Intelligent scheduling control method and system based on RGV with frame folding and frame disassembling functions

Abstract

The invention is suitable for the technical field of aluminum profile intelligent production line logistics, and provides an intelligent scheduling control method and system based on an RGV with a frame stacking and disassembling function, and the method comprises the steps: firstly obtaining the address information and destination address information of a target material frame, and then generating and executing a material frame transportation instruction based on the address information. Efficient operation can be kept in the production of a logistics production line, the flexibility and self-adaptability of the production process are ensured, the automatic flexible intelligent production system is particularly suitable for the integrated production requirement of the aluminum profile after spraying, the production and transportation efficiency is greatly improved, the labor cost is reduced, the safety is improved, and the whole-process and full-automatic flexible intelligent production of the aluminum profile is achieved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent production line logistics for aluminum profiles, and more specifically, to an intelligent scheduling and control method and system based on an RGV vehicle with stacked and unstacked frames. Background Technology

[0002] Aluminum profiles are lightweight, high-strength, corrosion-resistant, and easy to process. Their excellent thermal and electrical conductivity makes them outstanding in heat dissipation and electrical connections. Furthermore, aluminum profiles can undergo various surface treatments such as anodizing and spraying to enhance their aesthetics and durability, making them an indispensable material in modern industry.

[0003] Currently, in the production and processing of aluminum profiles, materials are usually transferred by production personnel manually controlling RGV carts. This method suffers from low production efficiency, high labor costs, and difficulty in adapting to the needs of large-scale production, and needs further improvement. Summary of the Invention

[0004] Based on this, the embodiments of this application provide an intelligent scheduling and control method and system for RGV vehicles with stacked and disassembled frames, in order to solve the problems of low production efficiency, high labor costs and difficulty in adapting to large-scale production needs in the prior art.

[0005] In a first aspect, embodiments of this application provide an intelligent scheduling and control method based on an RGV (Remote Container Vehicle) with stacked and unstacked pallets, applicable to RVG transfer vehicles, wherein the RVG transfer vehicle includes a pallet, and the method includes:

[0006] Obtain the location and destination address information of the target material box;

[0007] Based on the address information, a material frame transportation instruction is generated and executed. The material frame transportation instruction includes a first transportation instruction and a second transportation instruction. The first transportation instruction is used to instruct the RVG transfer vehicle to load the target material frame into the preset empty frame station after arriving at the address information. The second transportation instruction is used to instruct the RVG transfer vehicle to transport the target material frame to the destination address information and then unload the target material frame.

[0008] Compared with the prior art, the beneficial effects are as follows: The intelligent scheduling and control method based on the stacked and unstacked RGV vehicle provided in this application embodiment allows the terminal device to first obtain the location address information and destination address information of the target material frame, and then generate and execute the material frame transportation instruction based on the location address information. This enables efficient operation in the logistics production line, ensures the flexibility and adaptability of the production process, improves production efficiency, reduces high labor costs, and is suitable for large-scale production needs. To a certain extent, it solves the current problems of low production efficiency, high labor costs, and difficulty in adapting to large-scale production needs.

[0009] Secondly, embodiments of this application provide an intelligent scheduling and control system based on an RGV (Remote Container Vehicle) with stacked and unstacked pallets, applicable to RVG transport vehicles. The RVG transport vehicle includes a pallet, and the system includes:

[0010] Destination address information acquisition module: used to acquire the location address information and destination address information of the target material box;

[0011] Material frame transport instruction execution module: It is used to generate and execute material frame transport instructions based on the address information. The material frame transport instructions include a first transport instruction and a second transport instruction. The first transport instruction is used to instruct the RVG transfer vehicle to load the target material frame into the preset empty frame station after arriving at the address information. The second transport instruction is used to instruct the RVG transfer vehicle to transport the target material frame to the destination address information and then unload the target material frame.

[0012] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0014] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a flowchart illustrating an embodiment of the intelligent scheduling and control method provided in this application;

[0017] Figure 2 This is a schematic diagram of an RVG transport vehicle provided in one embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the network communication principle of an RVG transport vehicle provided in an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the first process after step S200 in an embodiment of the intelligent scheduling and control method provided in this application;

[0020] Figure 5This is a flowchart illustrating the process before step S200 in an embodiment of the intelligent scheduling and control method provided in this application.

