Sky-based production transfer control method and apparatus

Abstract

The present application relates to the technical field of industrial production, and in particular to a production transfer control method and device based on a sky rail, which comprises: setting positioning bar codes at different positions of the sky rail to receive bar code values and positioning information obtained by scanning the positioning bar codes by a sky rail vehicle; determining the sky rail vehicles running on each track based on the bar code values and sorting them; determining the safe positions of the sky rail vehicles based on the positioning information of each sky rail vehicle and a preset safe distance; judging whether each sky rail vehicle reaches the corresponding safe position before reaching the corresponding target running position, and if so, controlling the sky rail vehicle to run to the corresponding safe position; otherwise, judging whether the sky rail vehicle needs to perform a cross-track operation; if not, controlling the sky rail vehicle to run to the corresponding target running position; if so, controlling the sky rail vehicle to run to a safe waiting point of the current track and performing a cross-track operation after a turnout is switched. In this way, automation can be improved while avoiding safety hazards caused by cross-operation between people and machines.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial production, in particular to a production transfer control method and device based on a sky rail. BACKGROUND

[0002] In many industrial production environments, the semi-finished products in different production areas of the production environment are transferred. For example, in the chemical fiber industry, automatic yarn dropping transfer equipment is currently used to realize automatic transportation of chemical fiber products from production to packaging and sales.

[0003] Among them, the automatic process is generally divided into a semi-automatic process and a full-automatic process. Specifically, for the semi-automatic process, the winding yarn dropping process is separated from product packaging, the winding machine produces a winding product, the winding product is connected from the winding machine by a plurality of yarn dropping splitting robots and is split to a creel in order, the creel is pushed to a packaging area by a manual method, is split and stacked by a packaging production line mainly composed of a single-arm robot, a small roller, a large roller and a bagging mechanism, and finally reaches a sales standard by a film wrapping machine and a labeling machine, and is sold. The full-automatic process generally uses a shuttle vehicle or the like to replace manual work to complete the transfer operation from the winding workshop to the packaging area.

[0004] Compared with the semi-automatic process, the full-automatic process has the characteristics of saving labor and can better reduce the burden of workers, but it has the problems of large equipment occupation space and safety hazards due to the cross operation of people and transfer machines. Therefore, how to improve automation while avoiding cross operation of people and machines to avoid safety hazards has become a technical problem to be solved. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a production transfer control method and device based on a sky rail to overcome the problem that it is currently impossible to improve automation while avoiding cross operation of people and machines to avoid safety hazards.

[0006] To achieve the above purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a production transfer control method based on a sky rail, comprising:

[0008] Positioning barcodes with non-repeating barcode values are arranged at different positions of the sky rail to receive barcode values and positioning information obtained by scanning the positioning barcodes by a sky rail vehicle;

[0009] Based on the barcode values, the sky rail vehicles running on each track are determined, and the sky rail vehicles running on each track are sorted in front and back for each track;

[0010] determine a safe position of each aerial train based on the positioning information of each aerial train and a preset safe distance;

[0011] determine a target running position of each aerial train;

[0012] compare the safe position of each aerial train with the target running position, and determine whether each aerial train reaches the corresponding safe position before reaching the corresponding target running position, and if so, control the aerial train to run to the corresponding safe position;

[0013] if not, determine whether the current track is the target track of the aerial train based on the target running position of the aerial train, to determine whether the aerial train needs to perform a cross-track operation;

[0014] if no cross-track operation is needed, control the aerial train to run to the corresponding target running position;

[0015] if a cross-track operation is needed, control the aerial train to run to a safe waiting point of the current track, and after controlling the corresponding switch to complete the corresponding switching, control the aerial train to perform a cross-track operation.

[0016] Further, in some embodiments of the present application, the direction of travel of each track is fixed, and on the same track, the barcode value of the positioning barcode increases along the direction of travel;

[0017] determine the aerial train running on each track based on the barcode value, and for each track, sort the aerial trains running thereon in front and back, comprising:

[0018] determine the car number of the aerial train running on each track based on the barcode value obtained by the aerial train scanning the positioning barcode and the barcode value range corresponding to each track;

[0019] sort the aerial trains running on each track in front and back based on the size of each barcode value, to obtain an ordered car number sorting.

