Intelligent control method and system for clamp-type shuttle vehicle

Abstract

The application relates to the technical field of intelligent management and control of equipment, and discloses an intelligent control method and system for a clamping type shuttle vehicle. According to the application, a task detail can be accurately and timely analyzed from a control instruction, and efficient and reasonable path planning can be carried out according to the task detail obtained by analysis and in combination with the actual layout of a warehouse, so that an accurate, reliable and reasonable moving path is provided for the movement of the clamping type shuttle vehicle. Then, the movement control of the clamping type shuttle vehicle is realized by adopting a combination of a coarse positioning algorithm and a fine positioning algorithm, so that the movement control accuracy and precision of the clamping type shuttle vehicle are improved. Finally, the goods can be stably and reliably clamped or placed according to a driving execution algorithm, and the task execution progress of the task detail can be timely updated, so that the accuracy, efficiency and reliability of the shuttle vehicle operation are effectively improved, and the overall cooperativeness and management level of the warehouse operation are also improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment control technology, and in particular to an intelligent control method and system for a clamping shuttle vehicle. Background Technology

[0002] In warehouse logistics scenarios, clamp-type shuttles (hereinafter referred to as shuttles) are important cargo handling equipment. However, in current warehouse operations, shuttles face many problems in task processing.

[0003] On the one hand, shuttles can only receive and execute task instructions from the warehouse management system, but cannot perform accurate and reasonable route planning based on the task instructions. This results in unreasonable travel routes for shuttles within the warehouse, often leading to path congestion and occupation, which greatly reduces the overall operational efficiency of the warehouse.

[0004] On the other hand, since the shuttle's movement is controlled according to task instructions, its movement control process is relatively crude. When moving to the pick-up or drop-off point, inaccurate stopping often leads to unstable and inaccurate picking and dropping of goods. In addition, after the shuttle completes a task, the corresponding operation information cannot be updated in a timely manner, reducing the accuracy and efficiency of the overall warehouse operation. Summary of the Invention

[0005] This invention provides an intelligent control method and system for a clamping shuttle, which can realize precise planning of warehouse paths, improve the precision of shuttle movement control and the precise control of goods clamping and placement, and improve the overall operational efficiency of the warehouse.

[0006] The first aspect of this invention discloses an intelligent control method for a clamping shuttle vehicle, the method comprising:

[0007] When the clamping shuttle detects a control command issued by the target warehouse management system, it parses the control command to obtain the task details to be executed; the control command includes at least a goods pickup and delivery command; the task details include at least the pickup location and delivery location of the goods to be picked up and delivered.

[0008] Based on the task details and a preset path planning algorithm, a movement path is generated for the clamping shuttle vehicle; the movement path includes at least two warehouse track paths; the movement path includes a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location;

[0009] According to a preset motion control algorithm, the clamping shuttle is controlled to travel along the target movement path to the target cargo location; the motion control algorithm includes at least a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target movement path is the pickup path or the delivery path; the target cargo location is the pickup location or the delivery location.

[0010] The clamping shuttle is controlled to pick up or place the goods to be delivered according to the preset drive execution algorithm; after it is determined that the goods to be delivered are placed at the delivery location, the task execution progress of the clamping shuttle for the task details is updated.

[0011] As an optional implementation, in the first aspect of the present invention, generating a movement path for the clamping shuttle vehicle based on the task details and a preset path planning algorithm includes:

[0012] Obtain the warehouse track information of the warehouse where the clamping shuttle is located, the warehouse track information including multiple moving tracks for the clamping shuttle to travel on;

[0013] Based on a preset path planning algorithm, and combined with the pickup location, the delivery location, the location of the clamping shuttle, and the warehouse track information, multiple initial movement paths are generated for the clamping shuttle.

[0014] The track access status of all the mobile tracks in the warehouse is collected. The track access status is used to indicate whether each mobile track is occupied, has an obstacle, or has a track fault.

[0015] According to the path planning algorithm and in conjunction with the track traffic status, a filtering operation is performed on all the initial movement paths to obtain at least one movement path that meets the traffic conditions; wherein, the movement path that meets the traffic conditions is a path that allows the clamping shuttle to move smoothly to the pickup location and the delivery location.

[0016] As an optional implementation, in the first aspect of the present invention, controlling the clamping shuttle to travel along the target movement path to the target cargo location according to a preset motion control algorithm includes:

[0017] According to the walking servo drive configured in the clamping shuttle, the clamping shuttle is controlled to move according to the target moving path and the preset first moving speed;

[0018] During the movement of the clamping shuttle, the area label corresponding to the current area where the clamping shuttle is located is read in real time according to the coarse positioning algorithm, and the area label is used to determine whether the clamping shuttle has entered the target area where the target cargo is located.

[0019] When it is determined that the clamping shuttle has entered the target area where the target cargo is located, the clamping shuttle is controlled to move according to the remaining path of the target movement path and the preset second movement speed; the first movement speed is faster than the second movement speed.

[0020] The fine positioning control operation is performed on the clamping shuttle according to the fine positioning algorithm to obtain the fine positioning control result for the clamping shuttle; the fine positioning control operation includes at least a deceleration operation for the first moving speed, a moving distance calculation operation based on the encoder, a marker point recognition operation based on the photoelectric sensor, and a stopping and locking operation for the clamping shuttle.

[0021] When the precise positioning control result indicates that the position difference between the current position of the clamping shuttle and the position of the target cargo is within a preset distance threshold, it is determined that the clamping shuttle has traveled to the position of the target cargo.

[0022] As an optional implementation, in the first aspect of the present invention, the step of performing a fine positioning control operation on the clamping shuttle according to a fine positioning algorithm to obtain a fine positioning control result for the clamping shuttle includes:

[0023] According to the precision positioning algorithm, the encoder is activated and the cumulative pulse count of the encoder is read in real time;

[0024] The real-time moving distance of the clamping shuttle is calculated based on the accumulated pulse count;

[0025] Based on the real-time moving distance, the area boundary point of the target area, and the position of the target cargo, calculate the real-time remaining distance of the clamping shuttle relative to the position of the target cargo;

[0026] Determine whether the real-time remaining distance is less than a preset deceleration threshold. When it is determined that the real-time remaining distance is less than the preset deceleration threshold, activate the deceleration curve and perform a deceleration operation on the clamping shuttle according to the deceleration curve to control the clamping shuttle to decelerate to a stop.

[0027] During the deceleration operation of the clamping shuttle according to the deceleration curve, when it is determined that the real-time remaining distance is less than the preset positioning threshold, the photoelectric sensor is activated, and the clamping shuttle is sequentially subjected to positioning fine-tuning operation and stopping lock operation according to the recognition result of the photoelectric sensor for the preset marker point, so as to obtain the positioning fine-tuning operation and stopping lock result of the clamping shuttle as the fine positioning control result.

[0028] Wherein, the preset marker point is a marker point corresponding to the picking position; the positioning fine-tuning operation is used to adjust the positional deviation between the current position of the clamping shuttle and the preset marker point; the stopping and locking operation is used to stop and lock the clamping shuttle at the preset marker point.

[0029] As an optional implementation, in the first aspect of the present invention, the clamping shuttle is provided with at least a bidirectional telescopic arm, a cargo platform and a centering mechanism; the bidirectional telescopic arm is provided with grippers;

[0030] The step of controlling the clamping shuttle to pick up or place the goods to be delivered according to a preset drive execution algorithm includes:

[0031] When it is determined that the goods to be picked up need to be gripped, the bidirectional telescopic arm is controlled to extend toward the shelf where the goods to be picked up are located according to the preset drive execution algorithm; and the grippers are controlled to grip the goods to be picked up.

[0032] After determining that the gripper has gripped the goods to be picked up and delivered, the bidirectional telescopic arm is controlled to retract according to the drive execution algorithm to pull the goods to be picked up and delivered to the loading platform, and the centering mechanism is controlled to fix the goods to be picked up and delivered to the center position of the loading platform.