[0021] Figure 6 This is a schematic diagram of the second process after step S200 in an embodiment of the intelligent scheduling and control method provided in this application;

[0022] Figure 7 This is a flowchart illustrating the process after step S420 in an embodiment of the intelligent scheduling and control method provided in this application.

[0023] Figure 8 This is a block diagram of an intelligent scheduling and control system provided in an embodiment of this application;

[0024] Figure 9 This is a schematic diagram of a terminal device provided in an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures:

[0026] 11. Empty frame lifting motor; 12. Frame roller conveyor motor; 13. Empty frame first pallet motor; 14. Empty frame second pallet motor; 101. Empty frame top impact detection signal; 102. Empty frame upper layer detection signal; 103. Empty frame lifting upper limit signal; 104. Empty frame lifting upper limit signal; 105. Empty frame roller right side detection signal; 106. Empty frame lifting middle layer arrival signal; 107. Empty frame middle layer detection signal; 108. Empty frame lifting lower limit signal; 109. Empty frame lifting lower limit signal; 110. Rear obstacle avoidance radar signal; 111. Empty frame roller left side detection signal;

[0027] 21. Solid frame lifting motor; 22. Solid frame second pallet motor; 23. Solid frame first pallet motor; 24. Traveling motor; 25. Solid frame roller conveyor motor; 201. Solid frame roller right side detection signal; 202. Solid frame top impact detection signal; 203. Solid frame upper layer detection signal; 204. Solid frame middle layer detection signal; 205. Solid frame lifting upper limit signal; 206. Solid frame lifting upper limit signal; 207. Solid frame lifting middle layer arrival signal; 208. Solid frame lifting lower limit signal; 209. Solid frame lifting lower limit signal; 210. Traveling forward obstacle avoidance radar signal; 211. Solid frame roller left side detection signal; 212. Barcode strip optical barcode scanner. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0031] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0032] Please see Figure 1 , Figure 1 This is a flowchart illustrating the intelligent scheduling and control method for RGV vehicles with stacked and de-stacked frames provided in this embodiment. In this embodiment, the executing entity of the intelligent scheduling and control method is a terminal device. It is understood that the types of terminal devices include, but are not limited to, mobile phones, tablets, laptops, Ultra-Mobile Personal Computers (UMPCs), netbooks, Personal Digital Assistants (PDAs), etc. This embodiment does not impose any restrictions on the specific type of terminal device.

[0033] Please see Figure 1 The intelligent scheduling and control method provided in this application includes, but is not limited to, the following steps:

[0034] In S100, the location address information and destination address information of the target material box are obtained.

[0035] Specifically, the terminal device can first obtain the location address information and destination address information of the target material box. This intelligent scheduling and control method is applicable to RVG transfer vehicles, which include pallets. The location address information is used to describe the location of the target material box, and the destination address information is used to describe the destination location of the target material box.

[0036] In S200, a material frame transport instruction is generated and executed based on the address information.

[0037] Specifically, after the terminal device obtains the current address information and the destination address information, the terminal device can generate and execute a material frame transportation instruction based on the current address information. The material frame transportation instruction includes a first transportation instruction and a second transportation instruction. The first transportation instruction is used to instruct the RVG transfer vehicle to load the target material frame into the preset empty frame station after arriving at the current address information. The second transportation instruction is used to instruct the RVG transfer vehicle to unload the target material frame after transporting it to the destination address information.

[0038] Without loss of generality, please refer to Figure 2 The RVG transport vehicle includes a first workstation and a second workstation. In the first workstation, there are empty frame lifting motor 11, frame roller conveyor motor 12, empty frame first pallet motor 13, empty frame second pallet motor 14, empty frame top detection signal 101, empty frame upper layer detection signal 102, empty frame lifting upper limit signal 103, empty frame lifting upper limit signal 104, empty frame roller right side detection signal 105, empty frame lifting middle layer arrival signal 106, empty frame middle layer detection signal 107, empty frame lifting lower limit signal 108, empty frame lifting lower limit signal 109, rear obstacle avoidance radar signal 110, and empty frame roller left side detection signal 111. The second workstation includes a solid frame lifting motor 21, a solid frame second pallet motor 22, a solid frame first pallet motor 23, a travel motor 24, a solid frame roller conveyor motor 2512, a solid frame roller right side detection signal 201, a solid frame top impact detection signal 202, a solid frame upper layer detection signal 203, a solid frame middle layer detection signal 204, a solid frame lifting upper limit signal 205, a solid frame lifting upper limit signal 206, a solid frame lifting middle layer arrival signal 207, a solid frame lifting lower limit signal 208, a solid frame lifting lower limit signal 209, a travel front obstacle avoidance radar signal 210, a solid frame roller left side detection signal 211, and a barcode strip optical barcode scanner 212.