[0020] Further, in some embodiments of the present application, the determination of the safe position of each aerial train based on the positioning information of each aerial train and the preset safe distance comprises:

[0021] determine the safe position of the current aerial train as the safe position of the rear car of the current aerial train based on the difference between the positioning information of the current aerial train and the preset safe distance, to determine the safe position of the aerial train other than the frontmost vehicle on each track.

[0022] Further, in some embodiments of the present application, the determination of the safe position of each aerial train based on the positioning information of each aerial train and the preset safe distance further comprises: for the frontmost vehicle on the track, setting the target position of the track as the safe position of the frontmost vehicle.

[0023] Further, in some embodiments of the present application, the safety waiting point is the frontmost position in the current track that does not hinder the action of the turnout.

[0024] Further, in some embodiments of the present application, the control of the corresponding turnout to complete the corresponding switching includes:

[0025] determining a target path based on the target track of the aerial track vehicle currently requiring switching of tracks, and controlling the corresponding turnout to complete the switching action;

[0026] marking the corresponding target path as the car number of the aerial track vehicle currently requiring switching of tracks, and sending an instruction allowing crossing of tracks to the corresponding aerial track vehicle;

[0027] after receiving the crossing completion signal sent by the corresponding aerial track vehicle, clearing the mark.

[0028] Further, in some embodiments of the present application, the preset safety distance is determined based on the mechanical size of the aerial track vehicle.

[0029] In a second aspect, the present application also provides a production transfer control device based on an aerial track, including a processor and a memory, the processor being connected with the memory:

[0030] wherein the processor is configured to call and execute a program stored in the memory;

[0031] the memory is configured to store the program, and the program is at least used to execute the above-mentioned production transfer control method based on an aerial track.

[0032] The present application relates to the technical field of industrial production, in particular to a production transfer control method and device based on an aerial track, the method comprising: setting positioning barcodes with non-repeating barcode values at different positions of the aerial track to receive the barcode values and positioning information obtained by the aerial track vehicle scanning the positioning barcodes; determining the aerial track vehicles running on each track based on the barcode values, and sorting the aerial track vehicles running on each track in front and back; determining the safety positions of the aerial track vehicles based on the positioning information of the aerial track vehicles and a preset safety distance; determining the target running positions of the aerial track vehicles; comparing the safety positions of the aerial track vehicles with the target running positions to determine whether the aerial track vehicles reach the corresponding safety positions before reaching the corresponding target running positions, and if so, controlling the aerial track vehicles to run to the corresponding safety positions; if not, determining whether the current track is the target track of the aerial track vehicle based on the target running position of the aerial track vehicle to determine whether the aerial track vehicle needs to perform a crossing operation; if not, controlling the aerial track vehicle to run to the corresponding target running position; if so, controlling the aerial track vehicle to run to the safety waiting point of the current track, and after controlling the corresponding turnout to complete the corresponding switching, controlling the aerial track vehicle to perform the crossing operation. In this way, automation can be improved while avoiding cross-operation between people and machines, thereby avoiding the problem of safety hazards. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0034] Figure 1 is a flowchart of the production transfer control method based on the sky rail provided by the embodiment of the present application.

[0035] Figure 2 is a schematic diagram of the principle of the operation of the sky rail and the sky rail vehicle in the production transfer control method based on the sky rail provided by the embodiment of the present application.

[0036] Figure 3 is a flowchart of determining the safe position of the sky rail vehicle in the production transfer control method based on the sky rail provided by the embodiment of the present application.

[0037] Figure 4 is a flowchart of the production transfer control method based on the sky rail provided by another embodiment of the present application.

[0038] Figure 5 is a structural schematic diagram of the production transfer control device based on the sky rail provided by the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail. Obviously, the described embodiments only constitute some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0040] Figure 1 is a flowchart of the production transfer control method based on the sky rail provided by the embodiment of the present application, Figure 2 is a schematic diagram of the principle of the operation of the sky rail and the sky rail vehicle in the production transfer control method based on the sky rail provided by the embodiment of the present application, as Figure 1 and Figure 2 The embodiment can include the following steps:

[0041] S101, positioning barcodes with non-repeating barcode values are arranged at different positions of the sky rail to receive the barcode values and positioning information obtained by the sky rail vehicle scanning the positioning barcodes.