[0033] As an optional implementation, in the first aspect of the present invention, the step of controlling the clamping shuttle to clamp or place the goods to be picked up or delivered according to a preset drive execution algorithm further includes:

[0034] When it is determined that the goods to be picked up and delivered need to be placed, the centering mechanism is controlled to release the goods to be picked up and delivered according to the drive execution algorithm, and the bidirectional telescopic arm is controlled to push the goods to be picked up and delivered to the shelf corresponding to the delivery position.

[0035] According to the drive execution algorithm, the gripper is controlled to release the goods to be picked up and delivered, and the bidirectional telescopic arm is controlled to retract into the vehicle of the clamping shuttle.

[0036] As an optional implementation, in the first aspect of the present invention, calculating the real-time moving distance of the clamping shuttle based on the accumulated pulse count includes:

[0037] The circumference of the wheel of the clamping shuttle and the number of pulses per revolution are obtained. The number of pulses per revolution is used to indicate the average number of pulses output by the encoder when the wheel of the clamping shuttle rotates one revolution.

[0038] The product of the cumulative pulse count and the wheel circumference is calculated, and the quotient of the product and the pulse count per revolution is calculated as the real-time travel distance.

[0039] The step of calculating the real-time remaining distance of the clamping shuttle relative to the target cargo position based on the real-time moving distance, the area boundary point of the target area, and the target cargo position includes:

[0040] Based on the location of the boundary point corresponding to the boundary point of the target area and the location of the target cargo, calculate the target distance between the boundary point of the area and the location of the target cargo;

[0041] The difference between the target distance and the real-time moving distance is calculated to obtain the real-time remaining distance of the clamping shuttle relative to the target cargo position.

[0042] A second aspect of this invention discloses an intelligent control system for a clamping shuttle vehicle, the system comprising:

[0043] The instruction parsing module is used to parse the control instruction issued by the target warehouse management system to obtain the task details to be executed when the clamping shuttle detects the control instruction; the control instruction includes at least a goods pickup and delivery instruction; the task details include at least the pickup location and delivery location of the goods to be picked up and delivered.

[0044] The path planning module is used to generate a movement path for the clamping shuttle based on the task details and a preset path planning algorithm; the movement path includes at least two warehouse track paths; the movement path includes a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location;

[0045] A motion control module is used to control the clamping shuttle to travel along a target movement path to the target cargo location according to a preset motion control algorithm; the motion control algorithm includes at least a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target movement path is the pickup path or the delivery path; the target cargo location is the pickup location or the delivery location.

[0046] The clamping and placing module is used to control the clamping shuttle to clamp or place the goods to be picked up and delivered according to a preset drive execution algorithm; after determining that the goods to be picked up and delivered are placed at the delivery location, the module updates the task execution progress of the clamping shuttle for the task details.

[0047] As an optional implementation, in a second aspect of the present invention, the method by which the path planning module generates a movement path for the clamping shuttle vehicle based on the task details and a preset path planning algorithm specifically includes:

[0048] Obtain the warehouse track information of the warehouse where the clamping shuttle is located, the warehouse track information including multiple moving tracks for the clamping shuttle to travel on;

[0049] Based on a preset path planning algorithm, and combined with the pickup location, the delivery location, the location of the clamping shuttle, and the warehouse track information, multiple initial movement paths are generated for the clamping shuttle.

[0050] The track access status of all the mobile tracks in the warehouse is collected. The track access status is used to indicate whether each mobile track is occupied, has an obstacle, or has a track fault.

[0051] According to the path planning algorithm and in conjunction with the track traffic status, a filtering operation is performed on all the initial movement paths to obtain at least one movement path that meets the traffic conditions; wherein, the movement path that meets the traffic conditions is a path that allows the clamping shuttle to move smoothly to the pickup location and the delivery location.

[0052] As an optional implementation, in the second aspect of the present invention, the method by which the motion control module controls the clamping shuttle to travel along the target movement path to the target cargo location according to a preset motion control algorithm specifically includes:

[0053] According to the walking servo drive configured in the clamping shuttle, the clamping shuttle is controlled to move according to the target moving path and the preset first moving speed;

[0054] During the movement of the clamping shuttle, the area label corresponding to the current area where the clamping shuttle is located is read in real time according to the coarse positioning algorithm, and the area label is used to determine whether the clamping shuttle has entered the target area where the target cargo is located.

[0055] When it is determined that the clamping shuttle has entered the target area where the target cargo is located, the clamping shuttle is controlled to move according to the remaining path of the target movement path and the preset second movement speed; the first movement speed is faster than the second movement speed.

[0056] The fine positioning control operation is performed on the clamping shuttle according to the fine positioning algorithm to obtain the fine positioning control result for the clamping shuttle; the fine positioning control operation includes at least a deceleration operation for the first moving speed, a moving distance calculation operation based on the encoder, a marker point recognition operation based on the photoelectric sensor, and a stopping and locking operation for the clamping shuttle.

[0057] When the precise positioning control result indicates that the position difference between the current position of the clamping shuttle and the position of the target cargo is within a preset distance threshold, it is determined that the clamping shuttle has traveled to the position of the target cargo.

[0058] As an optional implementation, in the second aspect of the present invention, the method by which the motion control module performs a fine positioning control operation on the clamping shuttle according to a fine positioning algorithm to obtain a fine positioning control result for the clamping shuttle specifically includes:

[0059] According to the precision positioning algorithm, the encoder is activated and the cumulative pulse count of the encoder is read in real time;

[0060] The real-time moving distance of the clamping shuttle is calculated based on the accumulated pulse count;

[0061] Based on the real-time moving distance, the area boundary point of the target area, and the position of the target cargo, calculate the real-time remaining distance of the clamping shuttle relative to the position of the target cargo;

[0062] Determine whether the real-time remaining distance is less than a preset deceleration threshold. When it is determined that the real-time remaining distance is less than the preset deceleration threshold, activate the deceleration curve and perform a deceleration operation on the clamping shuttle according to the deceleration curve to control the clamping shuttle to decelerate to a stop.

[0063] During the deceleration operation of the clamping shuttle according to the deceleration curve, when it is determined that the real-time remaining distance is less than the preset positioning threshold, the photoelectric sensor is activated, and the clamping shuttle is sequentially subjected to positioning fine-tuning operation and stopping lock operation according to the recognition result of the photoelectric sensor for the preset marker point, so as to obtain the positioning fine-tuning operation and stopping lock result of the clamping shuttle as the fine positioning control result.

[0064] Wherein, the preset marker point is a marker point corresponding to the picking position; the positioning fine-tuning operation is used to adjust the positional deviation between the current position of the clamping shuttle and the preset marker point; the stopping and locking operation is used to stop and lock the clamping shuttle at the preset marker point.

[0065] As an optional implementation, in a second aspect of the invention, the clamping shuttle is provided with at least a bidirectional telescopic arm, a cargo platform, and a centering mechanism; the bidirectional telescopic arm is provided with grippers.

[0066] The clamping and placing module controls the clamping shuttle to clamp or place the goods to be delivered according to a preset drive execution algorithm, specifically including the following methods:

[0067] When it is determined that the goods to be picked up need to be gripped, the bidirectional telescopic arm is controlled to extend toward the shelf where the goods to be picked up are located according to the preset drive execution algorithm; and the grippers are controlled to grip the goods to be picked up.

[0068] After determining that the gripper has gripped the goods to be picked up and delivered, the bidirectional telescopic arm is controlled to retract according to the drive execution algorithm to pull the goods to be picked up and delivered to the loading platform, and the centering mechanism is controlled to fix the goods to be picked up and delivered to the center position of the loading platform.

[0069] As an optional implementation, in a second aspect of the present invention, the method by which the clamping and placing module controls the clamping shuttle to clamp or place the goods to be picked up or delivered according to a preset drive execution algorithm specifically further includes:

[0070] When it is determined that the goods to be picked up and delivered need to be placed, the centering mechanism is controlled to release the goods to be picked up and delivered according to the drive execution algorithm, and the bidirectional telescopic arm is controlled to push the goods to be picked up and delivered to the shelf corresponding to the delivery position.

