Ring-penetrating RGV positioning control method, device and equipment and storage medium

Abstract

The invention discloses an annularly-penetrating RGV positioning control method, device and equipment and a storage medium, and relates to the technical field of RGV positioning, and the method comprises the steps that when an RGV task instruction is received, the current RGV is controlled to transversely move on an annularly-penetrating track at a starting frequency according to the RGV task instruction, and a plurality of positioning labels are installed on the annularly-penetrating track at equal intervals; in the transverse moving process of the current RGV, visual camera data are obtained, the visual camera data are obtained through shooting of visual cameras, and the visual cameras are installed below the RGVs and right face the positioning labels; determining a target operation frequency according to the visual camera data; the starting frequency is adjusted through the target operation frequency, and the current RGV is controlled to operate; and the current RGV trolley is positioned based on the visual camera data, so that the stability is improved, and the equipment cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of RGV trolley positioning technology, and particularly relates to a ring-through RGV trolley positioning control method, device and equipment and a storage medium. BACKGROUND

[0002] The current control state of a ring-through RGV trolley (Rail Guided Vehicle) mainly adopts a traditional counting positioning method and a double closed-loop control method, but the following problems exist: 1. The traditional counting positioning method is prone to interference, causing inaccurate counting and unreliable positioning. 2. The double closed-loop positioning control uses an encoder + barcode ranging control mode, and the equipment itself is prone to vibration during long-term high-speed operation of the ring-through RGV trolley, and various electromagnetic interferences in the external environment are prone to cause inaccurate positioning, abnormal alarm of the driver, and other faults, as well as long procurement cycle of components and high cost. SUMMARY

[0003] The main purpose of the present application is to provide a ring-through RGV trolley positioning control method, device, equipment and storage medium, aiming to solve the technical problem of inaccurate positioning of the current ring-through RGV trolley.

[0004] To achieve the above-mentioned purpose, the present application provides a ring-through RGV trolley positioning control method, which comprises: When a RGV trolley task instruction is received, a current RGV trolley is started to move horizontally on a ring-through track at a starting frequency according to the RGV trolley task instruction, wherein a plurality of positioning labels at equal distances are installed on the ring-through track; In the process of horizontal movement of the current RGV trolley, visual camera data is obtained, the visual camera data being obtained by a visual camera, the visual camera being installed below each RGV trolley and a camera thereof facing the positioning labels; A target running frequency is determined according to the visual camera data; The starting frequency is adjusted by the target running frequency to control the running of the current RGV trolley; The current RGV trolley is positioned based on the visual camera data.

[0005] In an embodiment, the step of determining a target running frequency according to the visual camera data comprises: A preset target position corresponding to the current RGV trolley is obtained; A current label position value is obtained according to the visual camera data; When the number of label positions between the current label position value and the preset target position is greater than or equal to a first label position, the target running frequency is determined as a first running frequency.

[0006] In an embodiment, the step of determining a target running frequency according to the visual camera data comprises: calculating a distance tag value according to the current tag position value and the preset target position; when the distance tag value is less than the first tag position and greater than or equal to the second tag position, obtaining a preset weight frequency, the second tag position being less than the first tag position; calculating a target running frequency through the distance tag value and the preset weight frequency.

[0007] In an embodiment, the step of adjusting the start frequency through the target running frequency to control the current RGV car running comprises: adjusting the start frequency through the target running frequency, controlling the current RGV car to run at the target running frequency, and determining whether there is another RGV car in the front safety interval of the current RGV car; when there is another RGV car in the front safety interval, obtaining the speed of the other RGV car; when the speed of the other RGV car is less than the set speed of the current RGV car, adjusting the set speed of the current RGV car to the speed of the other RGV car, and controlling the current RGV car to run synchronously with the other RGV car.

[0008] In an embodiment, the step of positioning the current RGV car based on the visual camera data comprises: determining a current tag position value and a camera included angle according to the visual camera data; calculating a bias distance value according to the current tag position value and the camera included angle; positioning the current RGV car based on the current tag position value and the bias distance value.

[0009] In an embodiment, the step of positioning the current RGV car based on the current tag position value and the bias distance value comprises: when the current tag position value reaches the entrance and exit of the preset target position, controlling the current RGV car to run at a preset speed; determining whether the bias distance value reaches the entrance and exit of the preset target position; when the bias distance value reaches the entrance and exit of the preset target position, controlling the frequency converter of the current RGV car to decelerate and stop, and starting the direct current brake to complete the transverse positioning of the RGV car.

[0010] In an embodiment, the method further comprises: acquiring detection data when the current RGV trolley is running; analyzing the detection data to determine whether the detection data is abnormal; when the detection data is abnormal, starting an emergency stop instruction, and controlling the current RGV trolley to stop running based on the emergency stop instruction, wherein the detection data being abnormal includes one or more of the following: an emergency stop button being abnormal, an electrical cabinet door or a safety door being opened, a transverse travel limit protection being abnormal, a tray cargo being too long in front or back, a simulated transverse travel position being inconsistent with a vision camera feedback position, a vision camera being faulty, vision camera data being abnormal, a frequency converter being abnormally alarming, and a motor being abnormally overloaded.

