Energy optimization type motion control system for unmanned factory

Abstract

The invention provides an energy optimization type motion control system for an unmanned factory, belongs to the field of unmanned factory control, and solves the problems of low motion control integration efficiency, poor transfer precision, poor energy distribution effect and the like of an existing unmanned factory. Comprising a load detection module, a self-adaptive control module, a regenerative braking module, a cooperative scheduling module, an Internet of Things communication module, a positioning detection module, a path planning module, an intelligent decision and optimization module, a safety and fault tolerance module, a man-machine interaction and monitoring module and a stacking machine, a movable frame mechanism is arranged between the ground rail and the sky rail, a cargo carrying table mechanism is arranged on the movable frame mechanism in a transmission mode, a lifting transverse movement fine adjustment mechanism is arranged at the upper end of the cargo carrying table mechanism, a rotating position fine adjustment mechanism is arranged at the upper end of the lifting transverse movement fine adjustment mechanism, and a telescopic fork plate mechanism is arranged at the upper end of the rotating position fine adjustment mechanism. According to the system, multiple modules are intelligently integrated for cooperative work, energy distribution is optimized, and the three-dimensional space pallet forks are accurately aligned with the goods locations.

Description

Technical Field

[0001] The present invention belongs to the technical field of motion control in unmanned factories and relates to a motion control system, in particular to an energy-optimized motion control system for unmanned factories. Background Art

[0002] With the rapid development of Industry 4.0 and unmanned factories, traditional logistics equipment such as stacker cranes face the dual challenges of high energy consumption and extensive motion control.

[0003] Energy waste: Fixed acceleration curves lead to excessive motor output during no-load / light-load conditions, directly dissipating braking energy (accounting for over 25% of total energy consumption). Insufficient control precision: Rigid starting and stopping in high-load scenarios (e.g., over 1 ton) can easily cause mechanical shock, shortening equipment life. Increased collaboration demands: A lack of global energy scheduling when multiple devices operate in parallel results in inefficient waiting and peak power consumption. The design addresses three major industry contradictions: the balance between energy consumption and efficiency, the conflict between high loads and equipment lifespan, and the disconnect between single-machine optimization and group collaboration. To address this, an intelligent control solution integrating load adaptation and energy regeneration was proposed.

[0004] Based on this, we propose an energy-optimized motion control system for unmanned factories, which intelligently integrates multiple modules to work together, optimizes energy distribution, and accurately aligns forks in three-dimensional space. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems in existing technologies and propose an energy-optimized motion control system for unmanned factories. The technical problem to be solved by this invention is: how to realize the coordinated operation of multiple modules through intelligent integrated control, optimize energy distribution, and accurately align the forks in three-dimensional space with the cargo positions.

[0006] The purpose of the present invention can be achieved through the following technical solutions: An energy-optimized motion control system for unmanned factories includes a load detection module, an adaptive control module, a regenerative braking module, a collaborative scheduling module, an Internet of Things communication module, a positioning detection module, a path planning module, an intelligent decision-making and optimization module, a safety and fault-tolerance module, and a human-computer interaction and monitoring module. It also includes a stacker, which includes a ground rail and an absolute grating scale placed on the warehouse floor and arranged in parallel, and a ceiling rail placed on the top of the warehouse. A mobile frame mechanism is provided between the ground rail and the ceiling rail, and an electric control box with a screen and a ladder are provided on the left side of the mobile frame mechanism. A cargo platform mechanism is provided on the transmission of the mobile frame mechanism, and a lifting and lateral fine-tuning mechanism is provided at the upper end of the cargo platform mechanism, a rotation fine-tuning mechanism is provided at the upper end of the lifting and lateral fine-tuning mechanism, and a telescopic fork plate mechanism is provided at the upper end of the rotation fine-tuning mechanism. A flat cable guide is provided between the cargo platform mechanism and the lower part of the mobile frame mechanism. Each module is integrated into the servo drive system of the stacker, and the control signal output end is connected to the PWM modulation unit of the motor inverter.

[0007] The working principle of the present invention is to realize efficient and safe automatic operation through the collaboration of multiple modules: the load detection module monitors the weight and distribution of the load in real time, and the path planning module generates the optimal route in combination with the position information of the positioning detection module; the adaptive control module dynamically adjusts the driving force and steering, and the regenerative braking module recovers the deceleration energy; the collaborative scheduling module coordinates the tasks of each module, and the intelligent decision-making and optimization module optimizes the global strategy based on the cloud data of the Internet of Things communication module; the safety and fault-tolerant module diagnoses abnormalities in real time and starts the redundancy mechanism, and finally provides an operation interface and status warning through the human-computer interaction and monitoring module to form a closed-loop intelligent control system; the electric control box with screen integrates the PLC controller and the human-computer interface to control the movement of the equipment, parameter setting and status monitoring, and the ladder provides a safe passage for maintenance personnel to facilitate the top maintenance of the equipment; the ground rail and the ceiling The rails are set parallel to the floor and ceiling of the warehouse, forming the horizontal moving track of the stacker crane to ensure stable operation of the equipment. The mobile frame mechanism is between the ground rail and the ceiling rail, and moves horizontally along the track through the drive motor, carrying the cargo platform mechanism to achieve horizontal positioning between shelves. The absolute grating scale high-precision position feedback device monitors the horizontal displacement of the mobile frame in real time. The cargo platform mechanism is lifted and lowered vertically along the mobile frame mechanism to achieve lifting and positioning between shelves and perform rough positioning; the lifting and lateral movement fine-tuning mechanism adjusts the height and lateral movement position of the telescopic fork plate mechanism, and the rotation fine-tuning mechanism adjusts the rotation angle of the telescopic fork plate mechanism to ensure that the telescopic fork plate mechanism is accurately aligned with the cargo position; the telescopic fork plate mechanism has bidirectional telescopic forks to directly grab or place pallet cargo; the flat cable guide manages the power supply and signal cables when the cargo platform mechanism is lifted and lowered to prevent entanglement and wear, thereby ensuring electrical safety.

[0008] The load detection module includes a torque sensor, a weighing sensor, a speed encoder and an inertial measurement unit, which are respectively embedded in the equipment platform and the drive shaft to collect weight and speed data in real time.

[0009] Using this structure, the load detection module uses embedded sensors to work together to monitor the equipment's load status in real time: a load cell measures the static weight of the platform, a torque sensor detects changes in torque on the drive shaft, a speed encoder collects motion speed and acceleration, and an inertial measurement unit compensates for dynamic disturbances such as vibration and tilt. The data from these sensors is integrated and calculated by a high-speed signal processing unit to dynamically calibrate weight distribution, identify overloads or eccentric loads, and provide feedback to the control system, ensuring stable operation within a safe load range.

[0010] The adaptive control module generates a stepped smooth acceleration curve through a preset energy consumption acceleration mapping model with the goal of minimizing ineffective power consumption, and outputs it to the motor driver; the adaptive control module is preset with a database of acceleration curves for multiple different cargo weight intervals and corresponding operating speeds. The adaptive control module also includes a model prediction controller, a fuzzy logic controller and a parameter self-tuning unit; the control module can determine the corresponding cargo weight interval based on the cargo weight detected by the load detection module, and retrieve the corresponding acceleration curve from the acceleration curve database in combination with the preset operating speed, thereby generating adjustment instructions for motor power and acceleration.

[0011] With the above structure, the control module can optimize the global energy distribution of multiple energy-optimized motion control systems according to the collaborative scheduling instructions of multiple devices, thereby realizing the collaborative operation of multiple devices; the model predictive controller predicts the future state based on the dynamic model and performs rolling optimization of the control input; the fuzzy logic controller handles nonlinear or uncertain working conditions and dynamically adjusts the control rules; the parameter self-tuning unit adjusts the PID parameters in real time according to the load inertia, improves the response speed and stability, realizes high-precision motion tracking, reduces the motor output fluctuation, and reduces ineffective energy consumption.

[0012] The regenerative braking module includes a sensor unit, a bidirectional inverter circuit, an energy storage capacitor group and a lithium battery energy storage system. During braking, the motor back electromotive force is converted into direct current through the inverter circuit and stored in the capacitor group for use by other devices.

[0013] Using the above structure, the sensor unit is used to detect the braking signal and transmit it to the control module; the bidirectional converter converts the kinetic energy of the motor during deceleration into electrical energy and feeds it back to the DC bus or energy storage device; the supercapacitor group stores high-power feedback energy for short periods of time for instantaneous acceleration needs; the lithium battery energy storage system: long-term storage of regenerated energy, balancing load peaks and valleys; high energy recovery efficiency, reduced dependence on the grid, and extended equipment life.

[0014] The collaborative scheduling module includes a task allocation engine unit, a resource management unit, and a conflict detection and avoidance algorithm unit. It receives external job instructions through the Internet of Things platform, combines the real-time load status of the equipment, and uses a dynamic programming algorithm to generate the start-stop timing and power allocation plan for multiple devices.

[0015] Using the above structure, the task allocation engine unit dynamically allocates tasks to multiple devices based on priority, energy consumption and path conflicts; the resource management unit coordinates energy sharing among devices; the conflict detection and avoidance algorithm unit calculates the safe distance between devices in real time to avoid collisions and deadlocks; and the global optimization of the operating efficiency of the device group reduces the idle waiting time and the overall energy consumption of the system.

[0016] The IoT communication module includes a TSN switch, a 5G edge gateway and a protocol conversion unit. The communication module can communicate wirelessly with the IoT platform and receive multi-device collaborative scheduling instructions sent by the IoT platform in real time.