[0071] According to the drive execution algorithm, the gripper is controlled to release the goods to be picked up and delivered, and the bidirectional telescopic arm is controlled to retract into the vehicle of the clamping shuttle.

[0072] As an optional implementation, in a second aspect of the present invention, the method by which the motion control module calculates the real-time moving distance of the clamping shuttle based on the accumulated pulse count specifically includes:

[0073] The circumference of the wheel of the clamping shuttle and the number of pulses per revolution are obtained. The number of pulses per revolution is used to indicate the average number of pulses output by the encoder when the wheel of the clamping shuttle rotates one revolution.

[0074] The product of the cumulative pulse count and the wheel circumference is calculated, and the quotient of the product and the pulse count per revolution is calculated as the real-time travel distance.

[0075] The method by which the motion control module calculates the real-time remaining distance of the clamping shuttle relative to the target cargo position based on the real-time movement distance, the area boundary point of the target area, and the target cargo position specifically includes:

[0076] Based on the location of the boundary point corresponding to the boundary point of the target area and the location of the target cargo, calculate the target distance between the boundary point of the area and the location of the target cargo;

[0077] The difference between the target distance and the real-time moving distance is calculated to obtain the real-time remaining distance of the clamping shuttle relative to the target cargo position.

[0078] A third aspect of the present invention discloses an intelligent control device for a clamping shuttle vehicle, the device comprising:

[0079] Memory containing executable program code;

[0080] A processor coupled to the memory;

[0081] The processor calls the executable program code stored in the memory to execute some or all of the steps in the intelligent control method of the clamping shuttle car according to any of the first aspects of the present invention.

[0082] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the intelligent control method of the clamping shuttle vehicle described in any of the first aspects of the present invention.

[0083] Compared with the prior art, the present invention has the following beneficial effects:

[0084] This invention provides an intelligent control method for a clamping shuttle, comprising: when the clamping shuttle detects a control command issued by a target warehouse management system, parsing the control command to obtain a task detail to be executed; the control command includes at least a goods pickup / delivery command; the task detail includes at least the pickup location and delivery location of the goods to be picked up / delivered; generating a movement path for the clamping shuttle based on the task detail and a preset path planning algorithm; the movement path includes at least two sections of warehouse track; the movement path includes a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location; controlling the clamping shuttle to travel to the target goods location according to the target movement path according to a preset motion control algorithm; the motion control algorithm includes at least a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target movement path is either a pickup path or a delivery path; the target goods location is either a pickup location or a delivery location; controlling the clamping shuttle to pick up or place the goods to be picked up / delivered according to a preset drive execution algorithm; and updating the task execution progress of the clamping shuttle according to the task detail after determining that the goods to be picked up / delivered have been placed at the delivery location. As can be seen, implementing this invention enables precise task analysis and efficient, rational path planning based on the analyzed task details and the actual warehouse layout, thus improving the accuracy and rationality of movement path planning. Furthermore, the combination of coarse and fine positioning algorithms achieves movement control of the clamping shuttle, improving the precision of its movement control. Finally, the invention allows for stable and reliable goods clamping or placement according to the drive execution algorithm, with timely information updates, effectively improving the accuracy, efficiency, and reliability of shuttle operations, as well as enhancing the overall coordination and management level of warehouse operations. Attached Figure Description

[0085] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0086] Figure 1 This is a flowchart illustrating an intelligent control method for a clamping shuttle disclosed in an embodiment of the present invention.

[0087] Figure 2 This is a flowchart illustrating another intelligent control method for a clamping shuttle disclosed in an embodiment of the present invention.

[0088] Figure 3 This is a schematic diagram of the structure of an intelligent control system for a clamping shuttle disclosed in an embodiment of the present invention;

[0089] Figure 4 This is a schematic diagram of the structure of an intelligent control device for a clamping shuttle disclosed in an embodiment of the present invention. Detailed Implementation

[0090] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0091] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0092] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0093] This invention discloses an intelligent control method and system for a clamping shuttle car. It can accurately analyze tasks and, based on the analyzed task details and the actual warehouse layout, perform efficient and reasonable path planning, improving the accuracy and rationality of the movement path planning. Furthermore, it employs a combination of coarse and fine positioning algorithms to achieve movement control of the clamping shuttle car, improving the precision of movement control. Finally, it can reliably and stably perform goods clamping or placement according to the drive execution algorithm and update information in a timely manner, effectively improving the accuracy, efficiency, and reliability of shuttle car operations, as well as enhancing the overall coordination and management level of warehouse operations. Detailed descriptions follow.

[0094] Example 1

[0095] Please see Figure 1 , Figure 1 This is a flowchart illustrating an intelligent control method for a clamping shuttle vehicle disclosed in an embodiment of the present invention. Figure 1 The described intelligent control method for the clamping shuttle can be applied to the intelligent control system of the clamping shuttle, and the embodiments of the present invention are not limited thereto. Figure 1 As shown, the intelligent control method for this clamping shuttle can include the following operations:

[0096] 101. When the clamping shuttle detects a control command issued by the target warehouse management system, it parses the control command to obtain the details of the tasks to be executed.

[0097] In this embodiment of the invention, the control instruction includes at least a goods pickup and delivery instruction; the task details include at least the pickup location and delivery location of the goods to be picked up and delivered. This accurate and timely task parsing provides a clear objective for subsequent route planning and execution, avoiding execution errors or inefficiencies caused by unclear task information.

[0098] In this embodiment of the invention, the target warehouse management system can be a warehouse management system (WMS) or a warehouse control system (WCS). The target warehouse management system is not directly installed on the clamp-on shuttle, but interacts with the shuttle's onboard system via a wireless network. The core function of this target warehouse management system is to issue macro-level task instructions to the clamp-on shuttle (such as "retriev goods from location A05 and deliver them to location B08") and monitor the collaborative operation of multiple devices within its managed target warehouse.

[0099] In this embodiment of the invention, the clamping shuttle can be equipped with a PLC (Programmable Logic Controller) as the main controller, used to receive instructions from the host computer / target warehouse management system, and also to receive sensor signals transmitted by various sensors. Subsequently, after receiving the instructions or sensor signals, the PLC performs instruction parsing, logical judgment, and mathematical operations according to a pre-programmed sequence, and then issues control commands to the actuators of the clamping shuttle.

[0100] 102. Based on the task details and the preset path planning algorithm, generate a movement path for the clamping shuttle.

[0101] In this embodiment of the invention, the path planning algorithm can be implemented by a path planning module set in the clamping shuttle, which is responsible for calculating the optimal movement path to complete the current task and avoiding congestion and deadlock.

[0102] In this embodiment of the invention, the movement path includes at least two sections of warehouse track path; the movement path includes a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location.

[0103] In this embodiment of the invention, the pickup path can be the path from the initial position of the clamp-type shuttle to the pickup position; the delivery path can be the path from the pickup position to the delivery position.

[0104] In this embodiment of the invention, the movement path may further include multiple sub-paths and multiple track-changing nodes. All track-changing nodes are used to indicate / prompt when the clamping shuttle needs to change tracks while traveling on all sub-paths, thereby achieving refined, reasonable and efficient path planning and driving control.

[0105] In this embodiment of the invention, the path planning method in step 102 can fully consider the actual layout of the warehouse and the needs of picking up and delivering goods, improve the rationality and accuracy of the generated movement path, enable the shuttle car to move in a reasonable and efficient manner within the warehouse, reduce unnecessary travel distance and time, and effectively avoid path congestion and deadlock, thereby improving overall operational efficiency.

[0106] 103. Based on the preset motion control algorithm, control the clamping shuttle to travel to the target cargo location along the target movement path.

[0107] In this embodiment of the invention, the motion control algorithm includes at least a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target movement path is a pickup path or a delivery path; the target cargo location is a pickup location or a delivery location.