[0039] For example, in the first station, the detection signal 105 on the right side of the empty frame roller and the detection signal 111 on the left side of the empty frame roller can be combined to detect the presence or absence of a lower layer material frame; the upper layer detection signal 102 detects the presence or absence of an upper layer material frame; and the middle layer detection signal 107 detects the presence or absence of a middle layer material frame. In the second station, the detection signal 211 on the left side of the solid frame roller and the detection signal 201 on the right side of the solid frame roller are combined to detect the presence or absence of a lower layer material frame; the upper layer detection signal 203 detects the presence or absence of an upper layer material frame; and the middle layer detection signal 204 detects the presence or absence of a middle layer material frame.

[0040] In some possible implementations, the terminal equipment can determine the number of material frames that can be stored at the current workstation based on the detection signals from the upper, middle and lower layers, and automatically control the up and down movement of the lifting motor. The machine base calls materials from the RGV trolley based on the material information, and the PLC of the RGV trolley analyzes and judges the data such as product information to retrieve the goods from the corresponding location.

[0041] Specifically, the RVG transfer vehicle may include a telescopic loading and unloading mechanism, which functions to achieve automated loading / unloading of pallets through the cooperation of the telescopic plate and the transmission components, without the need for external equipment assistance. The telescopic plate carries the pallet to move when the chassis slides, which significantly improves loading and unloading efficiency and is suitable for heavy-load scenarios such as transformer coils.

[0042] Specifically, the RVG transfer vehicle may also include a pin positioning structure, the function of which is that the elastic pin and the push rod mechanism work together to accurately lock the position of the pallet. When the pin is not aligned with the pallet pin hole, the elastic element buffers the pressure to prevent the mechanism from being overloaded and damaged, thus improving the durability of the equipment.

[0043] Specifically, the RVG transfer car may also include a swivel-oriented car, the car assembly of which can achieve 360° rotation and orientation through a gear plate and an external drive mechanism, facilitating direct exchange of goods between adjacent RGV units; the RVG transfer car may also include a lifting and offset adjustment scissor lift mechanism with an offset telescopic arm, supporting the lifting platform to move forward and backward / left and right, adapting to the precise positioning requirements during the disassembly and assembly of EMU components.

[0044] Specifically, the RVG transfer vehicle can also be equipped with transverse roller conveyors integrated with the lifting mechanism on both sides, seamlessly connecting with the telescopic boom forks of the handling equipment to form a continuous conveying track, thereby enhancing safety and stability. The RVG transfer vehicle can also include a protective structure, using a combination of brushes and protective plates to buffer vibrations and reduce the risk of tilting during heavy-load transport. The RVG transfer vehicle can also have fault protection functions, integrating overload and short-circuit protection mechanisms through the IO module to ensure continuous and reliable equipment operation. The RVG transfer vehicle can also have a depalletizing function, precisely separating stacked pallets through integrated intelligent robotic arms or push rod mechanisms, achieving automatic pallet depalletizing and frame stacking, thus realizing a fully automated, flexible, and intelligent production line logistics process from aluminum profile product unloading to the buffer / packaging loading area, and from the packaging and framing area to the finished product warehouse area.

[0045] For example, please refer to Figure 3 The RVG transport vehicle can utilize Ethernet PROFINET IO-System communication for control, which features high network speed and stability. It can also employ a barcode scanner to scan QR codes, improving the efficiency and accuracy of manual information entry into the equipment. Furthermore, the PLC, controller, and optical barcode reader are controlled via Ethernet PROFINET IO-System, offering high precision, high responsiveness, and high stability in mechanism positioning accuracy and position feedback.

