A goods conveying control method and device applied to a conveying robot

Abstract

This invention relates to the field of logistics equipment technology and discloses a cargo transportation control method and device applied to a conveying robot. The conveying robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The PLC control system controls the conveying robot to achieve cargo transportation control on a dual-track network matching the four-way walking mechanism. Specifically, based on the dual-track network, the transportation path for cargo pickup and delivery tasks is planned. This not only allows for the flexible replacement of traditional long-distance logistics roller conveyors with flexible dual-track systems but also improves the accuracy and flexibility of the planned cargo transportation path. Subsequently, based on the planned transportation path and the dual-track network, the PLC control system precisely controls the four-way walking mechanism and the rotatable conveyor line to execute transportation control operations. Through coordinated control, accurate movement and precise docking of cargo are ensured, enabling flexible cargo turning and dynamic adaptation to the cargo transportation path requirements.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, and in particular to a cargo transport control method and device applied to a transport robot. Background Technology

[0002] With the rapid development of the new energy industry and the modern logistics industry, the requirements for the spatial adaptability and flexibility of conveying equipment in production workshops and warehousing and logistics centers are increasing.

[0003] However, in practice, it has been found that traditional conveying equipment, which usually adopts logistics roller lines, has the following technical defects: First, it lacks flexibility and relies on additional space for turning. Roller lines can only achieve straight-line transportation in one direction. Turning of goods requires reserved turning space, which is not flexible enough and cannot adapt to more complex logistics transportation scenarios. Second, traditional roller lines also have problems such as rigid scheduling and inability to dynamically adapt to multi-path transportation needs, making it difficult to meet the needs of modern logistics for efficient flow and space optimization.

[0004] Therefore, it is particularly important to propose a new transport control scheme to achieve flexible cargo turning and dynamic adaptation to the cargo transport path requirements. Summary of the Invention

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a cargo transportation control method and apparatus for a transport robot, which enables flexible cargo turning and dynamic adaptation to cargo path transportation requirements.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a cargo transport control method applied to a transport robot. The transport robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of walking wheel trains, and the PLC control system includes a drive system, which further includes a servo drive system and a stepper drive system. The transport robot is controlled by the PLC control system to achieve cargo transport control on a dual-track network matching the four-way walking mechanism. The method includes: Based on the dual-track network, a transport path is planned for the cargo pickup and delivery task, which includes the cargo pickup point and the cargo delivery point. Based on the conveying path and the dual-track network, the servo drive system controls at least one set of the walking wheel system to perform a picking and conveying operation, so that the conveying robot can reach the picking point. The stepper drive system controls the rotatable conveyor line to perform a rotational alignment operation on the pick-up platform of the rotatable conveyor line at the pick-up point, so as to realize the pick-up operation of the conveyor robot on the goods. Based on the transport path and the dual-track network, the servo drive system controls at least one set of the walking wheel trains to perform a delivery transport operation, so that the transport robot reaches the delivery point; The stepper drive system controls the rotatable conveyor line to perform the rotation alignment operation on the pick-up and delivery platform at the delivery point, so as to realize the delivery operation of the conveyor robot on the goods. During the execution of the goods transport operation, the PLC control system detects the positioning information of the transport robot to determine whether the transport robot has completed the goods transport operation; wherein, the goods transport operation includes the picking transport operation and the delivery transport operation.

[0007] As an optional implementation, in the first aspect of the present invention, all the said walking wheel train sets include a transverse walking wheel train set and a longitudinal walking wheel train set. The transverse walking wheel train set refers to a walking wheel train set in the double track network with the wheel train direction being transverse, and the longitudinal walking wheel train set refers to a walking wheel train set in the double track network with the wheel train direction being longitudinal. Each walking wheel train set includes two walking wheel trains arranged symmetrically. The servo drive system is used to control all the walking wheel trains in any of the walking wheel train groups to walk synchronously along the dual-track network; the stepper drive system is used to control the rotation angle of the rotatable conveyor line, and the adjustment range of the rotation angle is determined by the cargo transportation scenario in which the conveying robot is located. The dual-track network is composed of multiple sections of track arranged symmetrically and spliced ​​together, and the splicing length of the track is determined by the cargo transportation scenario.