[0108] In this embodiment of the invention, the coarse positioning algorithm can quickly guide the shuttle to the approximate area of ​​the target cargo location, while the fine positioning algorithm further refines the shuttle's position based on the coarse positioning, ensuring that it accurately reaches the target cargo location. This combination of coarse and fine positioning not only ensures the high efficiency of the shuttle's movement but also improves the accuracy of positioning. It effectively avoids cargo clamping or placement failures caused by inaccurate positioning, greatly improving the precision, reliability, and stability of motion control for the clamping shuttle.

[0109] In this embodiment of the invention, the motion control algorithm can be implemented by the motion control module of the clamping shuttle. Specifically, the motion control module can precisely control the start, stop, speed and position of the walking servo motor, the telescopic arm servo motor and the lifting / centering mechanism driver, to ensure that the shuttle can accelerate / decelerate smoothly, stop accurately (±5mm) and complete the smooth cargo storage and retrieval action.

[0110] 104. Control the clamping shuttle to pick up or place goods to be delivered according to the preset drive execution algorithm.

[0111] In this embodiment of the invention, the drive execution algorithm can be set in the drive execution layer on the shuttle, and respond to specific action commands in conjunction with the walking servo driver (controlling four-way movement), the telescopic arm servo driver (controlling cargo pushing and pulling), and the lifting / centering mechanism driver (controlling track changing and cargo centering). Specifically, the drive execution layer can convert specific action commands issued by the PLC, such as low-voltage control signals, into high-voltage signals that can drive high-power motors and hydraulic / electric push rods, thereby driving the mechanical structure to complete precise actions.

[0112] 105. Once it is confirmed that the goods to be picked up and delivered have been placed at the delivery location, update the task execution progress of the clamping shuttle according to the task details.

[0113] In this embodiment of the invention, a timely information update mechanism for task details is set up, which helps the warehouse management system to keep track of the task execution status of the clamping shuttle in real time, facilitates accurate scheduling and management of the entire warehouse operation process, and improves the coordination of warehouse operations and the overall management level.

[0114] It is evident that implementation Figure 1 The described intelligent control method for the clamping shuttle can accurately analyze tasks and perform efficient and reasonable path planning based on the analyzed task details and the actual layout of the warehouse, improving the accuracy and rationality of the movement path planning. Furthermore, it employs a combination of coarse and fine positioning algorithms to achieve movement control of the clamping shuttle, improving the precision of movement control. Finally, it can reliably and stably perform goods clamping or placement according to the drive execution algorithm and update information in a timely manner, effectively improving the accuracy, efficiency, and reliability of shuttle operations, as well as enhancing the overall coordination and management level of warehouse operations.

[0115] In an optional embodiment, step 102, which generates a movement path for the clamping shuttle vehicle based on task details and a preset path planning algorithm, specifically includes:

[0116] Obtain the warehouse track information of the warehouse where the clamping shuttle is located. The warehouse track information includes multiple moving tracks used for the clamping shuttle to travel.

[0117] Based on the preset path planning algorithm, combined with the pickup location, delivery location, location of the clamp-type shuttle, and warehouse track information, multiple initial movement paths are generated for the clamp-type shuttle.

[0118] Collect the track access status of all mobile tracks in the warehouse. The track access status is used to indicate whether each mobile track is occupied, has an obstacle, or has a track fault.

[0119] Based on the path planning algorithm and the track traffic status, a filtering operation is performed on all initial movement paths to obtain at least one movement path that meets the traffic conditions; wherein, the movement path that meets the traffic conditions is the path that allows the clamping shuttle to move smoothly to the pickup location and the delivery location.

[0120] As can be seen, in this optional embodiment, warehouse track information is considered when generating the initial movement path, thereby analyzing multiple possible paths from the location of the clamp-on shuttle to the pickup location and from the pickup location to the delivery location, providing diverse options for subsequent path selection. Furthermore, based on the real-time collected track traffic status, all initial movement paths can be filtered to accurately exclude those that cannot pass smoothly due to track obstruction, obstacles, or malfunctions. This ensures that the final movement path meets the requirements for the clamp-on shuttle to move smoothly to the pickup and delivery locations, improving the reliability and effectiveness of path planning and guaranteeing the smooth operation of the shuttle.

[0121] In another alternative embodiment, the clamping shuttle is provided with at least a bidirectional telescopic arm, a cargo platform, and a centering mechanism; the bidirectional telescopic arm is provided with grippers;

[0122] The above step 104, which controls the clamping shuttle to pick up or place goods according to the preset drive execution algorithm, specifically includes the following methods:

[0123] When it is determined that goods to be picked up need to be gripped, the bidirectional telescopic arm is controlled to extend towards the shelf where the goods to be picked up are located according to the preset drive execution algorithm; and the grippers are controlled to grip the goods to be picked up.

[0124] After confirming that the gripper has gripped the goods to be picked up and delivered, the bidirectional telescopic arm is controlled to retract according to the drive execution algorithm, so as to pull the goods to be picked up and delivered to the loading platform, and the centering mechanism is controlled to fix the goods to be picked up and delivered in the center position of the loading platform.

[0125] In this optional embodiment, step 104, which controls the clamping shuttle to pick up or place goods according to a preset drive execution algorithm, further includes:

[0126] When it is determined that goods to be picked up and delivered need to be placed, the centering mechanism is controlled to release the goods to be picked up and delivered according to the drive execution algorithm, and the bidirectional telescopic arm is controlled to push the goods to be picked up and delivered to the shelf corresponding to the delivery location.

[0127] Based on the drive execution algorithm, the gripper is controlled to release the goods to be picked up and delivered, and the bidirectional telescopic arm is controlled to retract into the clamping shuttle.

[0128] In this optional embodiment, the bidirectional telescopic arm has multi-directional telescopic capability, which can flexibly adjust the telescopic length and direction according to the position, depth and other parameters of different shelves, and accurately approach the target goods. It effectively overcomes the limitations of traditional fixed-arm shuttles in terms of picking range, greatly improves the adaptability of clamp-type shuttles to different shelf layouts, and reduces the problem of picking difficulties caused by differences in shelf position.

[0129] In this optional embodiment, when performing a gripping operation on the goods to be picked up or delivered, the drive execution algorithm can adjust the gripping force of the gripper in real time according to parameters such as the weight and size of the goods to be picked up or delivered, to ensure the stability and reliability of the gripping, and to avoid damage to the goods or failure to pick up the goods due to improper gripping.

[0130] In this optional embodiment, a centering mechanism is also provided on the clamping shuttle car, which can quickly and accurately adjust the position of the goods to be picked up and delivered, ensuring that the goods are aligned with the center of the loading platform. This ensures that the goods to be picked up and delivered remain stable during the movement of the clamping shuttle car, avoids affecting the balance and driving safety of the shuttle car due to the deviation of the goods, and also reduces the situation of goods falling off due to vehicle vibration during the movement of the clamping shuttle car. At the same time, it lays the foundation for the subsequent accurate placement of the goods to be picked up and delivered to the cargo position.

[0131] As can be seen, in this optional embodiment, the efficient and precise gripping and stable and orderly placement of goods by the clamping shuttle is achieved through the coordinated operation of the bidirectional telescopic arm, grippers, and centering mechanism, as well as precise drive execution algorithm control. During the gripping process, it can flexibly adapt to different shelves, stably grip goods, smoothly pull and transfer them, and accurately center and fix them; during the placement process, it can accurately release goods, safely push them to the target position, and complete the retraction of the telescopic arm, effectively improving the accuracy, stability, and efficiency of the clamping shuttle operation.

[0132] Example 2

[0133] Please see Figure 2 , Figure 2 This is a flowchart illustrating another intelligent control method for a clamping shuttle vehicle disclosed in an embodiment of the present invention. Figure 2 The described intelligent control method for the clamping shuttle can be applied to the intelligent control system of the clamping shuttle, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, the intelligent control method for this clamping shuttle can include the following operations:

[0134] 201. When the clamping shuttle detects a control command issued by the target warehouse management system, it parses the control command to obtain the details of the tasks to be executed.

[0135] 202. Based on the task details and the preset path planning algorithm, generate a movement path for the clamping shuttle.