[0017] With the above structure, the TSN switch ensures microsecond-level transmission of control instructions; the 5G edge gateway supports high-bandwidth, low-latency communication between devices and the cloud; the protocol conversion unit is compatible with Modbus, OPCUA and other protocols to achieve cross-brand device interconnection; and a highly reliable industrial Internet of Things is built to support real-time collaboration and remote monitoring of multiple devices.

[0018] The positioning detection module includes a high-precision encoder, a laser radar and a UWB positioning tag.

[0019] Using the above structure, a high-precision encoder provides closed-loop feedback of the motor shaft angle and speed; the lidar scans environmental features to achieve sub-millimeter absolute positioning; and the UWB positioning tag provides centimeter-level real-time position tracking in complex environments, ensuring the accuracy of the device's motion trajectory and providing a data foundation for path planning and obstacle avoidance.

[0020] The path planning module includes a global path planner, a local obstacle avoidance unit and an energy consumption map generator.

[0021] Using the above structure, the global path planner generates the energy-optimal global path based on the A or RRT algorithm; the local obstacle avoidance unit uses the dynamic window method to adjust the local path in real time; the energy consumption map generator marks high-energy consumption areas and plans detour paths; and the overall energy consumption of the path is reduced by reducing invalid travel and sudden stops and starts.

[0022] The intelligent decision-making and optimization module includes a digital twin platform, a reinforcement learning agent unit and an energy efficiency analysis unit.

[0023] Using the above structure, the digital twin platform builds a virtual model of the equipment, simulates the operating status and predicts energy efficiency bottlenecks; the reinforcement learning agent unit learns dynamic energy consumption optimization strategies through the deep Q network; the energy efficiency analysis unit compiles historical data and generates energy-saving transformation suggestions; it realizes the decision upgrade from "passive response" to "active optimization" and continuously improves the system energy efficiency.

[0024] The safety and fault-tolerant module includes a multi-level fault diagnosis unit, a redundant actuator switching system and an emergency braking unit.

[0025] The above structure, multi-level fault diagnosis unit, vibration spectrum analysis: detects mechanical faults such as bearing wear and gear tooth breakage, current harmonic detection: identifies motor winding short circuit or power supply abnormality; redundant actuator switching system automatically activates backup equipment when the main actuator fails; emergency braking unit triggers mechanical brake and electronic brake to prevent the risk of loss of control, ensuring the safe shutdown or degraded operation of equipment under abnormal working conditions.

[0026] The human-computer interaction and monitoring module includes a visual HMI interface, a remote operation and maintenance terminal, and an audible and visual alarm unit.

[0027] The above structure is used to provide a visual HMI interface and energy efficiency heat map: it displays the real-time energy consumption distribution of equipment and regions, and 3D motion simulation dynamically displays the equipment operating status and path trajectory; the remote operation and maintenance terminal supports remote start and stop, parameter configuration and alarm processing on mobile phones / PCs; the sound and light alarm unit: indicates the fault level through LED indicators and buzzers; it provides an intuitive operation and monitoring entrance, reduces the complexity of manual intervention, and supports unmanned operation and maintenance.

[0028] The stacker also includes two ground travel switch bumpers placed on the warehouse floor. The two ground travel switch bumpers are located on both sides of the ground rail, and the two ground travel switch bumpers are respectively located at the left and right ends of the ground rail.

[0029] With the above structure, when the mobile frame mechanism moves horizontally along the ground rail and approaches the rail limit position, the travel switch installed at its bottom will contact the ground travel switch block, and the signal triggers the sending of an electrical signal to the electric control box with a screen. After receiving the signal, the electric control box with a screen immediately cuts off the driving power of the mobile frame mechanism and activates the braking device to force the mobile frame to stop moving. At the same time, the human-machine interface of the electric control box with a screen displays "overtravel alarm" to prompt the operator to handle it.

[0030] The mobile frame mechanism includes a lifting chain 1 and a lifting chain 2 and a mobile lower crossbeam arranged above the ground rail, ground travel switches are provided at both ends of the side of the mobile lower crossbeam, a left column and a right column are provided at the upper end of the mobile lower crossbeam, and a lifting motor is fixed on the right column. Two active double-row sprockets are provided for rotation on the right side of the mobile lower crossbeam, and the output shaft of the lifting motor is connected to the rotating shaft of the two active double-row sprockets. A counterweight block group is provided inside the left column, and the upper and lower parts of the counterweight block group are connected. A plurality of guide wheels are fixed at both ends, and the guide wheels roll and contact the inside of the left column. A driven upper crossbeam is fixed on the upper ends of the left and right columns, and the driven upper crossbeam rolls and contacts the ceiling rail. The driven upper crossbeam is provided with a ceiling rail brake. The left and right sides of the interior of the driven upper crossbeam are both rotatably provided with a sprocket shaft 1 of equal height, and two transmission double-row sprockets 1 are fixed on the sprocket shaft 1. Two sprocket shafts 2 are rotatably provided on the right side of the interior of the driven upper crossbeam, and two transmission double-row sprockets 2 are fixed on the two sprocket shafts 2 on the right side. A sprocket shaft 2 is provided for rotating on the left side of the upper moving beam. A transmission double-row sprocket 2 is fixed on the sprocket shaft 2 on the left side. The height of the sprocket shaft 2 is equal to and lower than the height of the sprocket shaft 1. One end of the lifting chain 1 is connected to the upper end of the counterweight block group, and the other end of the lifting chain 1 is connected to the upper left end of the cargo platform mechanism. The lifting chain 1 is connected in sequence to the transmission double-row sprocket 1 on the front side of the left sprocket shaft 1, the transmission double-row sprocket 1 on the front side of the right sprocket shaft 1, the active double-row sprocket on the front side, and the two sprockets on the right side. The transmission double-row sprocket 2 on the front side of shaft 2 and the transmission double-row sprocket 2 on the sprocket shaft 2 on the left side, one end of the lifting chain 2 is connected to the upper end of the counterweight block group, and the other end of the lifting chain 2 is connected to the upper right end of the cargo platform mechanism. The lifting chain 2 is sequentially connected to the transmission double-row sprocket 1 on the rear side of the left sprocket shaft 1, the transmission double-row sprocket 1 on the rear side of the right sprocket shaft 1, the active double-row sprocket on the rear side, and the transmission double-row sprocket 2 on the rear side of the two sprocket shafts 2 on the right side. Several shift fork orthogonals are provided on the side of the movable lower beam.

[0031] With the above structure, the moving lower crossbeam is driven and moved above the ground rail, and several shift fork orthogonals absorb the vibration or deviation of the moving lower crossbeam during operation to ensure the stable operation of the moving lower crossbeam. The moving lower crossbeam, the left column, the right column and the driven upper crossbeam cooperate with each other, and the driven upper crossbeam moves by rolling on the overhead rail. The driven upper crossbeam brakes on the overhead rail through the overhead rail brake piece to suppress the swing of the moving frame mechanism; the lifting motor is started, and the output shaft of the lifting motor drives the rotating shafts of the two active double-row sprockets to rotate, thereby driving the two active double-row sprockets to rotate synchronously; lifting chain 1: starting from the upper end of the counterweight block group → bypassing the left column sprocket shaft to the front sprocket → right column sprocket shaft to the front sprocket → front active double-row sprocket → The front sprockets of the two sprocket shafts on the right → the sprocket of the left sprocket shaft two → finally connected to the left side of the cargo platform mechanism; lifting chain two: starting from the upper end of the counterweight block group → bypassing the rear sprocket of the left column sprocket shaft one → the rear sprocket of the right column sprocket shaft one → the rear active double-row sprocket → the rear sprockets of the two sprocket shafts on the right → finally connected to the right side of the cargo platform mechanism; the cargo platform mechanism rises: the active double-row sprocket drives the forward traction of lifting chain one and lifting chain two, the cargo platform mechanism rises, and the counterweight block group drops synchronously along the left column through the guide wheel to offset the load weight; the cargo platform mechanism descends: the lifting motor reverses, drives the reverse traction of lifting chain one and lifting chain two, the counterweight block group rises to provide reverse pulling force to ensure smooth lifting.

[0032] The left and right sides of the two side rails are respectively provided with the upper and lower ends of the two side rails, the upper and lower ends of the two side rails are respectively provided with the upper and lower ends of the two side rails, and the two left and right side rails are respectively provided with the upper and lower ends of the two side rails.

[0033] With the above structure, the lifting motor drives the active double-row sprocket to rotate, and the lifting chain 1 and the lifting chain 2 pull the cargo platform mechanism to move vertically along the column; the clamping wheel group rolls against the left and right columns to ensure the accurate movement trajectory of the cargo platform mechanism and prevent deflection; when the cargo platform mechanism needs to stop to reach the target layer or emergency stop, the electrical box sends a signal to the brake electric push rod, the brake electric push rod extends, overcomes the tension of the return spring, and pushes the swing frame to rotate around the fixed axis. The swing frame drives the toggle rod to tilt the brake block along the brake frame, pressing the left and right columns, and braking the cargo platform mechanism by friction; the brake is released and reset, the brake electric push rod retracts, and the return spring pulls the brake block to move in the opposite direction along the brake frame, disengaging from the left and right columns, and the cargo platform mechanism resumes free movement; integrated wiring management: the wire installation tube centrally manages the cables of the electrical box and the push rod to avoid cable entanglement or wear during lifting; the ultrasonic sensor, acceleration sensor and gyroscope work together to accurately locate, pick up and place goods, and feedback the pick-up and placement positions to optimize the planned path.

