Control method of four-way shuttle vehicle based on laser displacement sensor

Abstract

The invention discloses a control method of a four-way shuttle vehicle based on a laser displacement sensor, and relates to the technical field of intelligent warehouse logistics devices. When the four-way shuttle vehicle runs on a single track, first real-time data of a laser displacement sensor installed on the four-way shuttle vehicle and a target position corresponding to the first real-time data are collected, and the first real-time data are data of the four-way shuttle vehicle running on the single track by a target distance; the single track comprises the first track or the second track, track flatness measurement in the running process of the four-way shuttle vehicle and height difference and track gap measurement during butt joint of the high track and the low track are achieved, and stable running of the intelligent warehousing system can be ensured; and meanwhile, the flatness detection of the logistics transportation track can be completed under the condition that the intelligent warehousing system does not stop.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehouse logistics devices, and particularly relates to a control method of a four-way shuttle vehicle based on a laser displacement sensor. BACKGROUND

[0002] With the increasing popularity and in-depth application of intelligent warehouse technology, the four-way shuttle vehicle, as a new generation of efficient and flexible warehouse automation equipment, has played a core role in modern stereoscopic warehouses. The four-way shuttle vehicle relies on a horizontally laid net-shaped track system and can freely travel longitudinally and laterally on the mutually intersecting multi-layer tracks, and can smoothly switch the travel direction between the high track and the low track through a unique lifting and reversing mechanism, thereby realizing true four-way operation. This design breaks through the path limitation of the traditional one-way shuttle vehicle, greatly improves the space utilization and scheduling flexibility of the warehouse system, and is particularly suitable for high-density and high-turnover warehouse logistics scenarios.

[0003] However, the efficient and stable operation of the four-way shuttle vehicle is highly dependent on the installation quality of the track system to which it is attached. The precision of track installation, including track gauge consistency, levelness, joint gap and height difference, directly affects the smoothness and positioning accuracy of the four-way vehicle. Any slight track unevenness or installation deviation may cause vibration and impact of the vehicle during operation, thereby causing a series of problems such as increased equipment operation noise, loose electrical components, and accelerated mechanical structure wear, which seriously affect the service life of the equipment. In extreme cases, installation defects of the track system may even cause vehicle jamming and derailment, posing a threat to the stable operation and safety of the entire warehouse system.

[0004] Therefore, the installation precision and flatness of the track system are the key prerequisites for ensuring that the four-way shuttle vehicle can perform effectively and reliably for a long time, and are also the core technical links that cannot be ignored in the design and construction of current intelligent warehouse systems. SUMMARY

[0005] The control method of the four-way shuttle vehicle based on the laser displacement sensor provided by the embodiments of the present application solves the technical problem that the real-time detection process of the key parameters such as the flatness, joint gap and height difference of the track of the four-way shuttle vehicle in the operation process is unreliable in the prior art, which leads to the difficulty of stable operation of the warehouse system.

[0006] In a first aspect, the embodiments of the present application provide a control method of a four-way shuttle vehicle based on a laser displacement sensor, including: collecting first real-time data of the laser displacement sensor installed on the four-way shuttle vehicle and a target position corresponding to the first real-time data when the four-way shuttle vehicle travels on a single track, wherein the first real-time data is data of the four-way shuttle vehicle traveling a target distance on the single track, and the single track includes a first track or a second track; determining a first online detection result of flatness of the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle based on the first real-time data; collecting second real-time data of the laser displacement sensor installed on the four-way shuttle vehicle after the four-way shuttle vehicle performs a reversing action, wherein the second real-time data includes first real-time sub-data and second real-time sub-data, the first real-time sub-data includes a target number of real-time sub-data, and the second real-time sub-data includes a target number of real-time sub-data; obtaining third real-time data of the four-way shuttle vehicle before the reversing action is performed, wherein the third real-time data includes third real-time sub-data and fourth real-time sub-data; determining a second online detection result of whether a track butt joint at which the reversing action is performed by the four-way shuttle vehicle is complete based on the first real-time sub-data, the second real-time sub-data, the third real-time sub-data, and the fourth real-time sub-data; collecting fourth real-time data of the laser displacement sensor installed on the four-way shuttle vehicle when the four-way shuttle vehicle travels on the single track, wherein the fourth real-time data includes fifth real-time sub-data and sixth real-time sub-data; obtaining a wheelbase of a vehicle body of the four-way shuttle vehicle and a wheel track of the four-way shuttle vehicle; and determining a third online detection result of whether the four-way shuttle vehicle is safe based on the wheelbase of the vehicle body of the four-way shuttle vehicle, the wheel track of the four-way shuttle vehicle, and the fourth real-time data.