[0136] 203. Based on the walking servo drive configured on the clamping shuttle, control the clamping shuttle to move according to the target moving path and the preset first moving speed.

[0137] In this embodiment of the invention, the target movement path includes two sub-paths: a pickup path and a delivery path. These sub-paths can be further divided into a fast movement path and a slow movement path. When the clamping shuttle is traveling on the fast movement path, the first movement speed can be set relatively high, allowing the shuttle to move quickly in the general direction towards the target cargo location, effectively shortening the overall travel time and improving operational efficiency.

[0138] 204. During the movement of the clamping shuttle, the area label corresponding to the current area where the clamping shuttle is located is read in real time according to the coarse positioning algorithm, and the area label is used to determine whether the clamping shuttle has entered the target area where the target cargo is located.

[0139] In this embodiment of the invention, the setting and reading of area tags provide clear location reference information for the clamp-type shuttle, thereby enabling the shuttle's location range to be quickly and roughly determined based on a coarse positioning algorithm. Once the target area is determined, preparations are made for subsequent precise positioning and operation, avoiding unnecessary wandering of the shuttle in non-target areas and improving the accuracy of positioning.

[0140] In this embodiment of the invention, the area tag can be an RFID tag, and the coarse positioning algorithm can be an identification / positioning algorithm for the RFID tag.

[0141] 205. When it is determined that the clamping shuttle has entered the target area where the target cargo is located, control the clamping shuttle to move according to the remaining path of the target movement path and the preset second movement speed.

[0142] In this embodiment of the invention, the first moving speed is faster than the second moving speed.

[0143] In this embodiment of the invention, reducing speed after entering the target area enables the clamping shuttle to approach the target cargo location more smoothly and accurately, reducing positioning deviations caused by excessive speed and improving operational stability and safety.

[0144] 206. Perform precise positioning control operations on the clamping shuttle car according to the precise positioning algorithm to obtain the precise positioning control results for the clamping shuttle car.

[0145] In this embodiment of the invention, the precise positioning control operation includes at least a deceleration operation for a first moving speed, a moving distance calculation operation based on an encoder, a marker point recognition operation based on a photoelectric sensor, and a parking and locking operation for the clamping shuttle.

[0146] In this embodiment of the invention, the deceleration operation ensures that the clamping shuttle smoothly decelerates to a suitable speed; the movement distance calculation operation measures the movement distance of the clamping shuttle in real time, providing accurate real-time data for positioning; the marker point recognition operation identifies specific recognition points to help determine the precise position of the clamping shuttle; and the stop locking operation ensures that the shuttle accurately stops at the target position. Through the coordinated operation of this series of precise positioning control operations in step 206, the positioning accuracy of the shuttle is greatly improved.

[0147] 207. When the precise positioning control result indicates that the position difference between the current position of the clamping shuttle and the position of the target cargo is within the preset distance threshold, it is determined that the clamping shuttle has traveled to the position of the target cargo.

[0148] 208. Control the clamping shuttle to pick up or place goods to be delivered according to the preset drive execution algorithm.

[0149] 209. Once it is confirmed that the goods to be picked up and delivered have been placed at the delivery location, update the task execution progress of the clamping shuttle according to the task details.

[0150] For further descriptions of steps 201-202 and 208-209 in this embodiment of the invention, please refer to the other specific descriptions of steps 101-102 and 104-105 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0151] It is evident that implementation Figure 2 The described intelligent control method for the clamping shuttle achieves initial rapid movement through a walking servo drive, which helps to shorten the overall travel time; it uses a coarse positioning algorithm for precise area judgment and guidance, improving the accuracy of positioning; then, it can reasonably adjust the speed to achieve intelligent optimization of the movement process, and uses fine positioning control to ensure positioning accuracy, ultimately accurately confirming that the shuttle has reached the target cargo position, effectively improving the accuracy, stability and efficiency of the clamping shuttle in reaching the target cargo position.

[0152] In an optional embodiment, step 206 above, which performs a fine positioning control operation on the clamping shuttle based on a fine positioning algorithm to obtain the fine positioning control result for the clamping shuttle, specifically includes the following methods:

[0153] Based on the precise positioning algorithm, the encoder is activated and the cumulative pulse count of the encoder is read in real time;

[0154] The real-time movement distance of the clamping shuttle is calculated based on the accumulated pulse count;

[0155] Based on the real-time movement distance, the area boundary point of the target area, and the location of the target cargo, calculate the real-time remaining distance of the clamping shuttle relative to the location of the target cargo;

[0156] Determine whether the real-time remaining distance is less than the preset deceleration threshold. When it is determined that the real-time remaining distance is less than the preset deceleration threshold, activate the deceleration curve and perform deceleration operation on the clamping shuttle according to the deceleration curve to control the clamping shuttle to decelerate to a stop.

[0157] During the deceleration operation of the clamping shuttle car according to the deceleration curve, when it is determined that the real-time remaining distance is less than the preset positioning threshold, the photoelectric sensor is activated, and the positioning fine-tuning operation and the stopping and locking operation are performed sequentially on the clamping shuttle car according to the recognition result of the photoelectric sensor on the preset marker point, so as to obtain the positioning fine-tuning operation and stopping and locking result of the clamping shuttle car as the fine positioning control result.

[0158] Among them, the preset marker point is the marker point corresponding to the picking position; the positioning fine-tuning operation is used to adjust the positional deviation between the current position of the clamping shuttle and the preset marker point; the stopping and locking operation is used to stop and lock the clamping shuttle at the preset marker point.

[0159] In this optional embodiment, the method for calculating the real-time moving distance of the clamping shuttle based on the accumulated pulse count specifically includes:

[0160] The wheel circumference and pulses per revolution of the clamping shuttle are obtained. The pulses per revolution are used to indicate the average number of pulses output by the encoder when the wheel of the clamping shuttle rotates once.

[0161] The product of the cumulative pulse count and the wheel circumference is calculated, and the quotient of the product and the pulse count per revolution is calculated as the real-time travel distance.

[0162] In this optional embodiment, the corresponding formula for calculating the real-time movement distance is:

[0163] Real-time movement distance = cumulative pulse count × wheel circumference / pulse count per revolution

[0164] In this optional embodiment, the method for calculating the real-time remaining distance of the clamping shuttle relative to the target cargo position based on the real-time moving distance, the area boundary point of the target area, and the target cargo position specifically includes:

[0165] Calculate the target distance between the boundary point of the target area and the target cargo location based on the location of the boundary point of the target area and the location of the target cargo.

[0166] The difference between the target distance and the real-time moving distance is calculated to obtain the real-time remaining distance of the clamping shuttle relative to the target cargo position.

[0167] In this optional embodiment, the corresponding formula for calculating the real-time remaining distance is:

[0168] Real-time remaining distance = target distance - real-time movement distance

[0169] As can be seen, in this optional embodiment, the encoder can accurately calculate the shuttle's travel distance and determine the remaining distance in real time. Then, by setting a preset deceleration threshold and combining it with the deceleration curve, the clamping shuttle is controlled to decelerate reasonably. At the same time, a positioning threshold is set to enable photoelectric sensors to perform precise positioning, fine-tuning, and locking of the clamping shuttle. This achieves high-precision positioning and stable control of the clamping shuttle as it travels to the target cargo location, effectively improving the accuracy and reliability of the clamping shuttle operation.

[0170] In another optional embodiment, after step 209 updates the task execution progress of the clamping shuttle for the task details, the method further includes:

[0171] Determine whether the task execution progress indicates that the task details have been completed;

[0172] When it is determined that the task execution progress indicates that the task details have not been completed, the current task is updated to the next task of the current task, and the operations corresponding to steps 202-209 above are re-executed until it is determined that the task execution progress indicates that the task details have been completed. Then, a self-check operation is performed on the clamping shuttle to obtain the self-check result for the clamping shuttle.

[0173] Perform a self-test response operation corresponding to the self-test result on the clamping shuttle.

[0174] The self-test operation includes at least one of the following: power check operation, fault code identification operation, and idle state check operation; the self-test result includes at least one of the following: power check result, fault code identification result, and idle state check result.