[0046] It should be noted that, Figure 2 The two workstations of the RVG transport vehicle in the example are only for illustration purposes. In other possible implementations, the RVG transport vehicle may include three or more, and the stacking and de-stacking may involve three, four, or more frames.

[0047] In some possible implementations, to improve overall transport efficiency and reduce empty load rates, please refer to [link / reference needed]. Figure 4 After step S200, the method further includes, but is not limited to, the following steps:

[0048] In S300, it is determined whether the current number of transport frames of the target frame is less than the preset maximum number of transport frames.

[0049] Specifically, the terminal device can determine whether the current number of transported material frames in the target material frame is less than the preset maximum number of transported material frames. The maximum number of transported material frames describes the maximum number of material frames that the RVG transfer vehicle can transport.

[0050] In S310, if the current number of transported material boxes in the target material box is less than the preset maximum number of transported material boxes, the instruction response status of the RVG transfer vehicle is set to the allowed acceptance status.

[0051] Specifically, if the current number of transported material frames in the target material frame is less than the preset maximum number of transported material frames, it indicates that the RVG transfer vehicle can still load new material frames. Therefore, the terminal device can set the instruction response status of the RVG transfer vehicle to the allowed acceptance status. The allowed acceptance status describes that the RVG transfer vehicle is allowed to load new material frames during transportation.

[0052] In S320, based on the allowed acceptance state, in response to the waiting transport status instruction, the current address information of the newly added material box is obtained.

[0053] Specifically, after the terminal device sets the instruction response status of the RVG transfer vehicle to the allowed acceptance state, the terminal device can obtain the current address information of the newly added material box based on the allowed acceptance state and in response to the waiting transportation state instruction. The waiting transportation instruction is used to indicate that the newly added material box is in the state of waiting to be transported to the destination address information; the current address information is used to describe the current location of the newly added material box.

[0054] In S330, a new transport instruction is generated and executed based on the current address information.

[0055] Specifically, after the terminal device obtains the current address information, it can generate and execute a new transportation instruction based on the current address information. The new transportation instruction includes a third transportation instruction and a fourth transportation instruction. The third transportation instruction is used to instruct the RVG transfer vehicle to load the new material frame into the preset empty frame station after arriving at the current address information. The fourth transportation instruction is used to instruct the RVG transfer vehicle to transport the new material frame to the destination address information and then unload the target material frame.

[0056] In some possible implementations, to reduce the likelihood of RVG transport vehicles colliding with other objects during transport, please refer to [link / reference needed]. Figure 5 Before step S200, the method also includes, but is not limited to, the following steps:

[0057] In S201, real-time image information of the target material frame is acquired based on multiple preset cameras.

[0058] Specifically, the terminal device can acquire real-time image information of the target material frame based on multiple preset cameras.

[0059] In S202, based on stereo vision technology, the size information of the target material frame is determined according to real-time image information.

[0060] Specifically, after the terminal device acquires real-time image information, it can determine the size information of the target material frame based on stereo vision technology and the real-time image information. The size information of the material frame is used to describe the specific size of the target material frame.

[0061] For example, the terminal device can first obtain the internal and external parameters of the camera through camera calibration to ensure the accuracy of the image geometric information. Then, it can simultaneously acquire images from the left and right cameras and correct the images so that corresponding points are located on the same scan line. Subsequently, it can use a stereo matching algorithm to find the corresponding pixels in the left and right images and calculate the disparity. Then, it can calculate the scene depth information based on the disparity and camera parameters. Then, it can use the depth data to back-project and generate a three-dimensional point cloud. Finally, it can process the point cloud data to extract the length, width and height of the object to achieve accurate measurement of the target material frame size.

[0062] In S203, the frame outline information is determined based on the frame size information.

[0063] Specifically, after the terminal device determines the size information of the target material frame, it can determine the center line information of the material frame based on the size information. The center line information describes the center line of the target material frame, and the extension direction of the center line is consistent with the extension direction of the pallet.

[0064] In S204, based on the material frame size information, the movement width information is generated according to the material frame centerline information and the preset station centerline information.

