if the central control device does not obtain the position data, the central control device will perform a warning operation and end the current map data update program.

10. The carrier vehicle system according to claim 8, characterized in that, After the central control device performs the recording step for the second time and subsequent times, the following steps are also performed: A calculation step: Calculate a road section length based on the position data obtained in the recording step and the position data obtained in the previous execution of the recording step; a length recording step: Store the road section length in the previous current road section information.

11. The carrier vehicle system according to claim 8, wherein, When the processor of the transport vehicle receives the sensing signal, the real-time feedback value of a servo motor of the transport vehicle is also recorded; after the central control device performs the recording step for the second time and subsequent times, the following steps are also performed: A calculation step: Calculate a road section length based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and the motor resolution of the servo motor; A length recording step: Store the road section length in the previous current road section information.

12. The carrier system according to claim 8, wherein When the processor of the transporter receives the sensing signal, it also records a real-time feedback value of a servo motor of the transporter; any one of the sections is classified as a straight section or a turning section. Between the starting position and the ending position of each straight section, a position unit is provided at every preset distance. Between the starting position and the ending position of each turning section, no position unit is provided; in the moving step, if a position unit is provided around the section, the reader continuously reads the position data in the position unit, and the processor records the position data; after the central control device executes the recording step for the second time and every time after that, the following steps are also executed: A section type judgment step: judging whether multiple pieces of the position data are recorded during the moving step of the transporter; If it is determined that multiple pieces of the position data are recorded, a section length is calculated based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; If it is determined that multiple pieces of the position data are not recorded, a section length is calculated based on the real-time feedback value recorded in the recording step, the real-time feedback value recorded in the previous execution of the recording step, and a motor resolution of the servo motor; A length recording step: storing the section length in the previous current section information; 13. The carrier vehicle system according to claim 12, characterized in that, Between the judgment step and the moving step, the following steps are further included: A confirmation step: judging whether the current section information already includes the section length; If it is determined that the section length is not included, the moving step is executed; If it is determined that the section length is already included, the following steps are executed: A transporter update step: storing the section information in the database that already stores the section length and the endpoint information in the database that already stores the position data in a memory of each transporter; Wherein, after multiple pieces of the section information and multiple pieces of the endpoint information are stored in the memory of the transporter, the processor of each transporter can control the transporter to move on the track at a normal speed, and the processor can judge whether the transporter has reached a designated position of a movement information transmitted by the central control device according to the position data in the position unit read by the reader.

14. The transporter system according to claim 13, characterized in that, The carrier vehicle further includes a steering mechanism, and the processor can control the steering mechanism to switch between at least two states; the position where multiple said road segments intersect is defined as a divergence position; when the steering mechanism of the carrier vehicle is in one of the states, after the carrier vehicle passes through a divergence position, it will move along one of the said road segments, and when the steering mechanism of the carrier vehicle is in the other state, after the carrier vehicle passes through the same divergence position, it will move along another of the said road segments; each piece of the said road segment information further includes a steering data, and the steering data is used to indicate whether the carrier vehicle goes straight, turns left or turns right when passing through the road segment; in the moving step of each map data update program, the carrier vehicle moves at a survey speed, and the normal speed is greater than the survey speed; after the carrier vehicle update step, the following steps are further included: A searching step: search for a piece of the road segment information in the database that does not include the road segment length, and search for a piece of the endpoint information with the starting point name of the searched road segment information, the endpoint name of the searched endpoint information being the same as the starting point name of the searched road segment information, and replace the current road segment information with the searched road segment information, and replace the current endpoint information with the searched endpoint information; A fast moving step: control the carrier vehicle to move to the position corresponding to the position data in the current road segment information; A conversion step: control the steering mechanism of the carrier vehicle to switch to the corresponding state according to the steering data of the current road segment information, and continue to execute the moving step.

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