[0007] In combination with the first aspect, in a possible implementation manner, the determining, based on the first real-time data, of the first online detection result of the flatness of the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle includes: determining a variance or a range corresponding to the first real-time data based on the first real-time data; and determining the first online detection result of the flatness of the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle based on the variance or the range corresponding to the first real-time data.

[0008] In a second possible implementation manner of the first aspect, the first online detection result of the flatness of the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is determined based on the variance or the range of the first real-time data, including: when the variance of the first real-time data is greater than or equal to a variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area; when the variance of the first real-time data is less than the variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area; when the range of the first real-time data is greater than or equal to a range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area; and when the range of the first real-time data is less than the range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

[0009] In a third possible implementation manner of the first aspect, the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete is determined based on the first real-time sub-data, the second real-time sub-data, the third real-time sub-data and the fourth real-time sub-data, including: averaging the target number of real-time sub-data in the first real-time sub-data to obtain first average real-time sub-data; averaging the target number of real-time sub-data in the second real-time sub-data to obtain second average real-time sub-data; and determining the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the third real-time sub-data, the fourth real-time sub-data, the first average real-time sub-data and the second average real-time sub-data.

[0010] In a fourth possible implementation manner of the third possible implementation manner of the first aspect, the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete is determined based on the third real-time sub-data, the fourth real-time sub-data, the first average real-time sub-data and the second average real-time sub-data, including: determining a first target difference between the third real-time sub-data and the first average real-time sub-data; determining a second target difference between the fourth real-time sub-data and the second average real-time sub-data; and determining the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the first target difference and the second target difference.

[0011] In a fifth possible implementation of the fourth possible implementation of the first aspect, based on the first target difference and the second target difference, the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete comprises: when the first target difference and the second target difference are both within the target difference threshold range, the second online detection result is obtained as that the track docking where the four-way shuttle vehicle performs the reversing action is complete; when the first target difference and the second target difference are both not within the target difference threshold range, the second online detection result is obtained as that the track docking where the four-way shuttle vehicle performs the reversing action is misaligned.

[0012] In a sixth possible implementation of the first aspect, based on the wheelbase of the four-way shuttle vehicle, the wheel track and the fourth real-time data, the third online detection result of whether the four-way shuttle vehicle is safe comprises: determining the pitch angle of the four-way shuttle vehicle based on the fifth real-time sub-data, the sixth real-time sub-data and the wheelbase of the four-way shuttle vehicle; determining the roll angle of the four-way shuttle vehicle based on the fifth real-time sub-data, the sixth real-time sub-data and the wheel track of the four-way shuttle vehicle; and determining the third online detection result of whether the four-way shuttle vehicle is safe based on the pitch angle and the roll angle of the four-way shuttle vehicle.

[0013] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0014] 1. Real-time, continuous and quantitative detection of track flatness during normal driving operation of the four-way shuttle vehicle is achieved.

[0015] 2. The misalignment height between the upper and lower rails can be detected immediately after the four-way shuttle vehicle completes the reversing, ensuring the reversing reliability.

[0016] 3. The position of the track defect can be automatically recorded and located, providing data support for accurate maintenance.

[0017] 4. Detection cost is reduced and detection efficiency is improved without interrupting other warehouse operations.

[0018] 5. An active safety mechanism is established to monitor the inclination posture of the vehicle body in real time during the operation of the four-way shuttle vehicle, which can early warn the risk of vehicle overturning caused by extreme track defects, cargo unbalanced loading, etc. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 This is a flowchart of a control method for a four-way shuttle based on a laser displacement sensor, provided in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram showing the position of the laser displacement sensor on the four-way shuttle provided in this application embodiment;

[0022] Figure 3 This is a schematic diagram illustrating the working principle of a four-way shuttle vehicle traveling on an X-track to perform flatness detection, as provided in an embodiment of this application.