[0011] In addition, to achieve the above-mentioned purpose, the present application also provides a ring-through RGV trolley positioning control device, which comprises: a receiving module configured to start a frequency control for the current RGV trolley to move transversely on a ring-through track according to an RGV trolley task instruction when the RGV trolley task instruction is received, wherein a plurality of positioning tags are installed at equal distances on the ring-through track; an acquisition module configured to acquire vision camera data during the transverse movement of the current RGV trolley, wherein the vision camera data is obtained by a vision camera, and the vision camera is installed below each RGV trolley with a camera pointing at the positioning tags; a determination module configured to determine a target running frequency according to the vision camera data; an adjustment module configured to adjust the start frequency by the target running frequency to control the running of the current RGV trolley; a positioning module configured to position the current RGV trolley based on the vision camera data.

[0012] In addition, to achieve the above-mentioned purpose, the present application also provides a ring-through RGV trolley positioning control device, which comprises:

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, wherein the computer program is executed by a processor to implement the steps of the ring-through RGV trolley positioning control method as described above.

[0014] In addition, to achieve the above-mentioned purpose, the application also provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the ring-through RGV trolley positioning control method as described above when executed by a processor.

[0015] The one or more technical solutions proposed in the application have at least the following technical effects: 1) Precise positioning information is obtained through visual camera data, and the RGV trolley can adjust the start frequency and target running frequency according to real-time data. This visual-based real-time feedback can significantly improve the positioning accuracy and running stability of the trolley.

[0016] 2) The feedback of visual camera data helps the trolley to make dynamic adjustments, ensuring stable operation along the track and reducing deviations from the track or instability caused by errors, thereby improving the overall stability of the system. Using a visual camera for positioning does not require reliance on additional complex sensors or high-precision position sensors, thus reducing the procurement and maintenance costs of equipment. Compared with traditional positioning methods, the visual positioning system not only reduces hardware costs, but also improves system adaptability.

[0017] 3) By installing a visual camera under the trolley, it can flexibly adapt to different environments and track conditions. Especially when there are multiple positioning tags on the track, the visual system can efficiently identify and accurately control the trolley, enhancing the flexibility and operability of the system.

[0018] 4) By obtaining the preset target position of the current RGV trolley and comparing it with the current tag position obtained by the visual camera data, the distance and relative position between the trolley and the target position can be accurately determined. This precise positioning ensures that the trolley moves according to the predetermined path and position, thereby improving the overall accuracy of the system. According to the number of tags between the current tag position and the preset target position, the target running frequency is determined. This dynamic adjustment helps to optimize the speed and running mode of the trolley according to the current operating conditions. If the trolley is far from the target position, the running frequency can be adjusted appropriately, so that the trolley can efficiently and stably approach the target position. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1 A flowchart provided by the first embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 2 A schematic diagram of installing positioning labels on the loop-through track provided by the first embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 3 A safety protection flowchart in the positioning control process of the loop-through RGV trolley provided by the first embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 4 A flowchart provided by the second embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 5 A flowchart provided by the third embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 6 A brief flowchart provided by the first embodiment of the positioning control method of the loop-through RGV trolley of the present application is shown in the figure. Figure 7 A module structure diagram of the positioning control device of the loop-through RGV trolley of the present application is shown in the figure. Figure 8 A device structure diagram of the hardware running environment involved in the positioning control method of the loop-through RGV trolley in the embodiment of the present application is shown in the figure.

[0022] The object implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0023] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and not to limit the present application.

[0024] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] The main solution of the embodiment of the present application is: when receiving the RGV trolley task instruction, starting the frequency control of the current RGV trolley to move horizontally on the loop-through track according to the RGV trolley task instruction, wherein a plurality of positioning labels at equal distances are installed on the loop-through track; during the horizontal movement of the current RGV trolley, acquiring visual camera data, the visual camera data being obtained by a visual camera, the visual camera being installed below each RGV trolley and the camera being directed to the positioning label; determining a target running frequency according to the visual camera data; adjusting the starting frequency by the target running frequency to control the running of the current RGV trolley; positioning the current RGV trolley based on the visual camera data.

[0026] Because existing technologies mainly use traditional counting and positioning methods, they are prone to interference, which can lead to inaccurate counting and unreliable positioning. Alternatively, dual closed-loop positioning control using encoders and barcode ranging can cause vibrations from the RGV trolley itself during long-term high-speed operation, as well as various electromagnetic interferences from the external environment. This can easily lead to inaccurate positioning, abnormal alarms from the drive, and other malfunctions, as well as long procurement cycles and high costs for components.

[0027] This application provides a solution in which a positioning tag is installed at each fixed-length interval of the circumferential track. The frequency converter adopts a one-to-many configuration, and the lateral movement and pallet conveying are controlled by a single frequency converter, which effectively saves costs, reduces control lines, and lowers the failure rate. The vision camera communication adopts independent 485 communication, which is isolated from Ethernet and remote IO networks, increasing network stability.