[0042] S102, based on the barcode value, determine the sky rail car running on each track, and for each track, sort the sky rail cars running on it in front and back.

[0043] Specifically, the sky rail is a track system installed in the ceiling or in the air (such as more than 2 meters from the ground) in the production environment, and the sky rail car can run on the track to complete the transportation task. In practical applications, a robot or a mechanical arm and a fixed structure provided on the sky rail car can be used to fix the products produced in a certain area on the sky rail car, and then through a control system, switch the turnout on the track and control the sky rail car to run, to realize the transfer task.

[0044] For example, in the chemical fiber production field, after the silk spool production is completed, a double-axis robot can be used to drop the silk and split it, and then hang the split product on the silk rack of the sky rail car. The sky rail car transfers the product to the packaging area through the track of the sky rail, and then a robot is used to split the offline to complete the entire transfer process. The overall height of the sky rail car and the hanging rack can be set to be more than two meters from the ground. In this way, the transportation has no effect on the space below, and there is no area for human-machine interaction, thereby avoiding safety hazards and effectively ensuring personnel safety.

[0045] It should be noted that for industries with high production output, multiple sky rail cars are needed to simultaneously transfer products on the sky rail track. In addition, because the sky rail has multiple tracks, the sky rail car not only needs to run on the same track, but also needs to interact between different tracks when crossing the tracks.

[0046] As shown in Figure 2 , the sky rail has multiple tracks, and the switch between the tracks can be switched through the turnout. Among them, some tracks are long enough, such as L1, L3, and L4 tracks, which can accommodate multiple sky rail cars running simultaneously. Therefore, for these tracks, the problem of safe following of multiple cars on the same track needs to be considered. At the same time, some tracks can only accommodate one car, such as the turnout part (shown as DC and numbers in Figure 2 ), so there is no need to consider the safety of multiple cars when crossing the tracks. However, the turnout and other variable track tracks can move, and there is instability in movement. Therefore, when crossing the tracks, the sky rail and each sky rail car that needs to cross the tracks need to be considered for safe interaction when crossing the tracks.

[0047] Based on this, the application sets positioning barcodes with non-repeating barcode values at different positions of the sky rail. Specifically, for multiple sections of the sky rail, positioning barcodes are continuously pasted on each section of the sky rail. In the system initialization stage, the barcode positioning system ensures that the barcode value scanned by the sky rail car at the sky rail position is not zero and unique. In addition, the direction of travel of each section of the sky rail is fixed, i.e., running forward, and the size order of the barcode values on each section of the sky rail is consistent with the direction of travel of the sky rail car, i.e., the barcode values in the forward travel direction of the sky rail car show an increasing trend. At the same time, a positioning barcode scanning device is also installed on each sky rail car, so that each sky rail car can scan the barcode value and transmit the barcode value and the positioning information of the sky rail car based on the barcode value to the control system in real time, so as to realize real-time updating of the corresponding barcode value and positioning information of each sky rail car by the control system.

[0048] On this basis, the control system determines the sky rail cars running on each section of the sky rail based on the received barcode values and positioning information sent by the sky rail cars, and sorts the sky rail cars in the forward direction.

[0049] S103, determining the safe positions of the sky rail cars based on the positioning information of the sky rail cars and the preset safe distance.

[0050] S104, determining the target running positions of the sky rail cars.

[0051] S105, comparing the safe positions of the sky rail cars with the target running positions, judging whether the sky rail cars reach the corresponding safe positions before reaching the corresponding target running positions, if yes, controlling the sky rail cars to run to the corresponding safe positions, if no, judging whether the current section of the sky rail is the target section of the sky rail car based on the target running position of the sky rail car, to determine whether the sky rail car needs to perform a cross-rail operation, if no, controlling the sky rail car to run to the corresponding target running position, if yes, controlling the sky rail car to run to a safe waiting point of the current section of the sky rail, and after controlling the corresponding turnout to complete the corresponding switching, controlling the sky rail car to perform a cross-rail operation.