[0023] Figure 4 This is a schematic diagram illustrating the working principle of high-low rail docking accuracy detection after a four-way shuttle changes direction, according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of a control system for a four-way shuttle based on a laser displacement sensor, provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] Figure 1 This is a flowchart of a control method for a four-way shuttle based on a laser displacement sensor, provided in an embodiment of this application, including steps S1 to S8.

[0027] Step S1: When the four-way shuttle is traveling on a single track, the first real-time data and the target position corresponding to the first real-time data are collected from the laser displacement sensor installed on the four-way shuttle. The first real-time data is the data of the target distance traveled by the four-way shuttle on the single track, which includes the first track or the second track.

[0028] In this embodiment, two laser displacement sensors on the four-way shuttle are respectively installed near the left front wheel and the right rear wheel of the shuttle body to ensure that the laser beam hits the center area of ​​the top surface of the main track perpendicularly. Figure 2 This is a schematic diagram showing the position of the laser displacement sensor on the four-way shuttle provided in this application embodiment, as shown below. Figure 2 As shown, a laser displacement sensor on the four-way shuttle is installed near the left front wheel of the four-way shuttle. Figure 2 1) A laser displacement sensor on the four-way shuttle is installed near the right rear wheel of the four-way shuttle. Figure 2The two laser displacement sensors are respectively installed near the right front wheel and the left rear wheel of the four-way shuttle vehicle; wherein the single track is the X track or the Y track of the intelligent warehouse track on which the four-way shuttle vehicle travels.

[0029] When the four-way shuttle vehicle travels on the X track of the intelligent warehouse track, Figure 3 is a schematic diagram of the working principle of the four-way shuttle vehicle provided by the embodiment of the present application for traveling on the X track to perform flatness detection, the first real-time data is the reading of the laser displacement sensor near the left front wheel and the right rear wheel of the vehicle body within a continuous distance (such as 1 meter) traveled by the four-way shuttle vehicle, the first real-time data includes Figure 3 the first group of data of the distance from the laser displacement sensor of 3 in the 3 to the X track and Figure 3 the second group of data of the distance from the laser displacement sensor of 4 in the 4 to the X track;

[0030] When the four-way shuttle vehicle travels on the Y track of the intelligent warehouse track, the method of acquiring the first real-time data is the same as that when the four-way shuttle vehicle travels on the X track of the intelligent warehouse track.

[0031] The model of the laser displacement sensor is with a range of 100mm±35mm and a resolution better than 0.01mm.

[0032] Step S2: based on the first real-time data, determining the first online detection result of the flatness of the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle.

[0033] In this embodiment, according to the first real-time data, the first online detection result of the flatness of the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is obtained, and the first online detection result is that the single track of the target position corresponding to the first real-time data is a smooth area or an uneven area.

[0034] Step S3: after the four-way shuttle vehicle completes the reversing action, collecting the second real-time data of the laser displacement sensor installed on the four-way shuttle vehicle, wherein the second real-time data includes first real-time sub-data and second real-time sub-data, the first real-time sub-data includes a target number of real-time sub-data, and the second real-time sub-data includes a target number of real-time sub-data.

[0035] In this embodiment, after the four-way shuttle vehicle completes the reversing action, the second real-time data of the laser displacement sensor mounted on the four-way shuttle vehicle is collected. The first real-time sub-data can be target real-time sub-data of the sensor collected near the left front wheel of the vehicle body of the four-way shuttle vehicle. The target real-time sub-data can be 10 real-time sub-data. The second real-time sub-data can be target real-time sub-data of the sensor collected near the right rear wheel of the vehicle body of the four-way shuttle vehicle. The target real-time sub-data can be 10 real-time sub-data. The number of the first real-time sub-data is the same as the number of the second real-time sub-data.