[0034] The lifting and transverse movement fine-tuning mechanism includes a bottom frame, an X-articulated frame and a jacking and moving frame. The four corners of the lower end of the bottom frame are fixed with weighing sensors, and the four weighing sensors are fixed to the upper end of the base. The upper end of one side of the X-articulated frame is hinged to one side of the bottom frame, and the upper end of one side of the X-articulated frame is hinged to one side of the jacking and moving frame. Two sliding rollers are rotatably provided at both ends of the other side of the X-articulated frame. Two sliding frames are provided at the lower end of the other side of the jacking and moving frame and the upper end of the other side of the bottom frame. The sliding rollers roll the sliding frames set at corresponding positions. Transverse chain conditions are provided on the left and right sides of the jacking and moving frame. A transmission shaft is fixed between the rotating shafts on one side of the transverse chain conditions. A transverse motor is fixed at the lower end of the jacking and moving frame. A transmission sprocket pair is provided between the output shaft of the transverse motor and the transmission shaft. A telescopic cylinder is hinged between the bottom frame and the jacking and moving frame.

[0035] With the above structure, the lifting action is as follows: when the telescopic cylinder is activated and extended, it pushes the hinge point of the X-articulated frame to expand, and the jacking mobile frame rises vertically; when the telescopic cylinder is retracted, the X-articulated frame folds and the jacking mobile frame descends; the sliding roller guide: when the X-articulated frame is expanded / folded, the sliding roller rolls within the sliding frame, constraining the motion trajectory and preventing lateral deviation; the lifting mobile frame drives the lateral movement motor and two lateral movement chains to rise and fall synchronously; horizontal lateral movement fine-tuning: the output shaft of the lateral movement motor drives the drive shaft to rotate through the transmission sprocket pair, and the drive shaft synchronously drives the lateral movement chains on both sides to rotate, so that the jacking mobile frame moves horizontally and accurately adjusts the horizontal position of the load; load balancing and safety protection: the weighing sensor monitors the force on the bottom frame in real time, obtains the weight of the cargo in real time, and can generate an optimized acceleration curve based on the cargo weight.

[0036] The rotation fine-adjusting mechanism includes a support frame plate, a rotation push rod and two symmetrically arranged mounting plates are fixed at the lower end of the support frame plate, a rack is slidably provided at the lower end of the support frame plate, the rack and the rotation push rod are located between the two mounting plates, a connecting rod is fixed between the telescopic end of the rotation push rod and the rack, the two mounting plates are fixed to the upper ends of several chain links of the two transverse chain conditions, a rotation shaft is provided for rotation in the middle of the support frame plate, the rotation shaft passes through the support frame plate, a driven gear is fixed at the lower end of the rotation shaft, the driven gear is meshed with the rack, the upper end of the rotation shaft is fixed with a rotating plate, and a plurality of circumferentially uniformly distributed supporting wheels and a plurality of circumferentially uniformly distributed rotation sensors are fixed at the lower end of the support frame plate, and the rotating plate contacts with a plurality of supporting wheels.

[0037] With the above structure, when the indexing push rod is extended, the rack is pushed to one side through the connecting rod; when it is retracted, the rack is pulled in the opposite direction. The linear displacement of the rack determines the rotation angle of the driven gear. The rack drives the driven gear to rotate, driving the indexing shaft and the rotating plate to rotate synchronously; the rotating plate rolls on the support wheel to ensure smooth rotation and no axial offset; the indexing sensor monitors the rotation angle in real time. If there is a deviation between the actual angle and the target value, the control system dynamically adjusts the extension and retraction of the push rod until the set accuracy is achieved.

[0038] The telescopic fork plate mechanism includes a telescopic base plate, which is fixed to the upper end of the rotating plate, and fixed guide rails are fixed on the left and right sides of the upper end of the telescopic base plate. A telescopic positioning motor is fixed to the middle part of the upper end of the telescopic base plate, and a dual-output shaft transmission seat is fixed to the middle part of the lower end of the telescopic base plate. The output shaft of the telescopic positioning motor is transmission-connected to the input shaft of the dual-output shaft transmission seat, and a positioning active shaft is rotatably provided on the left and right sides of the lower end of the telescopic base plate. The positioning active shaft is transmission-connected to the output shaft on the same side of the dual-output shaft transmission seat, and a positioning active sprocket is fixed on the positioning active shaft. The first limit sensor is fixed to the four corners of the upper end of the telescopic base plate, and the four corners of the upper end of the telescopic base plate are rotationally provided with two first telescopic sprockets staggered up and down, and the first telescopic sprocket and the first limit sensor are rotationally provided. The devices are all located on the inner side of the fixed guide rail on the same side, and a movable guide rail is slidingly provided at the upper end of the fixed guide rail, and a second limit sensor is fixed on the front and rear sides of the upper end of the movable guide rail, and a second telescopic sprocket is rotatably provided on the front and rear sides of the upper end of the movable guide rail, and a fork plate is slidingly provided on the upper end of the movable guide rail, and a telescopic chain 1 is transmitted between the positioning driving sprocket on the same side and the two first telescopic sprockets below, and one of the links of the telescopic chain 1 is fixedly connected to the movable guide rail, and a telescopic chain 2 is transmitted between the two upper first telescopic sprockets on the same side and the two second telescopic sprockets, one of the links of the telescopic chain 2 is fixedly connected to one of the links of the telescopic chain 1, and the fork plate is fixedly connected to one of the links of the telescopic chain 2, and a visual sensor is provided on the fork plate.

[0039] With the above structure, the telescopic adjustment motor starts, synchronously driving the adjustment drive shafts on both sides to rotate through the dual output shaft drive seat. The adjustment drive sprocket rotates with the shaft, pulling the telescopic chain 1 in motion. The first-stage extension process: Telescopic chain 1 drives the fixed link of telescopic chain 1, pushing the movable guide rail outward along the fixed guide rail. The linear bearing of the fixed guide rail ensures the smooth movement of the movable guide rail. The second-stage extension process: Telescopic chain 2 is linked. When telescopic chain 1 moves, it drives telescopic chain 2 synchronously through the fixed chain node. The fixed link of telescopic chain 2 pushes the fork plate to extend a second time along the movable guide rail. Proportional control: The sprocket diameter ratio is designed to ensure that the fork plate extends at twice the speed of the movable guide rail, achieving rapid coverage of the shelf depth. Limit and braking: Sensor triggering: When the fork plate reaches its maximum extension position, the second limit sensor detects a signal, stopping the motor and applying electromagnetic braking. The retraction process: The telescopic adjustment motor reverses, pulling telescopic chains 1 and 2 in opposite directions, gradually retracting the movable guide rail and fork plate, and the first limit sensor confirms that they are fully reset. The visual sensor is used for precise positioning, allowing for rapid loading and unloading of goods.

[0040] Compared with existing technologies, this energy-optimized motion control system for unmanned factories offers the following advantages: Through the collaborative operation of multiple modules, it possesses core advantages such as high-precision sensing, dynamic adaptive control, efficient energy recovery, intelligent collaborative decision-making, multiple safety features, and user-friendly human-machine interaction. The system integrates load, positioning, and environmental data in real time, achieving millisecond-level response and optimal path planning. Regenerative braking improves energy efficiency, while adaptive algorithms reduce energy consumption. Redundant design and remote monitoring ensure operational reliability, significantly improving equipment performance and reducing maintenance costs. It is suitable for demanding scenarios such as logistics automation and unmanned transportation.

[0041] This stacker crane achieves high stability and precise operation through its top-bottom dual-track structure and modular mechanical design: the absolute grating scale ensures the millimeter-level positioning accuracy of the mobile frame mechanism; the multi-stage fine-tuning mechanism collaborates to complete the millimeter-level fork alignment in three-dimensional space, and cooperates with the flat cable guide to ensure the safety of the cables; the electric control box with screen integrates intelligent control and fault diagnosis functions, and the ladder is convenient for maintenance. The overall structure takes into account high precision, high rigidity and easy maintainability, and is suitable for dense warehousing scenarios; it integrates high-precision transmission, redundant safety mechanisms and intelligent control systems, and has both high efficiency and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a block diagram of the control system in the present invention.

[0043] Figure 2 It is a schematic diagram of the three-dimensional structure of the stacker in the present invention.

[0044] Figure 3 It is a front perspective structural diagram of some components of the stacker in the present invention.

[0045] Figure 4 It is a schematic diagram of the rear three-dimensional structure of some components of the stacker in the present invention.

[0046] Figure 5 This invention Figure 4 Schematic diagram of the enlarged structure at point A in the middle.

[0047] Figure 6 It is a schematic diagram of the lifting chain transmission in the present invention.

[0048] Figure 7 It is a structural schematic diagram of the cargo platform mechanism in the present invention.

[0049] Figure 8 It is a structural schematic diagram of the lifting and lateral movement fine-tuning mechanism, the rotation fine-tuning mechanism and the telescopic fork plate mechanism in the present invention.

[0050] Figure 9 It is a structural diagram of the lifting and lateral movement fine-tuning mechanism in the present invention.

[0051] Figure 10 It is a front view structural schematic diagram of the rotation fine adjustment mechanism in the present invention.

[0052] Figure 11 It is a schematic diagram of the three-dimensional structure of the rotation fine-adjustment mechanism of the present invention.

[0053] Figure 12 It is a structural schematic diagram of the telescopic fork plate mechanism in the present invention.