[0052] Specifically, the control system determines the safe positions of each sky rail car based on the preset safe distance of the sky rail car and the real-time positioning information, and controls the sky rail car to run safely based on the target running position of each sky rail car. In addition, the control system determines whether the sky rail car needs to perform a cross-rail operation, so that when a cross-rail operation is needed, the corresponding turnout is controlled to perform a switching action, ensuring smooth and safe cross-rail operation of the sky rail car. The preset safe distance of the sky rail car is determined based on the mechanical size of the sky rail car, and the target running position can be obtained from the upper computer.

[0053] It can be understood that in actual transportation process, the overhead track vehicles will be randomly disturbed in sequence according to the demand of operation and travel to the position of demand, and in the present application, the safety position of the following vehicle immediately behind the preceding vehicle is determined according to the position of the preceding vehicle in real-time state and the preset safety distance, so as to prevent the collision between the following vehicle and the preceding vehicle. Therefore, in the process of determining the safety position of each overhead track vehicle, it is necessary to judge the track where each vehicle is located and the sequence of the front and rear of each overhead track vehicle. Figure 3 is the flowchart of determining the safety position of the overhead track vehicle in the production and transfer control method based on the overhead track provided by the embodiment of the present application, as shown in Figure 3 , specifically comprising:

[0054] S201, initializing the bar code value on each track and the safety distance of each overhead track vehicle.

[0055] In which, each position of each track has a non-repeated bar code value, and the safety distance of the overhead track vehicle is set according to the mechanical size of the overhead track vehicle, so as to ensure that the mechanical collision between the front and rear vehicles will not occur within the safety distance.

[0056] In actual application, the safety distance can be set as the same and different according to actual demand, for example, when the mechanical sizes of all overhead track vehicles are the same or the difference is small, the same safety distance can be set for all overhead track vehicles; and when the mechanical sizes of all overhead track vehicles are greatly different due to the reasons such as not being the same batch or different models, a safety distance can be set for each vehicle or each batch or model of overhead track vehicle. In which, when calculating the safety position of the following vehicle, the safety distance used can be the safety distance of the preceding vehicle determined according to the mechanical size of the preceding vehicle, or the safety distance of the following vehicle determined according to the mechanical size of the following vehicle (the specific selection can be determined according to where to calculate the safety position, for example, the safety distance of the preceding vehicle and the safety distance of the following vehicle can both be used when calculating in the control system, or the safety position of the following vehicle can be calculated at the following vehicle, in which the safety distance determined based on the mechanical size of the following vehicle and the positioning information of the preceding vehicle sent by the preceding vehicle are used to calculate the safety position of the following vehicle).

[0057] S202, determining the vehicle number of the overhead track vehicle on each track.

[0058] S203, based on the size of each bar code value, the overhead track vehicles running on each track are sorted in front and rear for each track, and the ordered vehicle number sorting is obtained.

[0059] Specifically, the control system first scans the vehicle number of the overhead track vehicle from small to large, and determines the vehicle number of the overhead track vehicle running on each track based on the bar code value obtained by scanning the positioning bar code of each overhead track vehicle and the bar code value range corresponding to each track, and obtains the unordered vehicle number sorting of the overhead track vehicle on each track. For example, Figure 2Taking the L3 section track as an example, the disordered vehicle number sequence on the section track is 4, 8, 9 and 15 after calculation by the control system.

[0060] On this basis, the control system performs cyclic calculation on each section track, and arranges the vehicle numbers on each section track in front-back order according to the size of the barcode value. Figure 2 Taking the L3 section track as an example, the ordered vehicle number sequence is 9, 4, 8 and 15 after calculation.

[0061] S204, based on the positioning information of each aerial track vehicle and the preset safety distance, determine the safety position of each aerial track vehicle.

[0062] Specifically, in the present application, because the safety position of the aerial track vehicle is determined based on the position of the front vehicle, and the frontmost vehicle does not have a corresponding front vehicle, it is necessary to distinguish the aerial track vehicles on each track into frontmost vehicles and non-frontmost vehicles.

[0063] Among them, for non-frontmost vehicles, the difference between the position of the front vehicle and the preset safety distance is directly taken as the safety position of the rear vehicle. For the frontmost vehicle on the track, the target position of the track can be set as the safety position of the frontmost vehicle, to indicate that the frontmost vehicle is not blocked by any vehicle and can pass through the target position on the track.