[0175] When the power check result indicates that the current power is lower than the preset power value, the self-check response operation is a charging control operation for the clamp-type shuttle, in order to control the clamp-type shuttle to move to the charging node for charging.

[0176] When the fault code identification result indicates that there is a fault code in the log record, an alarm message is sent to the host computer based on the fault code identification result to notify that the clamping shuttle needs to be handled.

[0177] When the idle status check result indicates that the clamp-type shuttle is in an idle state, the clamp-type shuttle is switched to standby state.

[0178] As can be seen, in this optional embodiment, the task progress judgment and cyclic processing mechanism ensures the complete and orderly execution of tasks; through comprehensive self-checking operations and corresponding response operations, precise control of the clamping shuttle's status is achieved, effectively improving the continuous operation capability, reliability and stability of the clamping shuttle, while reducing energy consumption and maintenance costs, and improving the overall efficiency of warehouse operations and equipment management level.

[0179] In another alternative embodiment, for any clamping shuttle in operation, sensing data fed back from multiple sensing devices are acquired in real time, including sensing data corresponding to lidar, collision avoidance sensor, gravity sensor, and smoke sensor.

[0180] Determine whether the sensor data indicates that the preset safety control conditions are met. If it is determined that the sensor data indicates that the preset safety control conditions are met, determine the current emergency based on the sensor data. The emergency includes at least one of the following: detection of an obstacle, vehicle overload, and presence of a fire.

[0181] Perform safety response operations corresponding to emergencies on the clamp-type shuttle vehicle; when the emergency includes the detection of obstacles and / or vehicle overload, the safety response operation includes deceleration or emergency stop; when the emergency includes the presence of a fire, the safety response operation includes generating fire information and activating the fire protection system corresponding to the target controlled warehouse.

[0182] In this optional embodiment, the lidar can acquire spatial information of the surrounding environment, the collision avoidance sensor can monitor the distance to obstacles in real time, the gravity sensor can detect the vehicle's load, and the smoke sensor can detect potential fire hazards.

[0183] In this optional embodiment, the system determines whether preset safety control conditions are met based on the acquired sensor data, and further identifies the current type of emergency (at least one of the following: obstacle detected, vehicle overload, or fire). This precise judgment mechanism can quickly and accurately identify various emergencies that may affect the safe operation of the shuttle, avoiding safety accidents caused by misjudgment or omission, and providing strong support for timely response measures.

[0184] As can be seen, in this optional embodiment, by acquiring data from multiple types of sensor devices in real time, a comprehensive perception and accurate judgment of the operating environment and status of the clamping shuttle can be achieved. This enables the rapid identification of the type of emergency and the execution of targeted safety response operations for different events, effectively ensuring the operational safety of the clamping shuttle, reducing the risk of safety accidents, and minimizing the potential loss of goods and equipment due to safety issues.

[0185] Example 3

[0186] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an intelligent control system for a clamping shuttle disclosed in an embodiment of the present invention. The intelligent control system for this clamping shuttle is used to execute some or all of the steps in any of the intelligent control methods for clamping shuttles described in Embodiment 1 or Embodiment 2 of the present invention; the embodiments of the present invention are not limited thereto. Figure 3 As shown, the intelligent control system of this clamping shuttle vehicle may include an instruction parsing module 301, a path planning module 302, a movement control module 303, and a clamping and placing module 304, wherein:

[0187] The instruction parsing module 301 is used to parse the control instruction issued by the target warehouse management system to obtain the task details to be executed when the clamping shuttle detects the control instruction; the control instruction includes at least the goods pick-up and delivery instruction; the task details include at least the pick-up location and delivery location of the goods to be picked up and delivered.

[0188] The path planning module 302 is used to generate a movement path for the clamping shuttle based on the task details and a preset path planning algorithm; the movement path includes at least two warehouse track paths; the movement path includes a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location.

[0189] The motion control module 303 is used to control the clamping shuttle to travel to the target cargo location along the target movement path according to the preset motion control algorithm; the motion control algorithm includes at least a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target movement path is a pickup path or a delivery path; the target cargo location is a pickup location or a delivery location.

[0190] The clamping and placing module 304 is used to control the clamping shuttle to clamp or place the goods to be picked up and delivered according to the preset drive execution algorithm; after determining that the goods to be picked up and delivered are placed at the delivery location, the clamping shuttle updates the task execution progress of the task details.

[0191] It is evident that implementation Figure 3The intelligent control system of the described clamping shuttle can accurately analyze tasks and perform efficient and reasonable path planning based on the analyzed task details and the actual layout of the warehouse, improving the accuracy and rationality of the movement path planning. Furthermore, it employs a combination of coarse and fine positioning algorithms to achieve movement control of the clamping shuttle, improving the precision of movement control. Finally, it can reliably and stably perform goods clamping or placement according to the drive execution algorithm and update information in a timely manner, effectively improving the accuracy, efficiency, and reliability of shuttle operations, as well as enhancing the overall coordination and management level of warehouse operations.

[0192] In an optional embodiment, the path planning module 302 generates a movement path for the clamping shuttle vehicle based on the task details and a preset path planning algorithm, specifically including:

[0193] Obtain the warehouse track information of the warehouse where the clamping shuttle is located. The warehouse track information includes multiple moving tracks used for the clamping shuttle to travel.

[0194] Based on the preset path planning algorithm, combined with the pickup location, delivery location, location of the clamp-type shuttle, and warehouse track information, multiple initial movement paths are generated for the clamp-type shuttle.

[0195] Collect the track access status of all mobile tracks in the warehouse. The track access status is used to indicate whether each mobile track is occupied, has an obstacle, or has a track fault.

[0196] Based on the path planning algorithm and the track traffic status, a filtering operation is performed on all initial movement paths to obtain at least one movement path that meets the traffic conditions; wherein, the movement path that meets the traffic conditions is the path that allows the clamping shuttle to move smoothly to the pickup location and the delivery location.

[0197] As can be seen, in this optional embodiment, warehouse track information is considered when generating the initial movement path, thereby analyzing multiple possible paths from the location of the clamp-on shuttle to the pickup location and from the pickup location to the delivery location, providing diverse options for subsequent path selection. Furthermore, based on the real-time collected track traffic status, all initial movement paths can be filtered to accurately exclude those that cannot pass smoothly due to track obstruction, obstacles, or malfunctions. This ensures that the final movement path meets the requirements for the clamp-on shuttle to move smoothly to the pickup and delivery locations, improving the reliability and effectiveness of path planning and guaranteeing the smooth operation of the shuttle.

[0198] In another optional embodiment, the motion control module 303 controls the clamping shuttle to travel along the target movement path to the target cargo location according to a preset motion control algorithm, specifically including:

[0199] Based on the walking servo drive configured in the clamping shuttle, the clamping shuttle is controlled to move according to the target moving path and the preset first moving speed.

[0200] During the movement of the clamping shuttle, the area label corresponding to the current area where the clamping shuttle is located is read in real time according to the coarse positioning algorithm, and the area label is used to determine whether the clamping shuttle has entered the target area where the target goods are located.

[0201] When it is determined that the clamping shuttle has entered the target area where the target cargo is located, the clamping shuttle is controlled to move according to the remaining path of the target movement path and the preset second movement speed; the first movement speed is faster than the second movement speed.

[0202] The fine positioning control operation is performed on the clamping shuttle according to the fine positioning algorithm to obtain the fine positioning control result for the clamping shuttle; the fine positioning control operation includes at least the deceleration operation for the first moving speed, the moving distance calculation operation based on the encoder, the marker point recognition operation based on the photoelectric sensor, and the stopping and locking operation for the clamping shuttle.

[0203] When the precise positioning control result indicates that the position difference between the current position of the clamping shuttle and the target cargo position is within a preset distance threshold, it is determined that the clamping shuttle has traveled to the target cargo position.