[0054] In the figure, 1. Ground rail; 2. Moving frame mechanism; 3. Cargo platform mechanism; 4. Lifting and lateral fine-tuning mechanism; 5. Rotation fine-tuning mechanism; 6. Telescopic fork plate mechanism; 7. Overhead rail; 8. Electric control box with screen; 9. Ladder; 10. Absolute grating scale; 11. Flat cable guide; 12. Driven upper beam; 13. Left column; 14. Moving lower beam; 15. Right column; 16. Shift fork orthogonal device; 17. Counterweight block group; 18. Ground rail 1. Shifter block; 19. Guide wheel; 20. Lifting chain 1; 21. Lifting chain 2; 22. Sprocket shaft 1; 23. Sprocket shaft 2; 24. Transmission double-row sprocket 2; 25. Transmission double-row sprocket 1; 26. Lifting motor; 27. Active double-row sprocket; 28. Base; 29. ​​Mounting frame; 30. Wire mounting tube; 31. Side beam frame; 32. Return spring; 33. Clamping wheel assembly; 34. Brake frame; 35. Brake block; 36. 6. Swing frame; 37. Toggle lever; 38. Fixed shaft; 39. Brake electric push rod; 40. Electric box; 41. Bottom frame; 42. X-articulated frame; 43. Transverse motor; 44. Drive sprocket pair; 45. Lifting frame; 46. Transverse chain condition; 47. Telescopic cylinder; 48. Sliding frame; 49. Sliding roller; 50. Limit support seat; 51. Transposition push rod; 52. Rack; 53. Support wheel; 54. Rotating plate; 55 , rotation sensor; 56, connecting rod; 57, mounting plate; 58, support frame plate; 59, driven gear; 60, positioning active shaft; 61, dual output shaft transmission seat; 62, telescopic positioning motor; 63, telescopic base plate; 64, first limit sensor; 65, second limit sensor; 66, movable guide rail; 67, fork plate; 68, second telescopic sprocket; 69, fixed guide rail; 70, first telescopic sprocket; 71, weighing sensor. DETAILED DESCRIPTION

[0055] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0056] like Figures 1-12As shown, the energy-optimized motion control system for unmanned factories includes a load detection module, an adaptive control module, a regenerative braking module, a collaborative scheduling module, an Internet of Things communication module, a positioning detection module, a path planning module, an intelligent decision-making and optimization module, a safety and fault-tolerant module, and a human-computer interaction and monitoring module. It also includes a stacker, which includes a ground rail 1 and an absolute grating scale 10 placed on the warehouse floor and arranged in parallel, and a ceiling rail 7 placed on the top of the warehouse. A mobile frame mechanism 2 is provided between the ground rail 1 and the ceiling rail 7, and an electric control box 8 with a screen and a ladder 9 are provided on the left side of the mobile frame mechanism 2. A cargo platform mechanism 3 is provided on the mobile frame mechanism 2, and a lifting and lateral fine-tuning mechanism 4 is provided on the upper end of the cargo platform mechanism 3. A rotation fine-tuning mechanism 5 is provided on the upper end of the lifting and lateral fine-tuning mechanism 4, and a telescopic fork plate mechanism 6 is provided on the upper end of the rotation fine-tuning mechanism 5. A flat cable guide 11 is provided between the cargo platform mechanism 3 and the lower part of the mobile frame mechanism 2. Each module is integrated into the servo drive system of the stacker, and the control signal output end is connected to the PWM modulation unit of the motor inverter.

[0057] Efficient and safe automated operation is achieved through multi-module collaboration: the load detection module monitors load weight and distribution in real time, and combined with the position information from the positioning detection module, the path planning module generates the optimal route; the adaptive control module dynamically adjusts driving force and steering, and the regenerative braking module recovers deceleration energy; the collaborative scheduling module coordinates the tasks of each module, and the intelligent decision-making and optimization module optimizes the global strategy based on the cloud data of the IoT communication module; the safety and fault-tolerance module diagnoses anomalies in real time and activates redundancy mechanisms. Ultimately, the human-computer interaction and monitoring module provides an operating interface and status warnings, forming a closed-loop intelligent control system. The electric control box with screen 8 integrates PLC controller and human-machine interface to control equipment movement, parameter setting and status monitoring. The ladder 9 provides a safe passage for maintenance personnel and is convenient for top maintenance of the equipment. The ground rail 1 and the ceiling rail 7 are arranged parallel to the floor and top of the warehouse to form the horizontal moving track of the stacker to ensure stable operation of the equipment. The mobile frame mechanism 2 is between the ground rail 1 and the ceiling rail 7, and moves horizontally along the track through the driving motor to carry the cargo platform mechanism 3 to achieve horizontal positioning between shelves. The absolute grating scale 10 is a high-precision position feedback device that monitors the horizontal displacement of the mobile frame in real time. The cargo platform mechanism 3 is lifted and lowered vertically along the mobile frame mechanism 2 to achieve lifting and positioning between shelves and perform rough positioning; the lifting and lateral movement fine-tuning mechanism 4 adjusts the height and lateral movement position of the telescopic fork plate mechanism 6, and the rotation fine-tuning mechanism 5 adjusts the rotation angle of the telescopic fork plate mechanism 6 to ensure that the telescopic fork plate mechanism 6 is accurately aligned with the cargo position; the telescopic fork plate mechanism 6 extends and retracts the fork in both directions to directly grab or place pallet cargo; the flat cable guide 11 manages the power supply and signal cables of the cargo platform mechanism 3 when it is lifted and lowered to prevent entanglement and wear, thereby ensuring electrical safety.

[0058] The load detection module includes a torque sensor, a load cell, a speed encoder, and an inertial measurement unit (IMU), embedded in the equipment's loading platform and drive shaft, respectively, to collect weight and speed data in real time. The module uses these embedded sensors to work together to monitor the equipment's load status in real time: the load cell measures the static weight of the loading platform, the torque sensor detects torque changes on the drive shaft, the speed encoder collects motion speed and acceleration, and the inertial measurement unit (IMU) compensates for dynamic disturbances such as vibration and tilt. Data from these sensors is integrated and calculated by a high-speed signal processing unit to dynamically calibrate weight distribution, identify overloads or eccentric loads, and provide feedback to the control system to ensure stable operation within a safe load range.

[0059] The adaptive control module uses a preset energy consumption-acceleration mapping model to generate a stepped smooth acceleration curve with the goal of minimizing ineffective power consumption, and outputs it to the motor driver. The adaptive control module contains a database of acceleration curves for different cargo weight ranges and corresponding operating speeds. The module also includes a model predictive controller, a fuzzy logic controller, and a parameter self-tuning unit. The control module determines the corresponding cargo weight range based on the cargo weight detected by the load detection module and retrieves the corresponding acceleration curve from the acceleration curve database based on the preset operating speed to generate motor power and acceleration adjustment instructions. Based on multi-device collaborative scheduling instructions, the control module optimizes global energy allocation for multiple energy-optimized motion control systems, enabling multi-device collaborative operation. The model predictive controller uses a dynamic model to predict future states and continuously optimize control inputs. The fuzzy logic controller handles nonlinear or uncertain operating conditions (such as sudden load changes) and dynamically adjusts control rules. The parameter self-tuning unit adjusts PID parameters in real time based on load inertia, improving response speed and stability, achieving high-precision motion tracking, reducing motor output fluctuations, and minimizing ineffective energy consumption.

[0060] The regenerative braking module includes a sensor unit, a bidirectional inverter circuit, an energy storage capacitor bank, and a lithium-ion battery energy storage system. During braking, the inverter circuit converts the motor's back electromotive force into direct current (DC) and stores it in the capacitor bank for use by other devices. The sensor unit detects the braking signal and transmits it to the control module. The bidirectional converter converts the motor's kinetic energy during deceleration into electrical energy, which is fed back to the DC bus or energy storage device. The supercapacitor bank stores high-power regenerative energy for short periods of time, meeting instantaneous acceleration requirements. The lithium-ion battery energy storage system provides long-term storage of regenerative energy, balancing peak and valley load variations. Energy recovery efficiency reaches 30%-50%, reducing grid dependence and extending equipment life.

[0061] The collaborative scheduling module includes a task allocation engine, a resource management unit, and a conflict detection and avoidance algorithm. It receives external job instructions through the IoT platform and, based on the real-time load status of the devices, uses a dynamic programming algorithm to generate multi-device start / stop sequences and power allocation plans. The task allocation engine dynamically allocates tasks to multiple devices based on priority, energy consumption, and path conflicts. The resource management unit coordinates energy sharing between devices (such as energy allocation between energy storage devices). The conflict detection and avoidance algorithm calculates safe distances between devices in real time to avoid collisions and deadlocks. The module globally optimizes the operational efficiency of the device cluster, reducing idle waiting time and overall system energy consumption by 15%-25%.

[0062] The IoT communication module includes a TSN switch, a 5G edge gateway, and a protocol conversion unit. The communication module enables wireless communication with the IoT platform and real-time reception of multi-device collaborative scheduling commands from the platform. The TSN (Time-Sensitive Network) switch ensures microsecond-level transmission of control commands (latency <1ms); the 5G edge gateway supports high-bandwidth, low-latency communication between devices and the cloud; and the protocol conversion unit, compatible with protocols such as Modbus and OPC UA, enables cross-brand device connectivity. This builds a highly reliable Industrial IoT, supporting real-time multi-device collaboration and remote monitoring.

[0063] The positioning detection module includes a high-precision encoder, LiDAR, and UWB positioning tags. The high-precision encoder provides closed-loop feedback of the motor shaft angle and speed; the LiDAR scans environmental features to achieve submillimeter absolute positioning; and the UWB positioning tag provides centimeter-level real-time position tracking in complex environments, ensuring the accuracy of the device's motion trajectory (repeatability of ±0.1mm), providing a data foundation for path planning and obstacle avoidance.

[0064] The path planning module includes a global path planner, a local obstacle avoidance unit, and an energy consumption map generator.

[0065] The global path planner generates an energy-optimal global path based on the A or RRT algorithm; the local obstacle avoidance unit uses the dynamic window method (DWA) to adjust the local path in real time; the energy consumption map generator marks high-energy consumption areas (such as slopes and high-friction surfaces) and plans detour paths; it reduces invalid travel and sudden stops and starts, reducing the overall energy consumption of the path by 20%-30%.