[0064] In actual application, after the control system calculates the safety position of a certain aerial track vehicle, the safety position can be directly sent to the corresponding aerial track vehicle. Alternatively, in some embodiments, the action of calculating the safety position can also be performed by the aerial track vehicle, for example, in the front vehicle, the safety position of the rear vehicle is calculated based on the position of the vehicle and the preset safety distance, and then the front vehicle sends the calculation result to the rear vehicle, or after the front vehicle sends its position to the rear vehicle, the rear vehicle calculates its safety position according to the position of the front vehicle and the preset safety distance, so that the rear vehicle runs based on the safety position, ensuring the running safety (the subsequent judgment based on the safety position and the target running position and whether to perform the cross-track operation can also be performed at different ends in different embodiments).

[0065] It should be noted that in the present application, the acquisition and calculation of information are performed in real time, and when the position of the front vehicle changes, the safety position of the rear vehicle calculated will also change in real time, thereby ensuring the smooth and safe progress of each aerial track vehicle.

[0066] Thus, the safe position of each aerial track vehicle can be determined. On this basis, the target running position of each aerial track vehicle is compared with the real-time safe position, and through the comparison result, the farthest position at which each aerial track vehicle can run and whether cross-rail operation is needed are determined. Specifically, the safe position of each aerial track vehicle is compared with the target running position, it is judged whether each aerial track vehicle reaches the corresponding safe position before reaching the corresponding target running position, if yes, the aerial track vehicle is controlled to run to the corresponding safe position; if no, it is judged whether the current track is the target track of the aerial track vehicle based on the target running position of the aerial track vehicle, so as to determine whether the aerial track vehicle needs to perform cross-rail operation; if no cross-rail operation is needed, the aerial track vehicle is controlled to run to the corresponding target running position; if cross-rail operation is needed, the aerial track vehicle is controlled to run to the safe waiting point of the current track, and after the corresponding switch completes the corresponding switching, the aerial track vehicle is controlled to perform cross-rail operation. The safe waiting point is the most front end position in the current track which does not hinder the action of the switch.

[0067] Further, in some embodiments of the present application, when the aerial track vehicle on the track needs to perform cross-rail operation, the specific process of the control system controlling the corresponding switch to complete the corresponding switching includes: determining the target path of the aerial track vehicle which needs to switch the track at present based on the target track (the track finally to be reached, which can be determined by the target running position) of the aerial track vehicle, and controlling the corresponding switch to complete the switching action, so that the aerial track vehicle can run to its subsequent target track after the switch switching; then marking the corresponding target path as the car number of the aerial track vehicle which needs to switch the track at present (to indicate that the target path serves the aerial track vehicle, i.e. the aerial track vehicle travels), and sending the cross-rail running permission instruction to the corresponding aerial track vehicle; after receiving the cross-rail completion signal sent by the corresponding aerial track vehicle, the marked car number is cleared.

[0068] As mentioned above, in the production transfer control method based on aerial track provided by the present application, the control system and the aerial track vehicle end (and a separate aerial track system can also be arranged to interact with the control system to realize functions such as switch switching) can perform different actions in the above method according to actual conditions, Figure 4 is a flowchart of the production transfer control method based on aerial track provided by another embodiment of the present application, which will be described below in combination with Figure 4 In a specific implementation process, the specific interaction process between different ends (including the control system and the aerial track vehicle) is used to introduce the multi-vehicle safe following running and cross-rail running in the production transfer control method based on aerial track of the present application, as shown in Figure 4 The specific interaction process includes:

[0069] S301, the control system sends the calculated safe position of each aerial track vehicle and the obtained target running position of each aerial track vehicle to the corresponding aerial track vehicle.

[0070] S302, the overhead line car determines whether the target running position is less than a safe position that the car can reach.

[0071] Specifically, the overhead line car determines whether the target running position is less than a safe position that the car can reach. If the target running position is less than the safe position (i.e., the corresponding safe position is not reached before the corresponding target running position is reached), S304 is executed, and the determination is continued. If the target running position is not less than the safe position (i.e., the corresponding safe position is reached before the corresponding target running position is reached), S303 is executed.

[0072] S303, the overhead line car runs to the safe position.

[0073] Specifically, the overhead line car runs to the safe position to prevent a collision with the front car.

[0074] S304, the overhead line car determines whether it needs to run across the track.