[0028] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone; or an electronic device or a RGV trolley positioning control device capable of performing the above functions, such as an RGV trolley controller. The following description uses a RGV trolley positioning control device as an example to illustrate this embodiment and the subsequent embodiments.

[0029] Based on this, the embodiments of this application provide a positioning control method for a circumferential RGV vehicle, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the positioning control method for the RGV trolley in this application.

[0030] In this embodiment, the positioning control method for the RGV trolley includes steps S10 to S40: Step S10: Upon receiving the RGV vehicle task instruction, control the current RGV vehicle to move laterally on the circular track at the start frequency according to the RGV vehicle task instruction, wherein multiple positioning tags are installed at equal intervals on the circular track.

[0031] It should be noted that, as Figure 2 As shown, Figure 2 This diagram illustrates the installation of positioning tags on the circumferential track. Upon receiving a task instruction from the RGV trolley, the system can determine the specific RGV trolley that needs to be controlled. Specifically, when the system issues a task instruction to the RGV trolley, the PLC (Programmable Logic Controller) executes a lateral positioning action. The PLC controls the frequency converter to start the V / F curve startup. The frequency converter starts running with a starting torque of 1.5 to 2 times that of the motor. Once the frequency reaches the starting frequency, the brake is energized and released for continued operation.

[0032] In the embodiment, the hardware part includes a visual camera, a positioning tag, a programmable controller and a frequency converter. The corresponding switch input signals are connected to the PLC, and the PLC output signals are connected to the frequency converter, contactor and other control devices. In the embodiment, the frequency converter adopts a one-to-many mode, and one frequency converter is used to control the horizontal movement and walking of the tray conveying, thereby effectively saving the cost, reducing the control circuit and lowering the failure rate.

[0033] It can be understood that the installation distance of the positioning tag can be set according to the requirements. In order to improve the accuracy and precision of positioning, the installation distance is set to 1 m, so that a positioning tag is installed every 1 m on the loop track.

[0034] The current RGV trolley is the trolley currently controlled by the frequency converter. When the RGV trolley moves horizontally on the loop track, the positioning is not accurate due to external environmental interference or self vibration. Therefore, the RGV trolley can be accurately positioned through the installed positioning tag.

[0035] Step S20: In the process of horizontal movement of the current RGV trolley, visual camera data is acquired, the visual camera data is obtained by shooting of the visual camera, and the visual camera is installed below each RGV trolley and the camera is directed to the positioning tag.

[0036] In the specific implementation, in the process of controlling the horizontal movement of the current RGV trolley, the visual camera data transmitted by the visual camera through the RS485 communication mode can be received.

[0037] It should be noted that there are multiple RGV trolleys running on the loop track, and a visual camera is installed on each RGV trolley. The visual camera can be a 2D camera or a 3D camera, which can be set according to specific requirements. The visual camera is installed below the RGV trolley on the inner side, and the camera of the visual camera is directed to the positioning tag.

[0038] It should be noted that the visual camera data can include the current tag position value collected by the visual camera, the angle value of the camera and other data. The embodiment does not limit this.

[0039] Step S30: determining a target running frequency according to the visual camera data.

[0040] It should be noted that the start frequency of controlling the current RGV trolley can be adjusted according to the specific parameters in the visual camera data, that is, the target running frequency is determined. The target running frequency is the output frequency of the current RGV trolley currently running.

[0041] Step S40: adjusting the start frequency through the target running frequency to control the running of the current RGV trolley.

[0042] It can be understood that the starting frequency can be adjusted by the target running frequency, specifically, the output frequency of the current RGV trolley is adjusted from the starting frequency to the target running frequency, so that the current RGV trolley can continue to run on the looped rail track.

[0043] It should be noted that at that time, since there can be multiple RGV trolleys running on the looped rail track, in order to avoid collisions of the RGV trolleys, the current RGV trolley can also be detected in real time whether there is another RGV trolley in the front safety interval of the current RGV trolley during the running of the current RGV trolley, so as to adjust the control of the current RGV trolley.

[0044] In a feasible implementation, step S40 comprises steps A11-A13: Step A11: adjusting the starting frequency by the target running frequency, controlling the current RGV trolley to run at the target running frequency, and determining whether there is another RGV trolley in the front safety interval of the current RGV trolley; It should be noted that after determining the target running frequency, the current RGV trolley is controlled to run at the target running frequency, and it is determined whether there is another RGV trolley in the front safety interval of the current RGV trolley. The front safety interval can be set in advance, for example, the range of 2m or 3m in front of the current RGV trolley is set as the front safety interval, and it can also be flexibly adjusted according to the running speed of the current RGV trolley.

[0045] It should be noted that if there is no other RGV trolley in the front safety interval of the current RGV trolley, the running of the current RGV trolley is continued, and the other RGV trolley is an RGV trolley other than the current RGV trolley.

[0046] Step A12: when the other RGV trolley exists in the front safety interval, acquiring the speed of the other RGV trolley; It should be noted that if there is another RGV trolley in the front safety interval, the speed of the other RGV trolley can be acquired, and the speed of the other RGV trolley can be obtained by analyzing the image data collected by the visual camera.