[0036] Figure 4 is a schematic diagram of the working principle of the high-low rail docking accuracy detection after the reversing of the four-way shuttle vehicle according to the embodiment of the application. As shown in Figure 4 , the lower half of Figure 4 is the distance (6 in Figure 4 ) from the laser displacement sensor near the left front wheel of the vehicle body of the four-way shuttle vehicle to the Y rail surface after the reversing action of the four-way shuttle vehicle, for example, 107 mm.

[0037] Step S4: acquiring third real-time data before the reversing action of the four-way shuttle vehicle, wherein the third real-time data includes third real-time sub-data and fourth real-time sub-data.

[0038] In this embodiment, the third real-time sub-data is existing data, that is, standard data. The third real-time sub-data corresponds to the first real-time sub-data. The fourth real-time sub-data, that is, standard data, corresponds to the second real-time sub-data.

[0039] As shown in Figure 4 , the upper half of Figure 4 is the distance (5 in Figure 4 ) from the laser displacement sensor near the left front wheel of the vehicle body of the four-way shuttle vehicle to the X rail surface before the reversing action of the four-way shuttle vehicle, for example, 80 mm.

[0040] Step S5: determining a second online detection result of whether the rail docking of the reversing action of the four-way shuttle vehicle is complete based on the first real-time sub-data, the second real-time sub-data, the third real-time sub-data, and the fourth real-time sub-data.

[0041] In this embodiment, the first real-time sub-data, the second real-time sub-data, the third real-time sub-data, and the fourth real-time sub-data are calculated to obtain the second online detection result. The second online detection result includes: whether the rail docking of the reversing action of the four-way shuttle vehicle is complete or not.

[0042] Step S6: collecting fourth real-time data of the laser displacement sensor installed on the four-way shuttle vehicle when the four-way shuttle vehicle travels on the single track, wherein the fourth real-time data includes fifth real-time sub-data and sixth real-time sub-data.

[0043] In this embodiment, the fifth real-time sub-data can be data collected by the sensor near the left front wheel of the vehicle body of the four-way shuttle vehicle, and the sixth real-time sub-data can be data collected by the sensor near the right rear wheel of the vehicle body of the four-way shuttle vehicle.

[0044] Step S7: obtaining the wheelbase of the vehicle body of the four-way shuttle vehicle and the track of the wheel of the four-way shuttle vehicle.

[0045] In this embodiment, the wheelbase of the vehicle body of the four-way shuttle vehicle is the straight-line distance from the center of the front axle to the center of the rear axle of the four-way shuttle vehicle, and the track of the wheel of the four-way shuttle vehicle is the distance between the centers of the wheels on the left and right sides of the four-way shuttle vehicle.

[0046] Step S8: determining a third online detection result of whether the four-way shuttle vehicle is safe based on the wheelbase of the vehicle body of the four-way shuttle vehicle, the track of the wheel of the four-way shuttle vehicle, and the fourth real-time data.

[0047] In this embodiment, the wheelbase of the vehicle body of the four-way shuttle vehicle, the track of the wheel of the four-way shuttle vehicle, and the fourth real-time data are calculated to obtain the third online detection result of whether the four-way shuttle vehicle is safe, and the third online detection result is that the posture of the vehicle body of the four-way shuttle vehicle is abnormal or normal.

[0048] In step S2, the detailed process includes step 201 and step 202.

[0049] Step 201: determining the variance or range corresponding to the first real-time data based on the first real-time data.

[0050] In this embodiment, when the four-way shuttle vehicle travels on the X track of the intelligent warehouse track, the variance or range corresponding to each group of data in the first real-time data is obtained according to the two groups of data in the first real-time data.

[0051] Step 202: determining a first online detection result of the flatness of the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle based on the variance or range corresponding to the first real-time data.

[0052] Specifically, the first online detection result obtained in step 202 includes the following four results:

[0053] (1) When the variance corresponding to the first real-time data is greater than or equal to the variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area.

[0054] (2) When the variance corresponding to the first real-time data is less than the variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

[0055] (3) When the range corresponding to the first real-time data is greater than or equal to the range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area.

[0056] (4) When the range corresponding to the first real-time data is less than the range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

[0057] In this embodiment, (1) when the variance corresponding to each group of data in the first real-time data is greater than or equal to the variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area.