[0065] Specifically, after the terminal device determines the center line information of the material frame, the terminal device can merge the center line information of the material frame and the preset station center line information based on the material frame size information to generate the movement width information. The station center line information is used to describe the center line of the first station or the second station, and the center line is consistent with the extension direction of the pallet. The movement width information is used to describe the width of the RVG transfer vehicle during transportation after loading the target material frame.

[0066] In S205, first safety width information is generated based on the sum of the movement width information and the preset safety distance value information.

[0067] Specifically, after the terminal device generates the movement width information, it can effectively generate the first safe width information based on the sum of the movement width information and the preset safe distance value.

[0068] In some possible implementations, to further reduce the likelihood of RVG transport vehicles colliding with other objects during transport, please refer to [link to relevant documentation]. Figure 6 After step S200, the method further includes, but is not limited to, the following steps:

[0069] In S400, obtain the transfer vehicle size information of the RVG transfer vehicle.

[0070] Specifically, the terminal device can obtain the RVG transport vehicle's size information, which describes the specific dimensions of the RVG transport vehicle.

[0071] In S410, the second safety width information is generated based on the sum of the transfer vehicle size information and the safety distance value information.

[0072] Specifically, after the terminal device obtains the size information of the transfer vehicle, it can quickly generate the second safety width information based on the sum of the transfer vehicle size information and the safety distance value information.

[0073] In S420, safety range information is generated based on the maximum value between the first safety width information and the second safety width information.

[0074] Specifically, after the terminal device generates the second security width information, the terminal device can take the larger value between the first security width information and the second security width information to generate the security range information. The cross-section of the security range information is a perfect circle, and the diameter of the security range information is the larger value between the first security width information and the second security width information.

[0075] In some possible implementations, to improve safety during transportation, please refer to [link / reference needed]. Figure 7 After step S420, the method further includes, but is not limited to, the following steps:

[0076] In S430, it continuously determines whether there are personnel within the safe zone information.

[0077] Specifically, the terminal device can continuously determine whether there are people within the safe zone information.

[0078] In S440, if personnel are within the safe zone, a pause transport instruction is generated; otherwise, the material frame transport instruction continues to be executed.

[0079] Specifically, if personnel are within the safe zone, it indicates that production personnel are near the moving RVG transport vehicle. Therefore, the terminal equipment can generate a pause transport command to prevent production personnel from being hit and reduce the occurrence of production accidents. Otherwise, the terminal equipment can continue to execute the material frame transport command. The pause transport command is used to instruct the RVG transport vehicle to enter a pause transport state.

[0080] In some possible implementations, the core of the RVG transport vehicle can adopt an industrial-grade PLC control system, combined with barcode scanning positioning and a high-precision drive system, enabling the vehicle body, which carries several tons, to maintain high positioning accuracy. The terminal equipment can coordinate control and path optimization, and issue handling instructions through the WMS system, enabling the RVG transport vehicle to work in conjunction with AGVs / lifting machines to achieve automated cross-regional scheduling of goods. The RVG transport vehicle can combine IO modules to collect sensor data in real time (such as photoelectric sensors or weight sensors) to improve handling efficiency and positioning accuracy. The RVG transport vehicle can also integrate intelligent robotic arms or push rod mechanisms to accurately separate stacked pallets, realize automatic pallet destacking and stacking, and achieve all-round perception of the surrounding environment through high-precision radar and sensors.

[0081] The intelligent scheduling and control method of this application enables RVG transport vehicles to work 24 hours a day without interruption, so that they are not limited by time and manpower, which greatly improves transportation efficiency, greatly reduces manpower burden, improves operational efficiency, and can quickly respond and take corresponding measures in case of dangerous situations, thus ensuring driving safety.

[0082] The implementation principle of the intelligent scheduling and control method of the RGV vehicle with stacked and unstacked frames in this application embodiment is as follows: The terminal device can first obtain the location address information and destination address information of the target frame, and then generate and execute the frame transportation instruction based on the location address information, thereby improving production efficiency, reducing labor costs, and being suitable for large-scale production needs.