[0047] It should be noted that if the speed of the other RGV trolley is greater than or equal to the set speed of the current RGV trolley, it means that the current RGV trolley will not collide with the other RGV trolley, and the current RGV trolley is controlled to continue running at the current set speed.

[0048] Step A13: when the speed of the other RGV trolley is less than the set speed of the current RGV trolley, adjusting the set speed of the current RGV trolley to the speed of the other RGV trolley, and controlling the current RGV trolley to run synchronously with the other RGV trolley.

[0049] It can be understood that if the speed of the other RGV trolley is less than the set speed of the current RGV trolley, the current RGV trolley may exceed the other RGV trolley and may collide with the other RGV trolley, so the control of the current RGV trolley can be adjusted.

[0050] It should be noted that the set speed of the current RGV trolley is a fixed speed set in advance, and each RGV trolley is given a fixed speed in advance.

[0051] In specific implementation, if the speed of the other RGV trolley is less than the set speed of the current RGV trolley, the set speed of the current RGV trolley is adjusted to the speed of the other RGV trolley in the front safety interval, so as to control the current RGV trolley to run synchronously at the same speed as the other RGV trolley.

[0052] By judging whether there is other RGV trolley in the safety interval in front of the current RGV trolley, the safety hidden danger caused by collision or too close can be effectively avoided. If there is other trolley in the safety interval, the system will automatically adjust the speed of the current trolley to ensure that the distance between the two trolleys is kept safe, thereby reducing the risk of collision.

[0053] Step S50: positioning the current RGV trolley based on the visual camera data.

[0054] It should be noted that the current RGV trolley can be positioned according to the current label position value in the visual camera data, the angle value of the camera and other data, so as to judge whether the current RGV trolley reaches the set preset target position.

[0055] It should be noted that the dispatching system can give the task of each RGV trolley in advance, and the preset target value corresponding to each RGV trolley, i.e. the preset target position, can be determined according to the task.

[0056] It should be noted that, in order to improve the safety of the positioning and control process of the RGV trolley, it is also possible to detect whether there is an abnormality in the running process of the RGV trolley in real time, so as to perform safety protection, therefore, the ring-through RGV trolley positioning control method further comprises: obtaining detection data when the current RGV trolley runs; analyzing the detection data to determine whether the detection data is abnormal; When the detection data is abnormal, an emergency stop instruction is started, and the current RGV trolley is controlled to stop running based on the emergency stop instruction, wherein the detection data being abnormal includes one or more of the following: an emergency stop button being abnormal, a cabinet door or a safety door being opened, a transverse travel limit protection being abnormal, a tray cargo being too long in front or back, a simulated transverse travel position being inconsistent with a vision camera feedback position, a vision camera being faulty, vision camera data being abnormal, a frequency converter being abnormal, an alarm, a motor being abnormal and being overloaded.

[0057] It should be noted that the detection data can include detection of an emergency button, detection of a cabinet door or a safety door, detection of a transverse travel limit protection, detection of a length of a tray cargo in front or back, detection of a simulated transverse travel position and a vision camera feedback position, fault detection of a vision camera, detection of vision camera data, detection of a frequency converter, and detection of a motor.

[0058] It should be noted that if the detection data is not abnormal, the RGV trolley is normally started to perform transverse travel positioning.

[0059] If the detection data is abnormal, an emergency stop instruction is started, so as to control the current RGV trolley to stop running, control the frequency converter to start emergency deceleration, control the frequency converter output frequency to reach a low-speed stop frequency, control the frequency converter to stop running, control a direct-current brake to start, and control a motor brake coil to be powered off and released. After the RGV trolley completes emergency stop, the system outputs an alarm information.

[0060] It should be noted that the abnormality includes one or more of the following: an emergency stop button being abnormal, a cabinet door or a safety door being opened, a transverse travel limit protection being abnormal, a length of a tray cargo in front or back exceeding a set threshold, a simulated transverse travel position being inconsistent with a vision camera feedback position, a vision camera being faulty, an alarm, vision camera data being abnormal, a frequency converter being abnormal, and a motor being abnormal and being overloaded. If none of the above is abnormal, the detection data is not abnormal.

[0061] By monitoring the detection data of the RGV trolley in real time and starting an emergency stop instruction when an abnormality is found, accidents caused by equipment failure or abnormality can be effectively prevented. For example, abnormal conditions such as an emergency stop button being abnormal and a cabinet door or a safety door being opened can cause the equipment to be exposed to a dangerous state, and the system can automatically respond to protect the safety of the operator and the equipment. Through real-time analysis and abnormality judgment of the detection data, the automatic system can immediately take emergency measures when a fault or danger occurs, thereby improving safety, reliability, efficiency, and ensuring the safety of goods and equipment.