[0008] As an optional implementation, in the first aspect of the invention, the step of controlling at least one set of the walking wheel trains via the servo drive system to perform a picking-up and conveying operation, based on the conveying path and the dual-track network, so that the conveying robot reaches the picking point, includes: Based on the conveying path and the dual-track network, at least one picking path segment of the conveying robot is determined. Each picking path segment has a corresponding path direction and walking sequence, and the path directions between any two picking path segments with adjacent walking sequences are different. Based on the path direction of all the pickup path segments and the wheel direction of all the walking wheel sets, all the pickup path segments are matched with all the walking wheel sets to obtain the matching walking wheel sets and the non-matching walking wheel sets for each pickup path segment. Based on the walking order of each of the aforementioned pickup path segments, determine the current path segment to be walked; The servo drive system controls the matching and non-matching wheel trains of the current path segment to drive the conveying robot to walk along the current path segment; and re-executes the operation of determining the current path segment to be walked based on the walking order of each of the picking path segments, until the last picking path segment of the walking order is walked, and the end point of the last picking path segment of the walking order is the picking point.

[0009] As an optional implementation, in the first aspect of the present invention, each of the walking wheel systems is equipped with a corresponding lifting mechanism. By controlling the lifting of the lifting mechanism, the four-way walking mechanism can be controlled to change tracks in four directions on the dual-track network. The servo drive system is also used to control all the walking wheel systems within any of the walking wheel systems to rise or fall synchronously. And, the step of controlling the matching and mismatched wheel trains of the current path segment through the servo drive system to drive the conveying robot to move along the current path segment includes: The servo drive system controls the lifting mechanisms of all the walking wheel trains to perform lifting control operations so that the walking direction of the conveying robot matches the path direction of the current path segment. The lifting control operations include rising control operations and falling control operations. The servo drive system controls the matching walking wheel system of the current path segment, driving the conveying robot to walk along the current path segment.

[0010] As an optional implementation, in the first aspect of the invention, controlling the lifting mechanisms of all the walking wheel trains through the servo drive system to perform lifting control operations so that the walking direction of the conveying robot matches the path direction of the current path segment includes: Based on the distance parameters of the matched walking wheel assembly within the current path segment, determine the descent control parameters of the matched walking wheel assembly with respect to the current path segment; Based on the distance parameters of the mismatched walking wheel assembly within the current path segment, determine the ascent control parameters of the mismatched walking wheel assembly with respect to the current path segment; Based on the descent control parameters of the matched walking wheel train, the servo drive system controls the lifting mechanism of the matched walking wheel train to perform the descent control operation on the matched walking wheel train; and based on the ascent control parameters of the mismatched walking wheel train, the servo drive system controls the lifting mechanism of the mismatched walking wheel train to perform the ascent control operation on the mismatched walking wheel train, so that the walking direction of the conveying robot matches the path direction of the current path segment.

[0011] As an optional implementation, in the first aspect of the present invention, the PLC control system further includes a positioning system, which includes a photoelectric sensor system and an RFID positioning system; And, the detection of the positioning information of the conveying robot through the PLC control system includes: The RFID positioning system is used to detect the RFID tags on the conveying robot in order to calculate the RFID position of the conveying robot. The photoelectric sensor system is used to detect photoelectric signals of the conveying robot in order to calculate the photoelectric signal position of the conveying robot. The PLC control system determines whether the conveying robot has reached the determined target location based on the RFID location and the photoelectric signal location. When the goods conveying operation is a pickup conveying operation, the target location is the location of the pickup point; when the goods conveying operation is a delivery conveying operation, the target location is the location of the delivery point. When it is determined that the conveying robot has reached the target location, the positioning system detects whether there is a preset parking point marker at the target location; if the parking point marker is detected, the PLC control system controls the conveying robot to stop, and determines that the PLC control system has completed the cargo conveying operation corresponding to the target location. The positioning information includes at least location information, which includes information on whether the delivery robot has reached the target location. When the location information indicates that the delivery robot has reached the target location, the positioning information also includes identification information, which indicates whether the parking spot identification exists at the target location.