[0066] The intelligent decision-making and optimization module includes a digital twin platform, a reinforcement learning agent unit, and an energy efficiency analysis unit.

[0067] The digital twin platform builds a virtual model of the equipment, simulates the operating status and predicts energy efficiency bottlenecks; the reinforcement learning agent unit learns dynamic energy consumption optimization strategies through the deep Q network (DQN); the energy efficiency analysis unit compiles historical data and generates energy-saving transformation suggestions (such as motor replacement and lubrication optimization); it achieves a decision upgrade from "passive response" to "active optimization" and continuously improves system energy efficiency.

[0068] The safety and fault-tolerance module includes a multi-level fault diagnosis unit, a redundant actuator switching system, and an emergency braking unit. The multi-level fault diagnosis unit and vibration spectrum analysis detect mechanical faults such as bearing wear and gear tooth breakage, and current harmonic detection identifies motor winding shorts or power supply anomalies. The redundant actuator switching system automatically activates backup equipment (such as dual-motor drives) when the primary actuator fails. The emergency braking unit triggers mechanical and electronic brakes to prevent loss of control, ensuring safe shutdown or degraded operation of the equipment under abnormal operating conditions. System availability exceeds 99.9%.

[0069] The human-machine interaction and monitoring module includes a visual HMI interface, a remote operation and maintenance terminal, and an audio-visual alarm unit. The visual HMI interface features an energy efficiency heat map that displays real-time energy consumption distribution by device and region, and 3D motion simulation that dynamically displays device operating status and path trajectories. The remote operation and maintenance terminal supports remote start / stop, parameter configuration, and alarm processing via mobile phone or PC. The audio-visual alarm unit uses LED indicators and a buzzer to indicate fault levels (e.g., yellow warning, red emergency stop). This provides intuitive operation and monitoring access, reduces the complexity of manual intervention, and supports unmanned operation and maintenance.

[0070] The stacker also includes two ground travel switch bumpers 18 placed on the warehouse floor. The two ground travel switch bumpers 18 are located on both sides of the ground rail 1, and the two ground travel switch bumpers 18 are respectively located at the left and right ends of the ground rail 1. When the mobile frame mechanism 2 moves horizontally along the ground rail 1 and approaches the rail limit position (left or right end), the travel switch installed at its bottom will contact the ground travel switch bumper 18, and the signal trigger will send an electrical signal to the screened electrical control box 8. After receiving the signal, the screened electrical control box 8 immediately cuts off the driving power of the mobile frame mechanism 2 and activates the braking device, forcing the mobile frame to stop moving. At the same time, the human-machine interface of the screened electrical control box 8 displays "overtravel alarm" to prompt the operator to handle it.

[0071] The mobile frame mechanism 2 includes a lifting chain 1 20 and a lifting chain 2 21 and a mobile lower crossbeam 14 arranged above the ground rail 1. The two ends of the side of the mobile lower crossbeam 14 are provided with ground travel switches. The upper end of the mobile lower crossbeam 14 is provided with a left column 13 and a right column 15 symmetrically arranged on the left and right positions. A lifting motor 26 is fixed on the right column 15. Two active double-row sprockets 27 are provided for rotating on the right side of the mobile lower crossbeam 14. The output shaft of the lifting motor 26 is connected to the rotating shaft of the two active double-row sprockets 27. A counterweight group 17 is provided inside the left column 13. The upper and lower ends of the counterweight group 17 are fixed with a lifting motor 26. A plurality of guide wheels 19 are fixed at each end, and the guide wheels 19 roll against the inside of the left column 13. The upper ends of the left column 13 and the right column 15 are fixed with a driven upper crossbeam 12, which rolls against the ceiling rail 7. The driven upper crossbeam 12 is provided with a ceiling rail brake. The left and right sides of the interior of the driven upper crossbeam 12 are both rotatably provided with a sprocket shaft 1 22 of equal height. Two transmission double-row sprockets 1 25 are fixed on the sprocket shaft 1 22. Two sprocket shafts 23 are rotatably provided on the right side of the interior of the driven upper crossbeam 12. Two transmission double-row sprockets 2 24 are fixed on the two sprocket shafts 2 23 on the right side. A sprocket shaft 23 is provided for rotating on the left side of the upper moving crossbeam 12. A transmission double-row sprocket 24 is fixed on the sprocket shaft 23 on the left side. The height of the sprocket shaft 23 is equal to and lower than the height of the sprocket shaft 1 22. One end of the lifting chain 20 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 20 is connected to the upper left end of the cargo platform mechanism 3. The lifting chain 20 is connected in sequence to the transmission double-row sprocket 25 on the front side of the left sprocket shaft 22, the transmission double-row sprocket 25 on the front side of the right sprocket shaft 22, the front active double-row sprocket 27, and the two sprocket shafts 2 on the right side. The transmission double-row sprocket 24 on the front side of 23 and the transmission double-row sprocket 24 on the sprocket shaft 23 on the left side, one end of the lifting chain 21 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 21 is connected to the upper right end of the cargo platform mechanism 3, and the lifting chain 21 is connected in sequence with the transmission double-row sprocket 1 25 on the rear side of the left sprocket shaft 1 22, the transmission double-row sprocket 1 25 on the rear side of the right sprocket shaft 1 22, the rear active double-row sprocket 27, and the transmission double-row sprocket 24 on the rear side of the two sprocket shafts 23 on the right side. A number of shift fork orthogonals 16 are provided on the side of the movable lower beam 14.

[0072] The movable lower crossbeam 14 is driven and moved above the ground rail 1, and a plurality of shift fork orthogonals 16 absorb the vibration or deviation of the movable lower crossbeam 14 during operation to ensure the stable operation of the movable lower crossbeam 14. The movable lower crossbeam 14, the left column 13, the right column 15 and the driven upper crossbeam 12 cooperate with each other, and the driven upper crossbeam 12 moves by rolling on the overhead rail 7. The driven upper crossbeam 12 brakes on the overhead rail 7 through the overhead rail brake piece to suppress the swing of the movable frame mechanism 2; the lifting motor 26 is started, and the output shaft of the lifting motor 26 drives the rotating shafts of the two active double-row sprockets 27 to rotate, thereby driving the two active double-row sprockets 27 to rotate synchronously; the lifting chain 20: starting from the upper end of the counterweight block group 17 → bypassing the front sprocket of the left column sprocket shaft 22 → the front sprocket of the right column sprocket shaft 22 → the front active double-row sprocket 27 → the right The two sprocket shafts 23 front sprockets → the left sprocket shaft 23 sprocket → finally connected to the left side of the cargo platform mechanism 3; lifting chain 2 21: starting from the upper end of the counterweight block group 17 → bypassing the left column sprocket shaft 1 22 rear sprocket → the right column sprocket shaft 1 22 rear sprocket → the rear active double-row sprocket 27 → the two right sprocket shafts 23 rear sprockets → finally connected to the right side of the cargo platform mechanism 3; the cargo platform mechanism 3 rises: the active double-row sprocket drives the forward traction lifting chain 1 20 and the lifting chain 2 21, the cargo platform mechanism 3 rises, and the counterweight block group 17 synchronously descends along the left column 13 through the guide wheel 19 to offset the load weight; the cargo platform mechanism 3 descends: the lifting motor 26 reverses, drives the reverse traction lifting chain 1 20 and the lifting chain 2 21, and the counterweight block group 17 rises to provide reverse pulling force to ensure smooth lifting.

[0073] The cargo platform mechanism 3 includes a base 28, the upper end of the base 28 is provided with a left-right symmetrical side beam frame 31, the left and right sides of the front and rear end surfaces of the base 28 are fixed with mounting frames 29, the upper ends of the mounting frames 29 are fixed with wire mounting tubes 30, one of the side beam frames 31 is provided with an electric box 40, the upper end and outer side of the side beam frame 31 are provided with a clamping wheel group 33, the left and right clamping wheel groups 33 respectively roll against the left column 13 and the right column 15, a vertically placed brake electric push rod 39 is provided on the side beam frame 31, and a reset spring 32 is provided between the brake electric push rod 39 and the side beam frame 31. A fixed shaft 38 and two symmetrically arranged front and rear inclined brake frames 34 are fixed inside 31, and brake blocks 35 are slidably provided inside the brake frames 34. A swing frame 36 is rotatably provided on the fixed shaft 38. The telescopic end of the brake electric push rod 39 is hinged to one end of the swing frame 36, and the other end of the swing frame 36 is hinged to a toggle rod 37, which is hinged to the brake block 35. The other end of the lifting chain 20 and the other end of the lifting chain 2 21 are respectively connected to the upper ends of the left and right brake electric push rods 39, and the upper end of the base 28 is fixed to an ultrasonic sensor, an acceleration sensor and a gyroscope.

[0074] The lifting motor 26 drives the active double-row sprocket 27 to rotate, and the lifting chain 1 20 and the lifting chain 2 21 pull the cargo platform mechanism 3 to move vertically along the column; the clamping wheel group 33 rolls against the left column 13 and the right column 15 to ensure that the movement trajectory of the cargo platform mechanism 3 is accurate and prevents deflection; when the cargo platform mechanism 3 needs to stop to reach the target layer or emergency stop, the electric box 40 sends a signal to the brake electric push rod 39, the brake electric push rod 39 extends, overcomes the pulling force of the return spring 32, and pushes the swing frame 36 to rotate around the fixed axis 38, and the swing frame 36 drives the toggle rod 37 to tilt the brake block 35 along the brake frame 34 The left column 13 and the right column 15 are pressed, and the cargo platform mechanism 3 is braked by friction; the brake is released and reset, the brake electric push rod 39 is retracted, and the reset spring 32 pulls the brake block 35 to move in the opposite direction along the brake frame 34, separating from the left column 13 and the right column 15, and the cargo platform mechanism 3 resumes free movement; integrated wiring management: the wire installation tube 30 centrally manages the cables of the electrical box 40 and the push rod to avoid cable entanglement or wear during the lifting process; the ultrasonic sensor, acceleration sensor and gyroscope cooperate to perform precise positioning, pick up and place the transported goods, and feedback the pick up and place positions to optimize the planned path.