[0075] Specifically, the overhead line car determines whether it needs to run across the track according to the target track in the target running position sent by the control system, i.e., if the target track is consistent with the track on which the car is located, the car does not need to run across the track, and S305 is directly executed. Otherwise, S306 is executed.

[0076] S305, the overhead line car runs to the target running position.

[0077] Specifically, since the target track is consistent with the track on which the car is located, the overhead line car does not need to run across the track, and thus the overhead line car can directly run to the target running position.

[0078] S306, the overhead line car runs to a safe waiting point.

[0079] Specifically, the overhead line car first runs to a safe waiting point of the current track, where the safe waiting point is the frontmost position of the current track that the overhead line car can reach without interfering with the action of the overhead line track switch.

[0080] S307, the overhead line car returns the target track to the system.

[0081] Specifically, after the overhead line car reaches the safe waiting point, the overhead line car returns the target track to the control system to verify the accuracy of the target track corresponding to the overhead line car.

[0082] S308, the control system selects a target path and controls the track switch to complete the action and marks.

[0083] Specifically, the control system selects a target path according to the target track, controls the track switch to complete the action, and marks the target path as the car number of the overhead line car that needs to run across the track in the current processing, so that the target car corresponds to the target path, and waits for the overhead line car to run across the track.

[0084] S309, the control system sends a cross-rail operation permission instruction to command the overhead rail vehicle to start operation.

[0085] Specifically, the control system delivers the cross-rail operation permission instruction to the overhead rail vehicle to command the overhead rail vehicle to start operation.

[0086] S310, the overhead rail vehicle receives the cross-rail operation permission instruction and returns a receipt of the cross-rail operation permission instruction and starts cross-rail operation.

[0087] Specifically, after receiving the cross-rail operation permission instruction, the overhead rail vehicle returns a receipt of the cross-rail operation permission instruction to the control system and controls itself to perform cross-rail operation.

[0088] S311, the overhead rail vehicle sends a cross-rail completion instruction.

[0089] Specifically, after completing cross-rail operation, the overhead rail vehicle sends a cross-rail completion instruction to the control system.

[0090] S312, the control system receives the cross-rail completion instruction and returns a receipt of the cross-rail completion instruction and clears the marking of the selected target path.

[0091] Specifically, after receiving the cross-rail completion instruction from the overhead rail vehicle, the control system returns a receipt of the cross-rail completion instruction, completes interaction, and clears the marking of the selected target path to create initial conditions for subsequent cross-rail operation of the overhead rail vehicle.

[0092] The production transfer control method based on overhead rails provided in the application can control the overhead rail vehicles to perform safe following operation and cross-rail operation on the overhead rail track through the control system, can make the transfer area of the factory have more passing and storage space, can avoid the cross operation of people and equipment in the area and greatly eliminate the hidden dangers on site, and can complete automatic transfer between different areas, such as automatic transfer of chemical fiber roll products from the production area to the packaging area, and greatly reduce the work burden of workers. Through flexible algorithm calculation, the overhead rail vehicle can perform safe following operation on the same track, can complete stable cross-rail operation in the interaction process between the control system and the overhead rail vehicle, can reduce the dependence on other systems, and can improve the stability and universality of the system.

[0093] Based on the same inventive concept, the application further provides a production transfer control device based on overhead rails for implementing the above method embodiments. Figure 5 is a structural schematic diagram of the production transfer control device based on overhead rails provided in the embodiments of the application. Figure 5As shown, the sky rail-based production transfer control device in the embodiment includes a processor 11 and a memory 12, and the processor 11 is connected with the memory 12. The processor 11 is configured to invoke and execute a program stored in the memory 12, and the memory 12 is configured to store the program, which is used at least for executing the sky rail-based production transfer control method in the above embodiment.

[0094] The specific implementation of the sky rail-based production transfer control device provided in the embodiment of the present application can refer to the implementation of the sky rail-based production transfer control method in any of the above embodiments, which will not be repeated here.

[0095] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the content not described in detail in some embodiments can be referred to the same or similar content in other embodiments.

[0096] It should be noted that, in the description of the present application, the terms "first", "second", and the like are only used for descriptive purposes and should not be construed as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is at least two.