[0062] As shown in FIG. 1, Figure 3 FIG. 2 shows a schematic diagram of a system for controlling an RGV trolley according to an embodiment of the present application. Figure 3The safety protection flowchart in the positioning control process of the ring-through RGV trolley is shown in FIG. 1. The emergency stop button is detected for abnormality, the electric cabinet door and the safety door are detected for being opened, the walking limit protection is detected for being normal, the tray goods are detected for being too long, the simulated walking position and the visual camera position are detected for being inconsistent, the visual camera is detected for being alarmed, the visual camera feedback position data is detected for being abnormal, the frequency converter is detected for being abnormally alarmed, and the motor overload is detected for being overloaded. If none of the above is abnormal, the positioning process is executed, the RGV trolley positioning action is completed, if there is an abnormality, the emergency stop instruction is started, the frequency converter is lowered in output frequency, the frequency converter stops running at a low speed frequency, the direct current brake is started, the motor brake coil is powered off to release, the RGV trolley emergency stop action is completed, and the system outputs an alarm information.

[0063] The embodiment provides a positioning control method of a ring-through RGV trolley. The visual camera data is used to obtain accurate positioning information, and the RGV trolley can adjust the starting frequency and the target running frequency according to real-time data. This real-time feedback based on vision can significantly improve the positioning accuracy and running stability of the trolley. The feedback of the visual camera data helps the trolley to make dynamic adjustments, ensuring stable operation along the track and reducing deviations from the track or instability caused by errors, thereby improving the overall stability of the system. Using a visual camera for positioning does not require reliance on additional complex sensors or high-precision position sensors, thus reducing the procurement and maintenance costs of equipment. Compared with traditional positioning methods, the visual positioning system not only reduces hardware costs but also improves system adaptability. By installing a visual camera under the trolley, the system can flexibly adapt to different environments and track conditions. Especially when there are multiple positioning tags on the track, the visual system can efficiently identify and accurately control the trolley, enhancing the flexibility and operability of the system.

[0064] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 4 , step S30 includes steps S301-S303: Step S301: obtaining a preset target position corresponding to the current RGV trolley.

[0065] It should be noted that the preset target position is the target position corresponding to the task of the current RGV trolley. The tasks of different RGV trolleys are different, and the corresponding target positions are also different. For example, the task of RGV trolley 1 is task A, and the corresponding target position is position S1. The task of RGV trolley 2 is task B, and the corresponding target position is position S2.

[0066] Step S302: obtaining a current tag position value according to the visual camera data.

[0067] In a specific implementation, the visual camera data includes a current label position value, the current label position value representing a label value at a position where the current RGV trolley is located, for example, the installed positioning labels include labels q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11, q14, q13, q14, q15, and q16, and the current label position value is q4.

[0068] Step S303: When the number of label positions between the current label position value and the preset target position is greater than or equal to a first label position, determining that the target running frequency is a first running frequency.

[0069] It should be noted that the first label position can be set according to requirements, for example, 9 label positions, 10 label positions, etc., and the embodiment is not limited thereto, and the embodiment is described by taking 9 label positions as an example.

[0070] It should be noted that if the number of label positions between the current label position and the preset target position is greater than or equal to 9 label positions, the target running frequency is set to the first running frequency.

[0071] For example, the current label position is q4, and the preset target position is q14, and the number of label positions between the current label position and the preset target position is 10, which is greater than 9 label positions.

[0072] It should be noted that the first running frequency is a super high frequency, for example, 87 Hz, 88 Hz, etc., so as to improve the running speed of the current RGV trolley.

[0073] In a feasible implementation, step S30 can further include: calculating a distance label value according to the current label position value and the preset target position; when the distance label value is less than the first label position and greater than or equal to a second label position, obtaining a preset weight frequency, the second label position being less than the first label position; calculating a target running frequency through the distance label value and the preset weight frequency.

[0074] It should be noted that if the number of label positions between the current label position value and the preset target position is less than the first label position, it is determined whether the number of label positions between the current label position value and the preset target position is greater than or equal to a second label position, and the second label position can be set to 1, 2, etc., and the embodiment is described by taking 1 as an example.

[0075] In a specific implementation, if the number of label positions between the current label position value and the preset target position is less than the first label position and greater than or equal to the second label position, the distance label value can be calculated according to the current label position value and the preset target position. For example, if the current label position value is q4 and the preset target position is q8, the distance label value is 4, which is less than 9 and greater than 1. At this time, the preset weight frequency can be obtained. The preset weight frequency can be set in advance, for example, set to 10 Hz, so as to calculate the target running frequency through the distance label value and the preset weight frequency. For example, if the distance label value is 4 and the preset weight frequency is 10 Hz, the target running frequency = 4 * 10 Hz.

[0076] The embodiment can accurately determine the distance and relative position between the car and the target position by obtaining the preset target position of the current RGV car and comparing it with the current label position obtained by the vision camera data. This accurate positioning can ensure that the car moves according to the predetermined path and position, thereby improving the overall accuracy of the system. According to the number of labels between the current label position and the preset target position, the target running frequency is determined. This dynamic adjustment helps to optimize the speed and running mode of the car according to the current running condition. If the car is far from the target position, the running frequency can be adjusted appropriately, so that the car can efficiently and stably approach the target position.

[0077] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as the above embodiment one can refer to the above introduction, and the following will not be described in detail. On this basis, please refer to Figure 5 , step S50 includes steps S501-S503: Step S501: determining a current label position value and a camera angle according to the vision camera data.