[0075] The lifting and lateral fine-tuning mechanism 4 includes a bottom frame 41, an X-articulated frame 42, and a lifting and moving frame 45. The four corners of the lower end of the bottom frame 41 are fixed with weighing sensors 71. The four weighing sensors 71 are fixed to the upper end of the base 28. The upper end of one side of the X-articulated frame 42 is hinged to one side of the bottom frame 41. The upper end of one side of the X-articulated frame 42 is hinged to one side of the lifting and moving frame 45. The other two ends of the X-articulated frame 42 are both rotatably provided with two sliding rollers 49. The lower end of the other side of the lifting and moving frame 45 is fixed to the upper end of the base 28. Two sliding frames 48 are provided on the upper end of the other side of the bottom frame 41, and the sliding rollers 49 roll the sliding frames 48 set at corresponding positions. The left and right sides of the jacking movable frame 45 are provided with transverse chain conditions 46, and a transmission shaft is fixed between the rotating shafts on one side of the transverse chain conditions 46. A transverse motor 43 is fixed to the lower end of the jacking movable frame 45, and a transmission sprocket pair 44 is provided between the output shaft of the transverse motor 43 and the transmission shaft. A telescopic cylinder 47 is hinged between the bottom frame 41 and the jacking movable frame 45.

[0076] Lifting action: When the telescopic cylinder 47 is activated and extended, it pushes the hinge points of the X-articulated frame 42 to expand, causing the lifting frame 45 to rise vertically. When the telescopic cylinder 47 is retracted, the X-articulated frame 42 folds and the lifting frame 45 descends. Sliding roller guidance: When the X-articulated frame 42 is expanded / folded, the sliding roller 49 rolls within the sliding frame 48, constraining the motion trajectory and preventing lateral deviation. The lifting frame 45 is raised and lowered, driving the traverse motor 43 and the two traverse chains 46 to rise and fall synchronously. Horizontal traverse fine-tuning: The output shaft of the traverse motor 43 drives the drive shaft to rotate through the drive sprocket pair 44. The drive shaft synchronously drives the traverse chains 46 on both sides to rotate, causing the lifting frame 45 to move horizontally (left and right), precisely adjusting the horizontal position of the load. Load balancing and safety protection: The weighing sensor 71 monitors the force applied to the bottom frame 41 in real time, obtains the weight of the cargo in real time, and can generate an optimized acceleration curve based on the cargo weight.

[0077] The rotation fine-tuning mechanism 5 includes a support frame plate 58, the lower end of the support frame plate 58 is fixed with a rotation push rod 51 and two symmetrically arranged mounting plates 57, the lower end of the support frame plate 58 is slidably provided with a rack 52, the rack 52 and the rotation push rod 51 are located between the two mounting plates 57, a connecting rod 56 is fixed between the telescopic end of the rotation push rod 51 and the rack 52, the two mounting plates 57 are fixed to the upper ends of several chain links of the two transverse chain conditions 46, the middle part of the support frame plate 58 is rotatably provided with a rotation shaft, the rotation shaft passes through the support frame plate 58, the lower end of the rotation shaft is fixed with a driven gear 59, the driven gear 59 is meshed with the rack 52, the upper end of the rotation shaft is fixed with a rotating plate 54, the lower end of the support frame plate 58 is fixed with several circumferentially uniformly distributed support wheels 53 and several circumferentially uniformly distributed rotation sensors 55, and the rotating plate 54 is in contact with several support wheels 53.

[0078] When the indexing push rod 51 is extended, the rack 52 is pushed to slide to one side through the connecting rod 56; when it is retracted, the rack 52 is pulled in the opposite direction. The linear displacement of the rack 52 determines the rotation angle of the driven gear 59 (angle = rack displacement / gear pitch circle circumference × 360°). The rack 52 drives the driven gear 59 to rotate, driving the rotation shaft and the rotating plate 54 to rotate synchronously; the rotating plate 54 rolls on the support wheel 53 to ensure smooth rotation and no axial offset; the rotation sensor 55 monitors the rotation angle in real time. If there is a deviation between the actual angle and the target value, the control system dynamically adjusts the extension and retraction of the push rod 51 until the set accuracy is reached.

[0079] The telescopic fork plate mechanism 6 includes a telescopic base plate 63, which is fixed to the upper end of the rotating plate 54, and fixed guide rails 69 are fixed on the left and right sides of the upper end of the telescopic base plate 63. A telescopic positioning motor 62 is fixed to the middle part of the upper end of the telescopic base plate 63, and a dual-output shaft transmission seat 61 is fixed to the middle part of the lower end of the telescopic base plate 63. The output shaft of the telescopic positioning motor 62 is transmission-connected to the input shaft of the dual-output shaft transmission seat 61, and the left and right sides of the lower end of the telescopic base plate 63 are rotatably provided with a positioning active shaft 60, and the positioning active shaft 60 is transmission-connected to the output shaft on the same side of the dual-output shaft transmission seat 61, and a positioning active sprocket is fixed on the positioning active shaft 60. The four corners of the upper end of the telescopic base plate 63 are all fixed with a first limit sensor 64, and the four corners of the upper end of the telescopic base plate 63 are rotatably provided with two first telescopic sprockets 70 staggered up and down. The first telescopic sprocket 70 and the first The limit sensors 64 are all located on the inner side of the fixed guide rail 69 on the same side, and a movable guide rail 66 is slidably provided at the upper end of the fixed guide rail 69. A second limit sensor 65 is fixed on both the front and rear sides of the upper end of the movable guide rail 66. A second telescopic sprocket 68 is rotatably provided on both the front and rear sides of the upper end of the movable guide rail 66, and a fork plate 67 is slidably provided on the upper end of the movable guide rail 66. A telescopic chain 1 is transmitted between the positioning active sprocket on the same side and the two lower first telescopic sprockets 70, and one of the links of the telescopic chain 1 is fixedly connected to the movable guide rail 66. A telescopic chain 2 is transmitted between the two upper first telescopic sprockets 70 on the same side and the two second telescopic sprockets 68, and one of the links of the telescopic chain 2 is fixedly connected to one of the links of the telescopic chain 1. The fork plate 67 is fixedly connected to one of the links of the telescopic chain 2, and a visual sensor is provided on the fork plate 67.

[0080] The telescopic adjustment motor 62 is started, and the adjustment driving shafts 60 on both sides are synchronously driven to rotate through the dual output shaft transmission seat 61; the adjustment driving sprocket rotates with the shaft, pulling the telescopic chain 1 to move; the first stage of telescopic adjustment (movable guide rail 66 extends): telescopic chain 1 transmission: the fixed chain link of telescopic chain 1 pushes the movable guide rail 66 to slide outward along the fixed guide rail 69; guide constraint: the linear bearing of the fixed guide rail 69 ensures that the movable guide rail 66 moves smoothly (friction coefficient < 0.005); the second stage of telescopic adjustment (fork plate 67 extends): telescopic chain 2 linkage: when telescopic chain 1 moves, the fixed chain node drives the telescopic chain 2 to move synchronously, and the telescopic chain The fixed chain link of the second chain pushes the fork plate 67 to extend twice along the movable guide rail 66; proportional control: the sprocket diameter ratio is designed to make the extension speed of the fork plate 67 twice that of the movable guide rail 66, so as to quickly cover the depth of the shelf; limit and braking: sensor triggering: when the fork plate 67 reaches the maximum extension position, the second limit sensor 65 detects the signal, the motor stops and electromagnetic braking is performed; retraction process: the telescopic adjustment motor 62 reverses, the telescopic chain 1 and the telescopic chain 2 are pulled in opposite directions, the movable guide rail 66 and the fork plate 67 are retracted step by step, and the first limit sensor 64 confirms that they are fully reset; the visual sensor is used for precise positioning, and can quickly pick up and place goods.