[0204] As can be seen, in this optional embodiment, the initial rapid movement is achieved by using a walking servo drive, which helps to shorten the overall travel time; the coarse positioning algorithm is used for precise area judgment and guidance, which improves the accuracy of positioning; then, the speed can be reasonably adjusted to achieve intelligent optimization of the movement process, and fine positioning control is used to ensure positioning accuracy, and finally the shuttle car is accurately confirmed to have reached the target cargo position, which effectively improves the accuracy, stability and efficiency of the clamping shuttle car traveling to the target cargo position.

[0205] In another optional embodiment, the motion control module 303 performs a fine positioning control operation on the clamping shuttle car according to the fine positioning algorithm, and the specific method for obtaining the fine positioning control result for the clamping shuttle car includes:

[0206] Based on the precise positioning algorithm, the encoder is activated and the cumulative pulse count of the encoder is read in real time;

[0207] The real-time movement distance of the clamping shuttle is calculated based on the accumulated pulse count;

[0208] Based on the real-time movement distance, the area boundary point of the target area, and the location of the target cargo, calculate the real-time remaining distance of the clamping shuttle relative to the location of the target cargo;

[0209] Determine whether the real-time remaining distance is less than the preset deceleration threshold. When it is determined that the real-time remaining distance is less than the preset deceleration threshold, activate the deceleration curve and perform deceleration operation on the clamping shuttle according to the deceleration curve to control the clamping shuttle to decelerate to a stop.

[0210] During the deceleration operation of the clamping shuttle car according to the deceleration curve, when it is determined that the real-time remaining distance is less than the preset positioning threshold, the photoelectric sensor is activated, and the positioning fine-tuning operation and the stopping and locking operation are performed sequentially on the clamping shuttle car according to the recognition result of the photoelectric sensor on the preset marker point, so as to obtain the positioning fine-tuning operation and stopping and locking result of the clamping shuttle car as the fine positioning control result.

[0211] Among them, the preset marker point is the marker point corresponding to the picking position; the positioning fine-tuning operation is used to adjust the positional deviation between the current position of the clamping shuttle and the preset marker point; the stopping and locking operation is used to stop and lock the clamping shuttle at the preset marker point.

[0212] In this optional embodiment, the method by which the motion control module 303 calculates the real-time moving distance of the clamping shuttle based on the accumulated pulse count specifically includes:

[0213] The wheel circumference and pulses per revolution of the clamping shuttle are obtained. The pulses per revolution are used to indicate the average number of pulses output by the encoder when the wheel of the clamping shuttle rotates once.

[0214] The product of the cumulative pulse count and the wheel circumference is calculated, and the quotient of the product and the pulse count per revolution is calculated as the real-time travel distance.

[0215] In this optional embodiment, the motion control module 303 calculates the real-time remaining distance of the clamping shuttle relative to the target cargo position based on the real-time movement distance, the area boundary point of the target area, and the target cargo position, specifically including:

[0216] Calculate the target distance between the boundary point of the target area and the target cargo location based on the location of the boundary point of the target area and the location of the target cargo.

[0217] The difference between the target distance and the real-time moving distance is calculated to obtain the real-time remaining distance of the clamping shuttle relative to the target cargo position.

[0218] As can be seen, in this optional embodiment, the encoder can accurately calculate the shuttle's travel distance and determine the remaining distance in real time. Then, by setting a preset deceleration threshold and combining it with the deceleration curve, the clamping shuttle is controlled to decelerate reasonably. At the same time, a positioning threshold is set to enable photoelectric sensors to perform precise positioning, fine-tuning, and locking of the clamping shuttle. This achieves high-precision positioning and stable control of the clamping shuttle as it travels to the target cargo location, effectively improving the accuracy and reliability of the clamping shuttle operation.

[0219] In another alternative embodiment, the clamping shuttle is provided with at least a bidirectional telescopic arm, a cargo platform, and a centering mechanism; the bidirectional telescopic arm is provided with grippers;

[0220] The clamping and placing module 304 controls the clamping shuttle to clamp or place goods to be picked up or delivered according to a preset drive execution algorithm. Specifically, the methods include:

[0221] When it is determined that goods to be picked up need to be gripped, the bidirectional telescopic arm is controlled to extend towards the shelf where the goods to be picked up are located according to the preset drive execution algorithm; and the grippers are controlled to grip the goods to be picked up.

[0222] After confirming that the gripper has gripped the goods to be picked up and delivered, the bidirectional telescopic arm is controlled to retract according to the drive execution algorithm, so as to pull the goods to be picked up and delivered to the loading platform, and the centering mechanism is controlled to fix the goods to be picked up and delivered in the center position of the loading platform.

[0223] In this optional embodiment, the gripping and placing module 304 controls the gripping shuttle to grip or place goods to be picked up or delivered according to a preset drive execution algorithm, which further includes:

[0224] When it is determined that goods to be picked up and delivered need to be placed, the centering mechanism is controlled to release the goods to be picked up and delivered according to the drive execution algorithm, and the bidirectional telescopic arm is controlled to push the goods to be picked up and delivered to the shelf corresponding to the delivery location.

[0225] Based on the drive execution algorithm, the gripper is controlled to release the goods to be picked up and delivered, and the bidirectional telescopic arm is controlled to retract into the clamping shuttle.

[0226] As can be seen, in this optional embodiment, the efficient and precise gripping and stable and orderly placement of goods by the clamping shuttle is achieved through the coordinated operation of the bidirectional telescopic arm, grippers, and centering mechanism, as well as precise drive execution algorithm control. During the gripping process, it can flexibly adapt to different shelves, stably grip goods, smoothly pull and transfer them, and accurately center and fix them; during the placement process, it can accurately release goods, safely push them to the target position, and complete the retraction of the telescopic arm, effectively improving the accuracy, stability, and efficiency of the clamping shuttle operation.

[0227] Example 4

[0228] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an intelligent control device for a clamping shuttle disclosed in an embodiment of the present invention. Figure 4 As shown, the intelligent control device of the clamping shuttle vehicle may include:

[0229] Memory 401 storing executable program code;

[0230] Processor 402 coupled to memory 401;

[0231] The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in the intelligent control method of any clamping shuttle car described in Embodiment 1 or Embodiment 2 of the present invention.

[0232] Example 5

[0233] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in the intelligent control method for any of the clamping shuttle vehicles described in Embodiment 1 or Embodiment 2 of this invention.

[0234] The system and device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0235] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0236] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligent control of a clamp-type shuttle vehicle, characterized in that, The method comprises: When the clamp-type shuttle vehicle detects a control instruction issued by a target warehouse management system, a task specification to be executed is obtained by analyzing the control instruction; the control instruction at least comprises a cargo pickup and delivery instruction; the task specification at least comprises a pickup location of the cargo to be picked up and a delivery location; According to the task specification and a preset path planning algorithm, a moving path for the clamp-type shuttle vehicle is generated; the moving path comprises at least two sections of warehouse track paths; the moving path comprises a pickup path corresponding to the pickup location and a delivery path corresponding to the delivery location; According to a preset motion control algorithm, the clamp-type shuttle vehicle is controlled to travel to a target cargo location according to a target moving path; the motion control algorithm at least comprises a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target moving path is the pickup path or the delivery path; the target cargo location is the pickup location or the delivery location; the fine positioning algorithm is used to perform fine positioning control operation on the clamp-type shuttle vehicle to obtain a fine positioning control result for the clamp-type shuttle vehicle; wherein the specific way in which the fine positioning algorithm performs fine positioning control operation on the clamp-type shuttle vehicle to obtain a fine positioning control result for the clamp-type shuttle vehicle comprises: according to the fine positioning algorithm, an encoder is enabled and the cumulative pulse number of the encoder is read in real time; the real-time moving distance of the clamp-type shuttle vehicle is calculated according to the cumulative pulse number; the real-time remaining distance of the clamp-type shuttle vehicle relative to the target cargo location is calculated according to the real-time moving distance, the region boundary point of the target region and the target cargo location; it is judged whether the real-time remaining distance is less than a preset deceleration threshold; when the judgment result is yes, a deceleration curve is enabled, and the clamp-type shuttle vehicle is decelerated to stop according to the deceleration curve; during the deceleration operation of the clamp-type shuttle vehicle according to the deceleration curve, when it is determined that the real-time remaining distance is less than a preset positioning threshold, a photoelectric sensor is enabled, and the clamp-type shuttle vehicle is sequentially subjected to positioning fine adjustment operation and parking locking operation according to the recognition result of the photoelectric sensor for a preset marker point to obtain the positioning fine adjustment operation and parking locking result of the clamp-type shuttle vehicle as the fine positioning control result; wherein the preset marker point is a marker point corresponding to the pickup location; the positioning fine adjustment operation is used to adjust the positional deviation between the current position of the clamp-type shuttle vehicle and the position of the preset marker point; the parking locking operation is used to park and lock the clamp-type shuttle vehicle at the preset marker point; According to a preset driving execution algorithm, the clamp-type shuttle vehicle is controlled to pick up or place the cargo to be picked up or delivered; after it is determined that the cargo to be picked up or delivered is placed at the delivery location, the task execution progress of the clamp-type shuttle vehicle for the task specification is updated.