[0078] In a specific implementation, the vision camera can obtain information about the current scene, so that the current label position value or other marker image data recognized by the camera and the camera angle can be obtained through the vision camera data. The camera angle refers to the relative angle of the camera and the target object (label), which is usually calculated from the camera angle.

[0079] Step S502: calculating a bias distance value according to the current label position value and the camera angle.

[0080] The bias distance value refers to the difference between the detection position of the vision camera and the actual position of the target. It is usually calculated from the current position of the positioning label and the angle captured by the camera. Through these data, the direction or distance that the car needs to adjust can be determined to ensure that the car can accurately reach the target position.

[0081] Assuming that the current tag position is determined as (x t , y t ) from the visual camera data, and the camera angle is θ. The offset distance value can be calculated using geometric algorithms, which can represent the relative deviation from the camera to the target position, and can involve error correction or calibration. For example, assuming that the position of the positioning tag deviates from the target position by 2 meters and has an angle error of 10° in the horizontal direction through the camera observation, the offset distance value can be calculated.

[0082] Assuming that the camera has a known offset value (d x , d y ) in the coordinate system of the tag position to represent the relative displacement between the camera and the positioning tag. Through the angle θ of the camera, the trigonometric function can be used to calculate the offset distance d of the current RGV trolley relative to the tag: Where d x = x t *cos(θ), d y = y t *sin(θ), so as to calculate the offset distance by using the current tag position (x t , y t ) and the angle θ.

[0083] Step S503: positioning the current RGV trolley based on the current tag position value and the offset distance value.

[0084] In a specific implementation, the position of the current RGV trolley can be determined by the above offset distance d. Assuming that the initial position of the current RGV trolley is (x0, y0), the position of the trolley (x, y) can be calculated by the given tag position (x t , y t ) and the offset distance d. The final position of the trolley is usually determined using the translation transformation formula, and the position of the trolley is represented as follows: It should be noted that by calculating the offset distance value, the RGV trolley can be accurately positioned according to the error between the preset target position of the current RGV trolley and the current tag position value. The positioning process can involve adjusting the movement of the trolley to accurately move it to the preset target position.

[0085] In a possible implementation, step S503 can include steps B11-B13: Step B11: controlling the current RGV trolley to run at a preset speed when the current tag position value reaches the entrance and exit of the preset target position; It should be noted that when the current tag position value approaches the preset target location's entrance / exit, the system begins to control the RGV's running speed to ensure the RGV can smoothly reach the target. The preset speed is usually a suitable value that ensures both safety and accuracy. The preset speed can be set to a low speed, such as 3 km / h or 5 km / h. Since the current tag position value of the RGV has already reached the preset target location's entrance / exit, the RGV can be controlled to run at a lower speed.

[0086] Step B12: Determine whether the offset distance value reaches the entrance / exit of the preset target position; In practice, due to positioning deviations, after the current tag position value reaches the preset target position of the entrance / exit, it is necessary to determine whether the offset distance value has reached the preset target position of the entrance / exit. If the offset distance value has not reached the preset target position of the entrance / exit, it is still necessary to continue controlling the current RGV vehicle until the offset distance value also reaches the preset target position of the entrance / exit.

[0087] Step B13: When the offset distance value reaches the inlet / outlet of the preset target position, control the inverter of the current RGV trolley to decelerate and stop, and start DC braking to complete the lateral positioning of the RGV trolley.

[0088] In practice, the RGV vehicle is considered to have reached the target entrance / exit position only when both the current tag position value and the offset distance value reach the preset target position. The current RGV vehicle's positioning data = tag position value (1M resolution) + offset distance value (1mm resolution).

[0089] Understandably, once the offset distance value reaches the preset target position at the inlet / outlet, the inverter of the current RGV trolley can be controlled to decelerate and stop, so that its frequency reaches the minimum output frequency, and the inverter can be controlled to stop outputting. At the same time, DC braking is started, the motor brake coil is de-energized and released, the lateral movement and positioning of the current RGV trolley is completed, and the pallet is loaded / unloaded. After the pallet is loaded / unloaded, data initialization is performed.

[0090] The above control steps precisely control the positioning process of the RGV vehicle, ensuring high accuracy and stability as it moves from its current position to the target position. Precise position information and error values ​​are provided by visual camera data, and precise control methods guide the vehicle step-by-step to complete the positioning process, ensuring no overshoot or positioning errors occur.

[0091] like Figure 6 As shown, Figure 6The whole flow diagram of the positioning control of the ring-through RGV trolley is shown. When the system gives a task command, the RGV trolley is controlled to perform a horizontal movement positioning action. The V / F curve of the horizontal movement frequency converter is started. When the frequency of the frequency converter reaches the set value, the brake coil is energized. At the same time, the current position value and the offset distance value are judged by the vision camera. It is detected whether there is an RGV trolley in the front safety interval. If yes, the speed of the front RGV trolley is followed. It is judged whether the current RGV trolley distance target value is greater than or equal to 9. If yes, the super high speed 87Hz is run. If not, it is judged whether the current RGV trolley distance target value is greater than or equal to 1 and less than 9. If yes, the running frequency is equal to the distance target value*10Hz. When the current label position value reaches the target value, the low speed is run. The vision camera judges the offset value to reach. Then the frequency converter is controlled to slow down and stop. The frequency converter reaches the lowest speed to stop running. The DC brake is started. The motor brake is released. The coil is de-energized. The horizontal movement positioning action is completed. The tray performs the in / out action. After the tray in / out action is completed, the RGV trolley task is completed. The data is initialized.