[0058] (2) When the variance corresponding to each group of data in the first real-time data is less than the variance threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

[0059] (3) When the range corresponding to each group of data in the first real-time data is greater than or equal to the range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area.

[0060] (4) When the range corresponding to each group of data in the first real-time data is less than the range threshold, the first online detection result is that the single track of the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

[0061] In the embodiments of the present application, the variance threshold and the range threshold are both set to 0.7 mm.

[0062] Exemplarily, in step S5, specifically includes steps 501 to 503.

[0063] Step 501: The mean value of the target real-time sub-data in the first real-time sub-data is obtained to obtain the first mean value real-time sub-data.

[0064] In this embodiment, when the target real-time sub-data is 10 real-time sub-data, the mean value of the 10 real-time sub-data is obtained to obtain the first real-time sub-data.

[0065] Step 502: The mean value of the target real-time sub-data in the second real-time sub-data is obtained to obtain the second mean value real-time sub-data.

[0066] In this embodiment, when the target number of real-time sub-data is 10, the 10 real-time sub-data are averaged to obtain second real-time sub-data, wherein the target number of real-time sub-data in the second real-time sub-data correspond to the target number of real-time sub-data in the first real-time sub-data in time.

[0067] Step 503: Based on the third real-time sub-data, the fourth real-time sub-data, the first average real-time sub-data and the second average real-time sub-data, a second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete is determined.

[0068] Specifically, the calculation process of the second online detection result includes:

[0069] The difference between the third real-time sub-data and the first average real-time sub-data is determined as a first target difference.

[0070] The difference between the fourth real-time sub-data and the second average real-time sub-data is determined as a second target difference.

[0071] Based on the first target difference and the second target difference, the second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete is determined.

[0072] When the first target difference and the second target difference are both within the target difference threshold range, the second online detection result indicates that the track docking where the four-way shuttle vehicle performs the reversing action is complete.

[0073] When the first target difference and the second target difference are both not within the target difference threshold range, the second online detection result indicates that the track docking where the four-way shuttle vehicle performs the reversing action is wrong.

[0074] In this embodiment, the target difference threshold range is -0.5mm~+0.5mm.

[0075] In the embodiments of the present application, step S8 includes:

[0076] Based on the fifth real-time sub-data, the sixth real-time sub-data and the wheelbase of the four-way shuttle vehicle, the pitch angle of the four-way shuttle vehicle is determined.

[0077] In this embodiment, the expression of the pitch angle of the four-way shuttle vehicle is:

[0078] θ=arctan((d1-d2) / l1)

[0079] Wherein, θ is the pitch angle of the four-way shuttle vehicle, d1 is the fifth real-time sub-data, d2 is the sixth real-time sub-data, and l1 is the wheelbase of the four-way shuttle vehicle.

[0080] Based on the fifth real-time sub-data, the sixth real-time sub-data and the wheel track of the four-way shuttle vehicle, the roll angle of the four-way shuttle vehicle is determined.

[0081] In this embodiment, the expression of the roll angle of the four-way shuttle vehicle is:

[0082]

[0083] wherein, is the roll angle of the four-way shuttle vehicle, d1 is the fifth real-time sub-data, d2 is the sixth real-time sub-data, and l2 is the wheel track of the four-way shuttle vehicle.

[0084] Based on the pitch angle and the roll angle of the four-way shuttle vehicle, a third online detection result of whether the four-way shuttle vehicle is safe is determined.

[0085] In this embodiment, when the pitch angle and the roll angle of the four-way shuttle vehicle exceed a set value (such as 0.5°) for 30 seconds, the third online detection result is a first-level warning (warning), and a warning information is sent to the upper computer, the event is recorded, but the four-way shuttle vehicle does not slow down.

[0086] When the pitch angle and the roll angle of the four-way shuttle vehicle exceed a larger set value (such as 1.5°) for 30 seconds, the third online detection result is a second-level alarm (emergency action), and an emergency operation is triggered immediately, the driving motor power is cut off and the brake is applied, and the highest level alarm is sounded.