[0097] Any process or method descriptions in flow charts or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for performing specific logic functions or steps in the process, and the various embodiments of the present application include additional implementations in which the functions described with reference to the figures are implemented by hardware, software, firmware, or combinations thereof. It should be appreciated that the scope of the present application encompasses not only the described embodiments but also any other embodiments that can be derived from the described embodiments without departing from the scope of the present application, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0098] It should be understood that the parts of the present application can be realized by hardware, software, firmware or their combinations. In the above implementation, the plurality of steps or methods can be realized by software or firmware stored in the memory and executed by the appropriate instruction execution system. For example, if realized by hardware, and as in another embodiment, it can be realized by any one or combination of the following technologies known in the art: discrete logic circuit with logic gate circuit for implementing logic function on data signal, application specific integrated circuit with appropriate combination of logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0099] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be instructed by a program to complete the relevant hardware, and the program can be stored in a computer readable storage medium, and the program includes one or a combination of the steps of the method embodiment when executed.

[0100] In addition, each function unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware, or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0101] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0102] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0103] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A production transfer control method based on overhead rails, characterized in that, include: Positioning barcodes with unique barcode values ​​are set at different locations on the skyrail to receive barcode values ​​and positioning information obtained by the skyrail vehicle scanning the positioning barcodes; Based on the barcode value, the skyrail cars running on each track segment are determined, and for each track segment, the skyrail cars running on it are sorted in order. Based on the positioning information and preset safety distance of each skyrail car, the safe position of each skyrail car is determined; Determine the target operating position of each skyrail vehicle; The safe position of each skyrail car is compared with the target operating position. It is determined whether each skyrail car has reached the corresponding safe position before reaching the corresponding target operating position. If so, the skyrail car is controlled to run to the corresponding safe position. If not, the current track is determined based on the target operating position of the skyrail vehicle to determine whether the skyrail vehicle needs to perform cross-track operation. If cross-track operation is not required, control the overhead rail vehicle to run to the corresponding target operating position; If cross-track operation is required, control the overhead rail car to run to the safe waiting point of the current track, and after controlling the corresponding switch to complete the corresponding switch, control the overhead rail car to carry out the cross-track operation. The direction of travel for each track is fixed, and on the same track, the barcode value of the positioning barcode increases along the direction of travel. The process of determining the skyrail vehicles operating on each track segment based on the barcode value, and then sorting the skyrail vehicles operating on each track segment in order, includes: Based on the barcode value obtained by the skyrail vehicle scanning the positioning barcode and the barcode value range corresponding to each track, the car number of the skyrail vehicle running on each track segment is determined. Based on the value of each barcode, the overhead rail cars running on each track segment are sorted sequentially to obtain an ordered car number sort. The step of determining the safe position of each skyrail car based on the positioning information and preset safety distance of each skyrail car includes: taking the difference between the current positioning information of the skyrail car and the preset safety distance as the safe position of the car behind the current skyrail car, so as to determine the safe position of the skyrail cars on each track except for the foremost car.

2. The production transfer control method based on a ceiling track according to claim 1, characterized in that, The method of determining the safe position of each skyrail vehicle based on its positioning information and preset safety distance also includes setting the target position of the track as the safe position of the foremost vehicle on the track.

3. The production transfer control method based on a ceiling track according to claim 1, characterized in that, The safe waiting point is the foremost position on the current track that does not obstruct the operation of the turnout.

4. The production transfer control method based on a ceiling track according to claim 1, characterized in that, Control the corresponding turnout to complete the corresponding switch, including: The target path is determined based on the target track of the overhead rail vehicle that needs to switch tracks, and the corresponding turnout is controlled to complete the switching action. Mark the corresponding target path with the car number of the current skyrail car that needs to switch tracks, and send a cross-track operation permission instruction to the corresponding skyrail car; After receiving the cross-track completion signal from the corresponding skyrail vehicle, the marker is cleared.

5. The production transfer control method based on a ceiling track according to claim 1, characterized in that, The preset safety distance is determined based on the mechanical dimensions of the skyrail vehicle.

6. A production transfer control device based on a ceiling track, characterized in that, It includes a processor and a memory, wherein the processor is connected to the memory: The processor is used to call and execute the program stored in the memory; The memory is used to store the program, which is at least used to execute the production transfer control method based on the overhead track as described in any one of claims 1-5.

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