[0083] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0084] Embodiments of this application also provide an intelligent scheduling and control system based on an RGV (Remote Container Vehicle) with stacked and unstacked pallets, applicable to RVG transfer vehicles. The RVG transfer vehicle includes pallets; for ease of explanation, only the parts relevant to this application are shown, such as... Figure 8 As shown, the system 80 includes:

[0085] Destination address information acquisition module 81: used to acquire the location address information and destination address information of the target material box;

[0086] Material frame transport instruction execution module 82: Used to generate and execute material frame transport instructions based on the address information. The material frame transport instructions include a first transport instruction and a second transport instruction. The first transport instruction is used to instruct the RVG transfer vehicle to load the target material frame into the preset empty frame station after arriving at the address information. The second transport instruction is used to instruct the RVG transfer vehicle to unload the target material frame after transporting it to the destination address information.

[0087] Optionally, the system 80 also includes:

[0088] Current transport frame count information judgment module: used to determine whether the current transport frame count information of the target frame is less than the preset maximum transport frame count information;

[0089] Command response status setting module: If the current number of transported material boxes in the target material box is less than the preset maximum number of transported material boxes, the command response status of the RVG transfer vehicle will be set to the allowed acceptance status.

[0090] Current address information acquisition module: Based on the allow / accept status and in response to the waiting for transportation status instruction, the module acquires the current address information of the newly added material box. The waiting for transportation instruction indicates that the newly added material box is in a state of waiting to be transported to the destination address information.

[0091] The new transportation instruction generation module is used to generate and execute new transportation instructions based on the current address information. The new transportation instructions include a third transportation instruction and a fourth transportation instruction. The third transportation instruction is used to instruct the RVG transfer vehicle to load the new material frame into the preset empty frame station after arriving at the current address information using a pallet. The fourth transportation instruction is used to instruct the RVG transfer vehicle to transport the new material frame to the destination address information and then unload the target material frame.

[0092] Optionally, the system 80 also includes:

[0093] Real-time image information acquisition module: used to acquire real-time image information of the target material frame based on multiple preset cameras;

[0094] Material frame size information determination module: used to determine the size information of the target material frame based on stereo vision technology and real-time image information;

[0095] Material frame center line information determination module: used to determine the center line information of the material frame based on the material frame size information;

[0096] Movement width information generation module: used to generate movement width information based on the material frame size information, the material frame center line information and the preset station center line information;

[0097] First safety width information generation module: used to generate first safety width information based on the sum of movement width information and preset safety distance value information.

[0098] Optionally, the system 80 also includes:

[0099] Transfer vehicle size information acquisition module: used to acquire the transfer vehicle size information of RVG transfer vehicles;

[0100] Second safety width information generation module: used to generate second safety width information based on the sum of the transfer vehicle size information and the safety distance value information;

[0101] Safety range information generation module: used to generate safety range information based on the maximum value between the first safety width information and the second safety width information, wherein the safety range information is used to describe the circular range with the maximum diameter value.

[0102] Optionally, the system 80 also includes:

[0103] Personnel detection module: Used to continuously determine whether there are personnel within the safe zone information;

[0104] Pause Transport Instruction Generation Module: This module generates a pause transport instruction if personnel are within the safe zone; otherwise, it continues executing the material frame transport instruction.

[0105] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0106] This application also provides a terminal device, such as... Figure 9 As shown, the terminal device 90 in this embodiment includes: a processor 91, a memory 92, and a computer program 93 stored in the memory 92 and executable on the processor 91. When the processor 91 executes the computer program 93, it implements the steps described in the intelligent scheduling control method embodiment, for example... Figure 1 Steps S100 to S200 are shown; or, when processor 91 executes computer program 93, it implements the functions of each module in the above-described device, for example... Figure 8 The functions of modules 81 to 82 are shown.

[0107] The terminal device 90 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The terminal device 90 includes, but is not limited to, a processor 91 and a memory 92. Those skilled in the art will understand that... Figure 9 This is merely an example of terminal device 90 and does not constitute a limitation on terminal device 90. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device 90 may also include input / output devices, network access devices, buses, etc.

[0108] The processor 91 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0109] The memory 92 can be an internal storage unit of the terminal device 90, such as the hard disk or memory of the terminal device 90. The memory 92 can also be an external storage device of the terminal device 90, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 90. Furthermore, the memory 92 can include both internal storage units and external storage devices of the terminal device 90. The memory 92 can also store computer program 93 and other programs and data required by the terminal device 90. The memory 92 can also be used to temporarily store data that has been output or will be output.