[0087] As shown in Figure 2 , the embodiment of the present application also provides a control system of a four-way shuttle vehicle based on a laser displacement sensor, which comprises:

[0088] A detection unit is configured to acquire an output current signal of each sensor; it should be noted that at least two laser displacement sensors are installed on the frame of the four-way shuttle vehicle, and the two laser displacement sensors are installed in a diagonal line layout on the four-way shuttle vehicle; preferably, the two diagonal points are installed on the upper left and the lower right, or the upper right and the lower left.

[0089] A data acquisition unit is configured to convert the current signal into an analog signal.

[0090] A position reference unit is configured to communicate with the vehicle-mounted system through a two-dimensional code or a servo encoder, so as to obtain the real-time position coordinates (X, Y coordinates) of the four-way shuttle vehicle.

[0091] A data processing unit is configured to process the data of the data acquisition unit and the position reference unit, so as to obtain the first online detection result, the second online detection result and the third detection result.

[0092] A data output unit is configured to upload the first online detection result, the second online detection result and the third detection result to a WCS (Warehouse Control System) in real time through Wi-Fi / 5G during operation, or store the first online detection result, the second online detection result and the third detection result locally, and then transmit the first online detection result, the second online detection result and the third detection result when the four-way shuttle vehicle is charging.

[0093] Based on the above embodiments, the technical scheme of the application can bring the following beneficial effects:

[0094] Online real-time detection: "operation detection" is realized, without the need to arrange additional detection time and equipment, greatly improving the efficiency and automation degree.

[0095] Quantification and accurate positioning: the absolute height change of the track is directly measured, the result is accurately quantified (which can be accurate to the level of 0.1 mm), and the coordinates of each track defect point can be accurately positioned in combination with a position encoder.

[0096] One machine with multiple functions and powerful functions: one system simultaneously solves the detection of two key problems of the running track flatness and the reversing docking accuracy.

[0097] Active safety warning: the docking state can be judged immediately after reversing, effectively preventing serious faults such as vehicle jamming and derailment caused by docking wrong tracks, and improving the safety and reliability of the system.

[0098] Scientificity of diagonal layout: compared with the same side layout, the unique diagonal sensor layout scheme can more comprehensively perceive the three-dimensional attitude change of the vehicle body, the detection information is richer, and the ability to resist the interference of the vibration of the vehicle body itself is stronger.

[0099] High cost-effectiveness: the commonly used sensors are installed on the platform of the four-way vehicle, and the cost is much lower than that of large special detection equipment, and the cost performance is extremely high.

[0100] Active safety control is realized: the application goes beyond the simple detection function and upgrades to an integrated safety control system. By calculating the attitude angle of the vehicle body in real time, the overturning risk can be warned in advance, and measures such as speed reduction and parking are taken actively, which fundamentally avoids the occurrence of major safety accidents and realizes the leap from "post-detection" to "prevention". This is a core capability that the existing indirect schemes such as vibration sensors do not have.

[0101] Although the application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps can be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many step execution orders, and does not represent the only execution order. When the device or client product is executed in practice, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment).

[0102] Some of the modules in the apparatus described in this application can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform particular tasks or implement particular abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0103] The apparatus or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above apparatus is described in various modules with different functions. In the implementation of the embodiments of the present application, the functions of the modules can be implemented in one or more software and / or hardware. Of course, the modules that implement certain functions can also be implemented by a combination of multiple sub-modules or sub-units.

[0104] The various embodiments in the specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. The whole or part of the present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, small computers, large computers, distributed computing environments including any of the above systems or devices, etc.

[0105] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the present application; although the technical solutions recorded in the above embodiments are described in detail, those skilled in the art should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the present application.