[0092] The embodiment determines the current label position value and the camera included angle according to the vision camera data. The offset distance value is calculated according to the current label position value and the camera included angle. The current RGV trolley is positioned based on the current label position value and the offset distance value. The precise positioning of the RGV trolley is realized through the vision camera data and the offset calculation. Not only the positioning accuracy and flexibility of the system are improved, but also the energy waste and manual intervention are reduced. The operation efficiency and safety are improved.

[0093] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the positioning control method of the ring-through RGV trolley. More forms of simple transformation based on the technical concept are within the protection scope of the present application.

[0094] The present application also provides a ring-through RGV trolley positioning control device, please refer to Figure 7 The ring-through RGV trolley positioning control device comprises: A receiving module 10 is used for starting the frequency control of the current RGV trolley on the ring-through track according to the RGV trolley task instruction when the RGV trolley task instruction is received, wherein a plurality of positioning labels at equal distances are installed on the ring-through track. An acquisition module 20 is used for acquiring vision camera data in the process of horizontal movement of the current RGV trolley, wherein the vision camera data is obtained by shooting of a vision camera, and the vision camera is installed below each RGV trolley and the camera is directed to the positioning labels. A determination module 30 is used for determining a target running frequency according to the vision camera data. The adjusting module 40 is configured to adjust the starting frequency by the target running frequency, and control the current RGV car to run. The positioning module 50 is configured to position the current RGV car based on the visual camera data.

[0095] The ring-through RGV car positioning control device provided by the present application adopts the ring-through RGV car positioning control method in the above embodiments, and can solve the technical problem of inaccurate positioning of the ring-through RGV car. Compared with the prior art, the ring-through RGV car positioning control device provided by the present application has the same beneficial effects as the ring-through RGV car positioning control method provided by the above embodiments, and other technical features in the ring-through RGV car positioning control device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0096] The present application provides a ring-through RGV car positioning control device, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the ring-through RGV car positioning control method in the above embodiment one.

[0097] Reference will be made to the following description of the embodiments of the present application. Figure 8 which shows a structural diagram of a ring-through RGV car positioning control device suitable for implementing the embodiments of the present application. The ring-through RGV car positioning control device in the embodiments of the present application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 8 The ring-through RGV car positioning control device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0098] As Figure 8As shown, the ring-through RGV trolley positioning control device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. Various programs and data required for operation of the ring-through RGV trolley positioning control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the ring-through RGV trolley positioning control device to communicate with other devices wirelessly or by wire to exchange data. Although the ring-through RGV trolley positioning control device with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0099] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

[0100] The ring-through RGV trolley positioning control device provided by the present application adopts the ring-through RGV trolley positioning control method in the above embodiments, and can solve the technical problem of inaccurate positioning of the ring-through RGV trolley. Compared with the prior art, the ring-through RGV trolley positioning control device provided by the present application has the same beneficial effects as the ring-through RGV trolley positioning control method provided by the above embodiments, and other technical features in the ring-through RGV trolley positioning control device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0101] It should be understood that various parts of the present application can be realized by hardware, software, firmware, or a combination thereof. In the above description of the embodiments, specific features, structures, materials or characteristics can be combined in any appropriate manner in any one or more embodiments or examples.

[0102] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any variations and modifications that can be made by any person skilled in the art within the spirit and scope of the application are intended to be encompassed by the application. The scope of the application is defined by the appended claims.

[0103] The application provides a computer readable storage medium having computer readable program instructions (i.e. computer programs) stored thereon, the computer readable program instructions being used to perform the positioning control method of the loop-through RGV trolley in the above-described embodiments.

[0104] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection having one or more conductive wires, a portable computer disk, a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable Read Only Memory or flash memory), an optical fiber, a CD-ROM (CD-Read Only Memory), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any appropriate medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any appropriate combination thereof.

[0105] The above-described computer readable storage medium can be included in the loop-through RGV trolley positioning control device; or can exist separately and not be assembled into the loop-through RGV trolley positioning control device.

[0106] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the ring-penetrating RGV trolley positioning control equipment, the ring-penetrating RGV trolley positioning control equipment: when receiving an RGV trolley task instruction, starting the current RGV trolley to move on the ring-penetrating track according to the RGV trolley task instruction at a start frequency, wherein a plurality of positioning labels at equal distances are installed on the ring-penetrating track; during the movement of the current RGV trolley, acquiring vision camera data, the vision camera data being obtained by a vision camera, the vision camera being installed below each RGV trolley and the camera being directed to the positioning labels; determining a target running frequency according to the vision camera data; adjusting the start frequency by the target running frequency to control the current RGV trolley to run; and positioning the current RGV trolley based on the vision camera data.