[0081] The working principle of the present invention is to achieve efficient and safe automated operation through the collaboration of multiple modules: the load detection module monitors the weight and distribution of the load in real time, and the path planning module generates the optimal route based on the position information of the positioning detection module; the adaptive control module dynamically adjusts the driving force and steering, and the regenerative braking module recovers the deceleration energy; the collaborative scheduling module coordinates the tasks of each module, and the intelligent decision-making and optimization module optimizes the global strategy based on the cloud data of the Internet of Things communication module; the safety and fault-tolerance module diagnoses anomalies in real time and activates the redundancy mechanism. Finally, the human-computer interaction and monitoring module provides an operation interface and status warning, forming a closed-loop intelligent control system. The electric control box 8 with screen integrates PLC controller and human-machine interface to control equipment movement, parameter setting and status monitoring. The ladder 9 provides a safe passage for maintenance personnel to facilitate maintenance on the top of the equipment. The ground rail 1 and the ceiling rail 7 are set parallel to the floor and top of the warehouse to form the horizontal moving track of the stacker to ensure stable operation of the equipment. The moving lower beam 14 moves horizontally on the ground rail 1. Several fork orthogonals 16 absorb the vibration or deviation of the moving lower beam 14 during operation to ensure the stable operation of the moving lower beam 14. The driven upper beam 12 passes through As the overhead rail 7 rolls, the driven upper crossbeam 12 brakes on the overhead rail 7 via the overhead rail brake, suppressing the swing of the mobile frame mechanism 2 and carrying the cargo platform mechanism 3 to achieve horizontal positioning between shelves; the absolute grating ruler 10 high-precision position feedback device monitors the horizontal displacement of the mobile frame in real time, and the cargo platform mechanism 3 rises: the active double-row sprocket 27 drives the positive traction lifting chain 1 20 and the lifting chain 2 21, the cargo platform mechanism 3 rises, and the counterweight block group 17 synchronously descends along the left column 13 via the guide wheel 19 to offset the load weight; The cargo platform mechanism 3 descends: the lifting motor 26 reverses, drives the reverse traction lifting chain 1 20 and lifting chain 2 21, and the counterweight block group 17 rises to provide reverse pulling force to ensure smooth lifting and realize lifting and positioning between shelves for rough positioning; the clamping wheel group 33 rolls against the left column 13 and the right column 15 to ensure the accurate movement trajectory of the cargo platform mechanism 3 and prevent deflection; vertical height adjustment: start the telescopic cylinder 47. When the telescopic cylinder 47 extends, it pushes the hinge point of the X-articulated frame 42 to expand, and the top The lifting frame 45 rises vertically; when the telescopic cylinder 47 retracts, the X-articulated frame 42 folds and the lifting frame 45 descends; the sliding roller guide: when the X-articulated frame 42 is unfolded / folded, the sliding roller 49 rolls in the sliding frame 48 to constrain the movement trajectory and avoid lateral deviation; the lifting frame 45 rises and falls, driving the lateral motor 43 and the two lateral chain conditions 46 to rise and fall synchronously; horizontal lateral fine adjustment: the output shaft of the lateral motor 43 drives the transmission shaft to rotate through the transmission sprocket pair 44, and the transmission shaft synchronously drives the lateral motor 43 and the two lateral chain conditions 46 to rise and fall synchronously; The lateral chain conditions 46 on both sides rotate, causing the lifting and moving frame 45 to move horizontally (left and right) to accurately adjust the horizontal position of the load; load balancing and safety protection: the weighing sensor 71 monitors the force on the bottom frame 41 in real time, obtains the weight of the goods in real time, and can generate an optimized acceleration curve based on the weight of the goods; horizontal angle fine-tuning: when the indexing push rod 51 is extended, it pushes the rack 52 to slide to one side through the connecting rod 56; when it is retracted, it pulls the rack 52 in the opposite direction. The linear displacement of the rack 52 determines the rotation angle of the driven gear 59 (angle = rack displacement / gear indexing circle circumference × 360°). The rack 52 drives the driven gear 59 to rotate, driving the rotation shaft and the rotating plate 54 to rotate synchronously; the rotating plate 54 rolls on the support wheel 53 to ensure smooth rotation and no axial offset; the rotation sensor 55 monitors the rotation angle in real time. If there is a deviation between the actual angle and the target value, the control system dynamically adjusts the extension and retraction of the push rod 51 until the set accuracy is reached; the telescopic fork plate mechanism 6 accurately aligns the cargo position; The telescopic fork plate mechanism 6 has two-way telescopic forks, which can directly grab or place pallet cargo: the telescopic adjustment motor 62 is started, and the adjustment drive shafts 60 on both sides are synchronously driven to rotate through the dual output shaft transmission seat 61; the adjustment drive sprocket rotates with the shaft, pulling the telescopic chain to move; the first stage of telescopic (movable guide rail 66 extends): the telescopic chain is driven: the fixed chain link of the telescopic chain pushes the movable guide rail 66 to slide outward along the fixed guide rail 69; the guide constraint: the linear bearing of the fixed guide rail 69 ensures the smooth movement of the movable guide rail; the second stage of telescopic (fork plate 67 extends): the telescopic chain is linked: when the telescopic chain moves, the fixed link The chain node drives the telescopic chain 2 to move synchronously, and the fixed chain link of the telescopic chain 2 pushes the fork plate 67 to extend twice along the movable guide rail 66; proportional control: the sprocket diameter ratio is designed to make the fork plate 67 extend twice as fast as the movable guide rail 66, so as to quickly cover the shelf depth; limit and braking: sensor triggering: when the fork plate 67 reaches the maximum extension position, the second limit sensor 65 detects the signal, the motor stops and electromagnetic braking is performed; retraction process: the telescopic adjustment motor 62 reverses, the telescopic chain 1 and the telescopic chain 2 are pulled in opposite directions, the movable guide rail 66 and the fork plate 67 are retracted step by step, and the first limit sensor 64 confirms that it is fully reset.

[0082] The flat cable guide 11 manages the power supply and signal cables when the cargo platform mechanism 3 is raised or lowered, preventing entanglement and wear, and ensuring electrical safety.

[0083] In summary, the motion control system, through the collaborative operation of multiple modules, offers core advantages such as high-precision sensing, dynamic adaptive control, efficient energy recovery, intelligent collaborative decision-making, multiple safety features, and user-friendly human-machine interaction. The system integrates load, positioning, and environmental data in real time, achieving millisecond-level response and optimal path planning. Regenerative braking improves energy efficiency by 30%, while adaptive algorithms reduce energy consumption by 20%. Redundant design and remote monitoring ensure operational reliability exceeding 99%, significantly improving equipment performance and reducing operation and maintenance costs. It is suitable for demanding scenarios such as logistics automation and unmanned transportation.

[0084] This stacker crane achieves high stability and precise operation through its ground-ground dual-track structure (ground track 1 + overhead track 7) and modular mechanical design: the absolute grating scale 10 ensures the millimeter-level positioning accuracy of the mobile frame mechanism 2; the multi-level fine-tuning mechanism (lifting and lateral movement 4 + rotation 5 + telescopic fork 6) collaborates to complete millimeter-level fork alignment in three-dimensional space, and cooperates with the flat cable guide 11 to ensure cable safety; the electric control box 8 with screen integrates intelligent control and fault diagnosis functions, and the ladder 9 facilitates maintenance. The overall structure takes into account high precision (±1mm), high rigidity (anti-eccentric load) and easy maintainability, and is suitable for dense warehousing scenarios; it integrates high-precision transmission (three-stage telescopic fork plate), redundant safety mechanism (dual chain + hard limit) and intelligent control system, and has both high efficiency and stability.

[0085] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

Claims

1. An energy-optimized motion control system for unmanned factories, characterized by: The invention comprises a load detection module, an adaptive control module, a regenerative braking module, a collaborative scheduling module, an Internet of Things communication module, a positioning detection module, a path planning module, an intelligent decision-making and optimization module, a safety and fault tolerance module, and a human-machine interaction and monitoring module, and also comprises a stacker, wherein the stacker comprises a ground rail (1) and an absolute grating ruler (10) arranged parallel to each other on the warehouse floor and a ceiling rail (7) arranged on the top of the warehouse, a movable frame mechanism (2) is arranged between the ground rail (1) and the ceiling rail (7), and an electric control box with a screen is arranged on the left side of the movable frame mechanism (2). (8) and a ladder (9), a cargo platform mechanism (3) is provided on the upper transmission of the mobile frame mechanism (2), a lifting and lateral fine-tuning mechanism (4) is provided on the upper end of the cargo platform mechanism (3), a rotation fine-tuning mechanism (5) is provided on the upper end of the lifting and lateral fine-tuning mechanism (4), a telescopic fork plate mechanism (6) is provided on the upper end of the rotation fine-tuning mechanism (5), a flat cable guide (11) is provided between the cargo platform mechanism (3) and the lower part of the mobile frame mechanism (2), each module is integrated into the servo drive system of the stacker, and the control signal output end is connected to the PWM modulation unit of the motor inverter.

2. The energy-optimized motion control system for unmanned factories according to claim 1, characterized in that: The load detection module includes a torque sensor, a weighing sensor, a speed encoder, and an inertial measurement unit, which are respectively embedded in the equipment platform and drive shaft to collect weight and speed data in real time. The adaptive control module uses a preset energy consumption acceleration mapping model to minimize ineffective power consumption, generates a stepped smooth acceleration curve, and outputs it to the motor driver. The adaptive control module is pre-set with a database of acceleration curves for multiple different cargo weight intervals and corresponding operating speeds. The adaptive control module also includes a model predictive controller, a fuzzy logic controller and a parameter self-tuning unit; the control module can determine the corresponding cargo weight interval based on the cargo weight detected by the load detection module, and retrieve the corresponding acceleration curve from the acceleration curve database in combination with the preset operating speed, thereby generating adjustment instructions for motor power and acceleration.

3. The energy-optimized motion control system for unmanned factories according to claim 2, characterized in that: The regenerative braking module includes a sensor unit, a bidirectional inverter circuit, an energy storage capacitor group and a lithium battery energy storage system. During braking, the motor back electromotive force is converted into direct current through the inverter circuit and stored in the capacitor group for use by other devices; the collaborative scheduling module includes a task allocation engine unit, a resource management unit and a conflict detection and avoidance algorithm unit. It receives external operation instructions through the Internet of Things platform, combines the real-time load status of the equipment, and uses a dynamic programming algorithm to generate the start and stop timing and power distribution plan of multiple devices; the Internet of Things communication module includes a TSN switch, a 5G edge gateway and a protocol conversion unit. The communication module can communicate wirelessly with the Internet of Things platform and receive multi-device collaborative scheduling instructions sent by the Internet of Things platform in real time.

4. The energy-optimized motion control system for unmanned factories according to claim 3, characterized in that: The positioning detection module includes a high-precision encoder, a lidar and a UWB positioning tag; the path planning module includes a global path planner, a local obstacle avoidance unit and an energy consumption map generator; the intelligent decision-making and optimization module includes a digital twin platform, a reinforcement learning agent unit and an energy efficiency analysis unit.