[0110] One embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0111] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the methods, principles and structures of this application should be covered within the scope of protection of this application.

Claims

1. A smart scheduling and control method based on RGV (Remote Container Vehicle) vehicles with stacked and unstacked pallets, applicable to RVG transport vehicles, wherein the RVG transport vehicle includes a pallet, characterized in that, The method includes: Obtain the location and destination address information of the target material box; Based on the location information, a material frame transportation instruction is generated and executed. The material frame transportation instruction includes a first transportation instruction and a second transportation instruction. The first transportation instruction is used to instruct the RVG transfer vehicle to load the target material frame into a preset empty frame station using the pallet after arriving at the location information. The second transportation instruction is used to instruct the RVG transfer vehicle to unload the target material frame after transporting it to the destination address information.

2. The method according to claim 1, characterized in that, After generating and executing the material frame transport instruction based on the location information, the method further includes: Determine whether the current number of transport frames in the target frame is less than the preset maximum number of transport frames. If the current number of transported material boxes in the target material box is less than the preset maximum number of transported material boxes, then the instruction response status of the RVG transfer vehicle is set to the allowed acceptance status. Based on the allowed acceptance state, in response to the waiting for transportation state instruction, the current address information of the newly added material box is obtained, wherein the waiting for transportation instruction is used to indicate that the newly added material box is in a state of waiting to be transported to the destination address information; Based on the current address information, a new transportation instruction is generated and executed. The new transportation instruction includes a third transportation instruction and a fourth transportation instruction. The third transportation instruction is used to instruct the RVG transfer vehicle to load the new material frame into the preset empty frame station after arriving at the current address information using the pallet. The fourth transportation instruction is used to instruct the RVG transfer vehicle to transport the new material frame to the destination address information and then unload the target material frame.

3. The method according to claim 1, characterized in that, Before generating and executing the material frame transport instruction based on the location information, the process includes: Based on multiple preset cameras, real-time image information of the target material frame is acquired; Based on stereo vision technology, the size information of the target material frame is determined according to the real-time image information; Based on the material frame size information, determine the material frame centerline information; Based on the material frame size information, and according to the material frame centerline information and the preset station centerline information, the movement width information is generated; The first safe width information is generated based on the sum of the movement width information and the preset safe distance value information.

4. The method according to claim 3, characterized in that, After generating and executing the material frame transport instruction based on the location information, the method further includes: Obtain the transfer vehicle size information of the RVG transfer vehicle; The second safety width information is generated based on the sum of the transfer vehicle size information and the safety distance value information; Based on the maximum value between the first safety width information and the second safety width information, safety range information is generated, wherein the safety range information is used to describe a circular range with a diameter value of the maximum value.

5. The method according to claim 4, characterized in that, After generating security range information based on the maximum value between the first security width information and the second security width information, the method further includes: Continuously determine whether there are any people within the aforementioned safety range information; If any personnel are within the safety zone information, a pause transport instruction is generated; otherwise, the material frame transport instruction continues to be executed.

6. An intelligent scheduling and control system based on an RGV (Remote Container Vehicle) with stacked and unstacked pallets, applicable to RVG transport vehicles, wherein the RVG transport vehicle includes a pallet, characterized in that... The system includes: Destination address information acquisition module: used to acquire the location address information and destination address information of the target material box; Material frame transport instruction execution module: used to generate and execute material frame transport instructions based on the location address information. The material frame transport instructions include a first transport instruction and a second transport instruction. The first transport instruction is used to instruct the RVG transfer vehicle to load the target material frame into the preset empty frame station using the pallet after arriving at the location address information. The second transport instruction is used to instruct the RVG transfer vehicle to transport the target material frame to the destination address information and then unload the target material frame.

7. The system according to claim 6, characterized in that, The system also includes: Real-time image information acquisition module: used to acquire real-time image information of the target material frame based on multiple preset cameras; Material frame size information determination module: used to determine the material frame size information of the target material frame based on the real-time image information using stereo vision technology; Material frame center line information determination module: used to determine the center line information of the material frame based on the material frame size information; Movement width information generation module: used to generate movement width information based on the material frame size information, the material frame centerline information and the preset station centerline information; First safe width information generation module: used to generate first safe width information based on the sum of the movement width information and the preset safe distance value information.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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