2. The intelligent control method of the clamp-type shuttle vehicle according to claim 1, wherein, The moving path for the clamping shuttle vehicle is generated according to the task details and a preset path planning algorithm, and the moving path includes: Obtaining warehouse track information of a warehouse where the clamping shuttle vehicle is located, the warehouse track information including a plurality of moving tracks for the clamping shuttle vehicle to travel; According to a preset path planning algorithm, the plurality of initial moving paths for the clamping shuttle vehicle are generated in combination with the pickup location, the delivery location, the location of the clamping shuttle vehicle, and the warehouse track information; Collecting track passage states of all the moving tracks in the warehouse, the track passage state being used to indicate whether each moving track is occupied, has an obstacle, or has a track failure; According to the path planning algorithm, the screening operation is performed on all the initial moving paths in combination with the track passage states, so as to obtain at least one moving path that meets a passage condition; the moving path that meets the passage condition is a path that meets the requirement that the clamping shuttle vehicle can smoothly move to the pickup location and the delivery location.

3. The intelligent control method of the clamp-type shuttle vehicle according to claim 1 or 2, characterized in that, The clamping shuttle vehicle moves to a target goods location according to a target moving path controlled by a preset motion control algorithm, and the moving includes: According to a walking servo driver configured for the clamping shuttle vehicle, the clamping shuttle vehicle moves according to the target moving path and a preset first moving speed; In the process of moving of the clamping shuttle vehicle, a region label corresponding to a current region where the clamping shuttle vehicle is located is read in real time according to a coarse positioning algorithm, and whether the clamping shuttle vehicle enters a target region where the target goods location is located is determined according to the region label; When it is determined that the clamping shuttle vehicle has entered the target region where the target goods location is located, the clamping shuttle vehicle moves according to a remaining path of the target moving path and a preset second moving speed; the first moving speed is faster than the second moving speed; The fine positioning control operation is performed on the clamping shuttle vehicle according to the fine positioning algorithm, so as to obtain a fine positioning control result of the clamping shuttle vehicle; the fine positioning control operation at least includes a deceleration operation for the first moving speed, a moving distance calculation operation based on an encoder, a landmark point identification operation based on a photoelectric sensor, and a parking locking operation for the clamping shuttle vehicle; When the fine positioning control result indicates that a position difference between a current position of the clamping shuttle vehicle and a position of the target goods location is within a preset distance threshold, it is determined that the clamping shuttle vehicle has moved to the target goods location.

4. The intelligent control method of the clamp-type shuttle vehicle according to claim 1 or 2, characterized in that, The clamping shuttle vehicle is provided with at least a bidirectional telescopic arm, a cargo loading platform, and a centering mechanism; the bidirectional telescopic arm is provided with a clamping jaw; The clamping shuttle vehicle clamps or places the to-be-picked or to-be-delivered goods according to a preset driving execution algorithm, and the clamping or placing includes: When it is determined that the to-be-picked or to-be-delivered goods need to be clamped, the bidirectional telescopic arm is controlled to extend to a goods shelf where the to-be-picked or to-be-delivered goods are located according to the preset driving execution algorithm, and the clamping jaw is controlled to clamp the to-be-picked or to-be-delivered goods. After determining that the gripper is clamped to the to-be-taken-delivered goods, according to the driving execution algorithm, the retracting of the bidirectional telescopic arm is controlled to pull the to-be-taken-delivered goods to the loading platform, and the centering mechanism is controlled to fix the to-be-taken-delivered goods at the center position of the loading platform.

5. The intelligent control method of the clamp-type shuttle vehicle according to claim 4, wherein, The control of the clamping type shuttle vehicle to clamp or place the to-be-taken-delivered goods according to the preset driving execution algorithm further comprises: When it is determined that the to-be-taken-delivered goods need to be placed, according to the driving execution algorithm, the centering mechanism is controlled to release the to-be-taken-delivered goods, and the bidirectional telescopic arm is controlled to push the to-be-taken-delivered goods to the rack corresponding to the delivery position; According to the driving execution algorithm, the gripper is controlled to release the to-be-taken-delivered goods, and the bidirectional telescopic arm is controlled to retract into the vehicle of the clamping type shuttle vehicle.

6. The intelligent control method of the clamp-type shuttle vehicle according to claim 1, wherein The calculation of the real-time moving distance of the clamping type shuttle vehicle according to the cumulative pulse number comprises: acquiring the wheel circumference of the clamping type shuttle vehicle and the pulse number per revolution, the pulse number per revolution being used to indicate the average pulse number output by the encoder when the wheel of the clamping type shuttle vehicle rotates one round; calculating the product of the cumulative pulse number and the wheel circumference, and calculating the quotient of the product and the pulse number per revolution as the real-time moving distance; The calculation of the real-time remaining distance of the clamping type shuttle vehicle relative to the target goods position according to the real-time moving distance, the region boundary point of the target region and the target goods position comprises: calculating the target distance of the region boundary point relative to the target goods position according to the boundary point position corresponding to the region boundary point of the target region and the target goods position; calculating the difference between the target distance and the real-time moving distance to obtain the real-time remaining distance of the clamping type shuttle vehicle relative to the target goods position.

7. An intelligent control system for a clamp-type shuttle vehicle, characterized in that, The system is used to execute the intelligent control method of the clamping type shuttle vehicle as claimed in any one of claims 1-6, and the system comprises: an instruction analysis module, configured to analyze a control instruction to obtain a task specification to be executed when the clamping type shuttle vehicle detects the control instruction issued by a target warehouse management system; the control instruction at least comprises a goods taking / delivering instruction; and the task specification at least comprises a taking position of to-be-taken-delivered goods and a delivery position; a path planning module, configured to generate a moving path for the clamping type shuttle vehicle according to the task specification and a preset path planning algorithm; the moving path comprises at least two warehouse track paths; the moving path comprises a taking path corresponding to the taking position and a delivery path corresponding to the delivery position; a moving control module, configured to control the clamping type shuttle vehicle to travel to a target goods position according to a target moving path and a preset motion control algorithm; the motion control algorithm at least comprises a coarse positioning algorithm and a fine positioning algorithm; the positioning accuracy of the coarse positioning algorithm is lower than that of the fine positioning algorithm; the target moving path is the taking path or the delivery path; and the target goods position is the taking position or the delivery position. The clamping and placing module is used for controlling the clamping and shuttling vehicle to clamp or place the to-be-transported goods according to a preset driving execution algorithm; and after it is determined that the to-be-transported goods are placed at the delivery position, the task execution progress of the clamping and shuttling vehicle for the task list is updated.

8. An intelligent control device for a clamp-type shuttle vehicle, characterized by, The device comprises: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the intelligent control method of the clamping and shuttling vehicle according to any one of claims 1-6.

9. A computer storage medium, characterized in that The computer storage medium stores computer instructions, which are invoked to execute the intelligent control method of the clamping and shuttling vehicle according to any one of claims 1-6.

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