[0107] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0108] The flow and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0109] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0110] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer program) for executing the above-mentioned ring-through RGV trolley positioning control method, and can solve the technical problem of inaccurate positioning of the ring-through RGV trolley. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the ring-through RGV trolley positioning control method provided by the above-mentioned embodiments, and will not be described here.

[0111] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the ring-through RGV trolley positioning control method as described above.

[0112] The computer program product provided by the present application can solve the technical problem of inaccurate positioning of the ring-through RGV trolley. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the ring-through RGV trolley positioning control method provided by the above-mentioned embodiments, and will not be described here.

[0113] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A positioning control method for a loop-through RGV vehicle, characterized in that, The ring-penetrating RGV trolley positioning control method comprises: Upon receiving an RGV trolley task instruction, a current RGV trolley is controlled to move horizontally on a ring-penetrating track at a starting frequency according to the RGV trolley task instruction, wherein a plurality of positioning tags at equal distances are installed on the ring-penetrating track; In the process of horizontal movement of the current RGV trolley, visual camera data is acquired, which is obtained by a visual camera, wherein the visual camera is installed below each RGV trolley and the camera is directed to the positioning tags; A target running frequency is determined according to the visual camera data; The starting frequency is adjusted by the target running frequency to control the running of the current RGV trolley; The current RGV trolley is positioned based on the visual camera data.

2. The method of claim 1, wherein, The step of determining the target running frequency according to the visual camera data comprises: A preset target position corresponding to the current RGV trolley is acquired; A current tag position value is obtained according to the visual camera data; When the number of tag positions between the current tag position value and the preset target position is greater than or equal to a first tag position, the target running frequency is determined as a first running frequency.

3. The method of claim 2, wherein, The step of determining the target running frequency according to the visual camera data comprises: A distance tag value is calculated according to the current tag position value and the preset target position; When the distance tag value is less than the first tag position and greater than or equal to a second tag position, a preset weight frequency is acquired, wherein the second tag position is less than the first tag position; The target running frequency is calculated by the distance tag value and the preset weight frequency.

4. The method of claim 1, wherein, The step of adjusting the starting frequency by the target running frequency to control the running of the current RGV trolley comprises: The starting frequency is adjusted by the target running frequency, the current RGV trolley is controlled to run at the target running frequency, and it is determined whether there is another RGV trolley in the front safety interval of the current RGV trolley; When there is another RGV trolley in the front safety interval, the speed of the other RGV trolley is acquired; When the speed of the other RGV trolley is less than the set speed of the current RGV trolley, the set speed of the current RGV trolley is adjusted to the speed of the other RGV trolley, and the current RGV trolley is controlled to run synchronously with the other RGV trolley.

5. The method of claim 1, wherein, The step of positioning the current RGV trolley based on the visual camera data comprises: A current tag position value and a camera included angle are determined according to the visual camera data; A bias distance value is calculated according to the current tag position value and the camera included angle; The current RGV trolley is positioned based on the current tag position value and the bias distance value.

6. The method of claim 5, wherein, The step of positioning the current RGV trolley based on the current tag position value and the bias distance value comprises: When the current tag position value reaches the entrance and exit of the preset target position, the current RGV trolley is controlled to run at a preset speed; It is determined whether the bias distance value reaches the entrance and exit of the preset target position; When the bias distance value reaches the import and export of the preset target position, the frequency converter of the current RGV trolley is controlled to decelerate and stop, and the direct current brake is started, thereby completing the transverse positioning of the RGV trolley.

7. The method of any one of claims 1 to 6, wherein, The method further comprises: acquiring detection data when the current RGV trolley is running; analyzing the detection data to determine whether the detection data is abnormal; when the detection data is abnormal, starting an emergency stop instruction, and controlling the current RGV trolley to stop running based on the emergency stop instruction, wherein the detection data being abnormal includes one or more of the following: an emergency stop button being abnormal, an electric cabinet door or a safety door being opened, transverse travel limit protection being abnormal, a tray cargo being too long in front and back, an analog transverse travel position being inconsistent with a visual camera feedback position, a visual camera being faulty, visual camera data being abnormal, a frequency converter being abnormally alarming, and a motor being abnormally overloaded.

8. A ring-through RGV vehicle positioning control device, characterized by, The device comprises: a receiving module configured to start a frequency control to control a current RGV trolley to transversely move on a ring-through track according to an RGV trolley task instruction when the RGV trolley task instruction is received, wherein a plurality of positioning tags at equal distances are installed on the ring-through track; an acquiring module configured to acquire visual camera data during the transverse movement of the current RGV trolley, wherein the visual camera data is obtained by a visual camera, and the visual camera is installed below each RGV trolley with a camera facing the positioning tags; a determining module configured to determine a target running frequency according to the visual camera data; an adjusting module configured to adjust a start frequency by using the target running frequency to control the current RGV trolley to run; a positioning module configured to position the current RGV trolley based on the visual camera data.

9. A ring-through RGV vehicle positioning control device, characterized by, The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the ring-through RGV trolley positioning control method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the ring-through RGV trolley positioning control method according to any one of claims 1 to 7.

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