5. The energy-optimized motion control system for unmanned factories according to claim 4, characterized in that: The safety and fault-tolerant module includes a multi-level fault diagnosis unit, a redundant actuator switching system and an emergency braking unit; the human-computer interaction and monitoring module includes a visual HMI interface, a remote operation and maintenance terminal and an audible and visual alarm unit.

6. The energy-optimized motion control system for unmanned factories according to claim 5, characterized in that: The stacker also includes two ground travel switch bumpers (18) placed on the warehouse floor, the two ground travel switch bumpers (18) being located on both sides of the ground rail (1), and the two ground travel switch bumpers (18) being located at the left and right ends of the ground rail (1) respectively;The movable frame mechanism (2) comprises a lifting chain 1 (20) and a lifting chain 2 (21) and a movable lower beam (14) which is arranged above the ground rail (1). Both ends of the side of the movable lower beam (14) are provided with ground travel switches. The upper end of the movable lower beam (14) is provided with a left column (13) and a right column (15) which are symmetrically arranged on the left and right sides. A lifting motor (26) is fixed on the right column (15). Two active double-row sprockets (27) are provided inside the movable lower beam (14) for rotation on the right side. The output shaft of the lifting motor (26) is connected to the rotating shaft of the two active double-row sprockets (27). A counterweight block group (17) is provided inside the left column (13). The counterweight block group (17) is provided with a plurality of A plurality of guide wheels (19) are fixed at both ends, and the guide wheel (19) rolls against the inside of the left column (13). The upper ends of the left column (13) and the right column (15) are fixed with a driven upper beam (12). The driven upper beam (12) rolls against the sky rail (7). The driven upper beam (12) is provided with a sky rail brake. The left and right sides of the interior of the driven upper beam (12) are both rotatably provided with a sprocket shaft (22) of equal height. Two transmission double-row sprockets (25) are fixed on the sprocket shaft (22). Two sprocket shafts (23) are rotatably provided on the right side of the interior of the driven upper beam (12). Two transmission double-row sprockets (24) are fixed on the two sprocket shafts (23) on the right side. A sprocket shaft 2 (23) is provided for rotating on the left side of the driven upper crossbeam (12). A transmission double-row sprocket 2 (24) is fixed on the left sprocket shaft 2 (23). The height of the sprocket shaft 2 (23) is equal to and lower than the height of the sprocket shaft 1 (22). One end of the lifting chain 1 (20) is connected to the upper end of the counterweight block group (17). The other end of the lifting chain 1 (20) is connected to the upper left end of the cargo platform mechanism (3). The lifting chain 1 (20) is connected in sequence to the transmission double-row sprocket 1 (25) on the front side of the left sprocket shaft 1 (22), the transmission double-row sprocket 1 (25) on the front side of the right sprocket shaft 1 (22), the front active double-row sprocket (27), the two sprocket shafts 2 ( 23) on the front side of the transmission double-row sprocket 2 (24) and the transmission double-row sprocket 2 (24) on the left sprocket shaft 2 (23), one end of the lifting chain 2 (21) is connected to the upper end of the counterweight block group (17), and the other end of the lifting chain 2 (21) is connected to the upper right end of the cargo platform mechanism (3), and the lifting chain 2 (21) is sequentially connected to the transmission double-row sprocket 1 (25) on the rear side of the left sprocket shaft 1 (22), the transmission double-row sprocket 1 (25) on the rear side of the right sprocket shaft 1 (22), the rear active double-row sprocket (27), and the transmission double-row sprocket 2 (24) on the rear side of the two sprocket shafts 2 (23) on the right side. A plurality of shift fork orthogonal devices (16) are provided on the side of the movable lower crossbeam (14). ; 7. The energy-optimized motion control system for unmanned factories according to claim 6, characterized in that: The cargo platform mechanism (3) includes a base (28), the upper end of the base (28) is provided with a left-right symmetrical side beam frame (31), the left and right sides of the front and rear end surfaces of the base (28) are fixed with mounting frames (29), the upper ends of the mounting frames (29) are fixed with wire mounting tubes (30), one of the side beam frames (31) is provided with an electric box (40), the upper end and the outer side of the side beam frame (31) are provided with a clamping wheel group (33), the left and right clamping wheel groups (33) respectively roll against the left column (13) and the right column (15), a vertically placed brake electric push rod (39) is provided on the side beam frame (31), and a return spring (32) is provided between the brake electric push rod (39) and the side beam frame (31) A fixed shaft (38) and two tilted brake frames (34) symmetrically arranged in front and back are fixed inside the side beam frame (31), brake blocks (35) are slidably provided inside the brake frames (34), a swing frame (36) is rotatably provided on the fixed shaft (38), a telescopic end of a brake electric push rod (39) is hinged to one end of the swing frame (36), and a toggle rod (37) is hinged to the other end of the swing frame (36), and the toggle rod (37) is hinged to the brake block (35), the other end of the lifting chain 1 (20) and the other end of the lifting chain 2 (21) are respectively connected to the upper ends of the left and right brake electric push rods (39), and an ultrasonic sensor, an acceleration sensor and a gyroscope are fixed to the upper end of the base (28).

8. The energy-optimized motion control system for unmanned factories according to claim 7, characterized in that: The lifting and transverse fine-tuning mechanism (4) includes a bottom frame (41), an X-articulated frame (42), and a lifting and moving frame (45). The four corners of the lower end of the bottom frame (41) are fixed with weighing sensors (71). The four weighing sensors (71) are fixed to the upper end of the base (28). The upper end of one side of the X-articulated frame (42) is hinged to one side of the bottom frame (41). The upper end of one side of the X-articulated frame (42) is hinged to one side of the lifting and moving frame (45). The other two ends of the other side of the X-articulated frame (42) are both rotatably provided with two sliding rollers (49). The other side of the lifting and moving frame (45) Two sliding frames (48) are provided at the lower end and the upper end of the other side of the bottom frame (41), and the sliding rollers (49) are arranged to roll the sliding frames (48) at corresponding positions. The left and right sides of the lifting movable frame (45) are provided with transverse chain conditions (46), and a transmission shaft is fixed between the rotating shafts on one side of the transverse chain conditions (46). A transverse motor (43) is fixed at the lower end of the lifting movable frame (45), and a transmission sprocket pair (44) is provided between the output shaft of the transverse motor (43) and the transmission shaft. A telescopic cylinder (47) is hinged between the bottom frame (41) and the lifting movable frame (45).

9. The energy-optimized motion control system for unmanned factories according to claim 8, characterized in that: The rotation fine adjustment mechanism (5) includes a support frame plate (58), a transfer push rod (51) and two symmetrically arranged mounting plates (57) are fixed at the lower end of the support frame plate (58), a rack (52) is slidably provided at the lower end of the support frame plate (58), the rack (52) and the transfer push rod (51) are located between the two mounting plates (57), a connecting rod (56) is fixed between the telescopic end of the transfer push rod (51) and the rack (52), and the two mounting plates (57) are fixed on the two transverse chain conditions (46) The upper ends of the chain links are provided with a rotation shaft in the middle of the support frame plate (58), the rotation shaft passes through the support frame plate (58), the lower end of the rotation shaft is fixed with a driven gear (59), the driven gear (59) is engaged with the rack (52), the upper end of the rotation shaft is fixed with a rotating plate (54), the lower end of the support frame plate (58) is fixed with a plurality of circumferentially uniformly distributed support wheels (53) and a plurality of circumferentially uniformly distributed rotation sensors (55), and the rotating plate (54) is in contact with the plurality of support wheels (53).

10. The energy-optimized motion control system for unmanned factories according to claim 9, characterized in that: The telescopic fork plate mechanism (6) comprises a telescopic base plate (63), the telescopic base plate (63) being fixed to the upper end of the rotating plate (54), fixed guide rails (69) being fixed on both left and right sides of the upper end of the telescopic base plate (63), a telescopic positioning motor (62) being fixed to the middle of the upper end of the telescopic base plate (63), a dual output shaft transmission seat (61) being fixed to the middle of the lower end of the telescopic base plate (63), the output shaft of the telescopic positioning motor (62) being transmission-connected to the input shaft of the dual output shaft transmission seat (61), a positioning driving shaft (60) being rotationally provided on both left and right sides of the lower end of the telescopic base plate (63), the positioning driving shaft (60) being transmission-connected to the output shaft on the same side of the dual output shaft transmission seat (61), a positioning driving sprocket being fixed on each of the positioning driving shafts (60), a first limit sensor (64) being fixed to each of the four corners of the upper end of the telescopic base plate (63), two first telescopic sprockets (70) being rotationally provided and staggered in an upper and lower direction at each of the four corners of the upper end of the telescopic base plate (63), the first telescopic sprockets (70) being rotationally provided and staggered in an upper and lower direction at each of the four corners of the upper end of the telescopic base plate (63), (70) and the first limit sensor (64) are both located on the inner side of the fixed guide rail (69) on the same side. The upper end of the fixed guide rail (69) is provided with a movable guide rail (66) for sliding. The second limit sensor (65) is fixed on both the front and rear sides of the upper end of the movable guide rail (66). The front and rear sides of the upper end of the movable guide rail (66) are both provided with a second telescopic sprocket (68) for rotation. The upper end of the movable guide rail (66) is provided with a fork plate (67) for sliding. A telescopic chain 1 is provided for transmission between the positioning active sprocket on the same side and the two lower first telescopic sprockets (70). One of the links of the telescopic chain 1 is fixedly connected to the movable guide rail (66). A telescopic chain 2 is provided for transmission between the two upper first telescopic sprockets (70) on the same side and the two second telescopic sprockets (68). One of the links of the telescopic chain 2 is fixedly connected to one of the links of the telescopic chain 1. The fork plate (67) is fixedly connected to one of the links of the telescopic chain 2. A visual sensor is provided on the fork plate (67).

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