Claims

1. A control method of a four-way shuttle vehicle based on a laser displacement sensor, characterized by, The method comprises the following steps: When the four-way shuttle vehicle travels on a single track, first real-time data of a laser displacement sensor installed on the four-way shuttle vehicle and a target position corresponding to the first real-time data are collected, wherein the first real-time data is data of the four-way shuttle vehicle traveling a target distance on the single track, and the single track comprises a first track or a second track; Based on the first real-time data, a first online detection result of the flatness of the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is determined; After the four-way shuttle vehicle performs a reversing action, second real-time data of the laser displacement sensor installed on the four-way shuttle vehicle are collected, wherein the second real-time data comprises first real-time sub-data and second real-time sub-data, the first real-time sub-data comprises a target number of real-time sub-data, and the second real-time sub-data comprises a target number of real-time sub-data; Third real-time data of the four-way shuttle vehicle before the reversing action is performed are obtained, wherein the third real-time data comprises third real-time sub-data and fourth real-time sub-data; Based on the first real-time sub-data, the second real-time sub-data, the third real-time sub-data and the fourth real-time sub-data, a second online detection result of whether the track docking of the track on which the four-way shuttle vehicle performs the reversing action is complete is determined; When the four-way shuttle vehicle travels on a single track, fourth real-time data of a laser displacement sensor installed on the four-way shuttle vehicle are collected, wherein the fourth real-time data comprises fifth real-time sub-data and sixth real-time sub-data; The wheel track and the body wheelbase of the four-way shuttle vehicle are obtained; Based on the wheel track, the body wheelbase and the fourth real-time data of the four-way shuttle vehicle, a third online detection result of whether the four-way shuttle vehicle is safe is determined.

2. The method of claim 1, wherein, The method comprises the following steps: Based on the first real-time data, a variance or a range corresponding to the first real-time data is determined; Based on the variance or the range corresponding to the first real-time data, the first online detection result of the flatness of the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is determined.

3. The method of claim 2, wherein, The method comprises the following steps: When the variance corresponding to the first real-time data is greater than or equal to a variance threshold, it is determined that the first online detection result is that the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area; When the variance corresponding to the first real-time data is less than the variance threshold, it is determined that the first online detection result is that the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area; When the range corresponding to the first real-time data is greater than or equal to a range threshold, it is determined that the first online detection result is that the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is an uneven area; When the range corresponding to the first real-time data is less than the range threshold, it is determined that the first online detection result is that the single track at the target position corresponding to the first real-time data of the four-way shuttle vehicle is a smooth area.

4. The method of claim 1, wherein, The second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the first real-time sub-data, the second real-time sub-data, the third real-time sub-data and the fourth real-time sub-data, comprising: Obtaining a first mean real-time sub-data by averaging target real-time sub-data in the first real-time sub-data; Obtaining a second mean real-time sub-data by averaging target real-time sub-data in the second real-time sub-data; The second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the third real-time sub-data, the fourth real-time sub-data, the first mean real-time sub-data and the second mean real-time sub-data.

5. The method of claim 4, wherein, The second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the third real-time sub-data, the fourth real-time sub-data, the first mean real-time sub-data and the second mean real-time sub-data, comprising: Determining a first target difference by the difference between the third real-time sub-data and the first mean real-time sub-data; Determining a second target difference by the difference between the fourth real-time sub-data and the second mean real-time sub-data; The second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the first target difference and the second target difference.

6. The method of claim 5, wherein, The second online detection result of whether the track docking where the four-way shuttle vehicle performs the reversing action is complete based on the first target difference and the second target difference, comprising: When the first target difference and the second target difference are both within the target difference threshold range, obtaining the second online detection result as that the track docking where the four-way shuttle vehicle performs the reversing action is complete; When the first target difference and the second target difference are both not within the target difference threshold range, obtaining the second online detection result as that the track docking where the four-way shuttle vehicle performs the reversing action is wrong.

7. The method of claim 1, wherein, The third online detection result of whether the four-way shuttle vehicle is safe based on the wheelbase of the four-way shuttle vehicle, the wheel track and the fourth real-time data, comprising: Determining a pitch angle of the four-way shuttle vehicle based on the fifth real-time sub-data, the sixth real-time sub-data and the wheelbase of the four-way shuttle vehicle; Determining a roll angle of the four-way shuttle vehicle based on the fifth real-time sub-data, the sixth real-time sub-data and the wheel track of the four-way shuttle vehicle; Determining the third online detection result of whether the four-way shuttle vehicle is safe based on the pitch angle and the roll angle of the four-way shuttle vehicle.

8. A computer system, characterized by Comprising: One or more processors, a computer readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method of claim 1.

9. A computer-readable storage medium, characterized in that A computer executable instruction is stored, and the instruction is used to implement the method of claim 1 when executed.

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