[0012] A second aspect of this invention discloses a cargo transport control device for a transport robot. The transport robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of walking wheel trains. The PLC control system includes a drive system, which includes a servo drive system and a stepper drive system. The transport robot is controlled by the PLC control system to achieve cargo transport control on a dual-track network matching the four-way walking mechanism. The device includes: The planning module is used to plan the transportation path corresponding to the cargo pickup and delivery task based on the dual-track network. The cargo pickup and delivery task includes the cargo pickup point and the cargo delivery point. The picking control module is used to control at least one set of the walking wheel system to perform picking and conveying operations according to the conveying path and the dual-track network, so that the conveying robot can reach the picking point. The rotation alignment module is used to control the rotatable conveyor line through the stepper drive system to perform a rotation alignment operation on the pick-up platform of the rotatable conveyor line at the pick-up point, so as to realize the pick-up operation of the conveying robot on the goods. The delivery control module is used to control at least one set of the walking wheel trains to perform delivery operations according to the delivery path and the dual-track network, through the servo drive system, so that the delivery robot can reach the delivery point; The rotation alignment module is also used to control the rotatable conveyor line through the stepper drive system to perform the rotation alignment operation on the pick-up and delivery platform at the delivery point, so as to realize the delivery operation of the conveying robot on the goods. The positioning module is used to detect the positioning information of the conveying robot through the PLC control system during the execution of the goods conveying operation, so as to determine whether the conveying robot has completed the goods conveying operation; wherein, the goods conveying operation includes the picking conveying operation and the delivery conveying operation.

[0013] As an optional implementation, in a second aspect of the invention, all the said wheel train sets include a transverse wheel train set and a longitudinal wheel train set. The transverse wheel train set refers to a wheel train set in the double-track network with the wheel train direction being transverse, and the longitudinal wheel train set refers to a wheel train set in the double-track network with the wheel train direction being longitudinal. Each wheel train set includes two wheel trains arranged symmetrically. The servo drive system is used to control all the walking wheel trains in any of the walking wheel train groups to walk synchronously along the dual-track network; the stepper drive system is used to control the rotation angle of the rotatable conveyor line, and the adjustment range of the rotation angle is determined by the cargo transportation scenario in which the conveying robot is located. The dual-track network is composed of multiple sections of track arranged symmetrically and spliced ​​together, and the splicing length of the track is determined by the cargo transportation scenario.

[0014] As an optional implementation, in a second aspect of the invention, the picking control module, based on the conveying path and the dual-track network, controls at least one set of the walking wheel trains via the servo drive system to perform a picking and conveying operation, so that the conveying robot reaches the picking point. The specific method includes: Based on the conveying path and the dual-track network, at least one picking path segment of the conveying robot is determined. Each picking path segment has a corresponding path direction and walking sequence, and the path directions between any two picking path segments with adjacent walking sequences are different. Based on the path direction of all the pickup path segments and the wheel direction of all the walking wheel sets, all the pickup path segments are matched with all the walking wheel sets to obtain the matching walking wheel sets and the non-matching walking wheel sets for each pickup path segment. Based on the walking order of each of the aforementioned pickup path segments, determine the current path segment to be walked; The servo drive system controls the matching and non-matching wheel trains of the current path segment to drive the conveying robot to walk along the current path segment; and re-executes the operation of determining the current path segment to be walked based on the walking order of each of the picking path segments, until the last picking path segment of the walking order is walked, and the end point of the last picking path segment of the walking order is the picking point.

[0015] As an optional implementation, in the second aspect of the present invention, each of the walking wheel systems is equipped with a corresponding lifting mechanism. By controlling the lifting of the lifting mechanism, the four-way walking mechanism can be controlled to change tracks in four directions on the dual-track network. The servo drive system is also used to control all the walking wheel systems within any of the walking wheel systems to rise or fall synchronously. Furthermore, the specific method by which the picking control module controls the matching and mismatched wheel trains of the current path segment through the servo drive system to drive the conveying robot to move along the current path segment includes: The servo drive system controls the lifting mechanisms of all the walking wheel trains to perform lifting control operations so that the walking direction of the conveying robot matches the path direction of the current path segment. The lifting control operations include rising control operations and falling control operations. The servo drive system controls the matching walking wheel system of the current path segment, driving the conveying robot to walk along the current path segment.

[0016] As an optional implementation, in a second aspect of the present invention, the picking control module controls the lifting mechanisms of all the walking wheel trains through the servo drive system to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment. Specific methods include: Based on the distance parameters of the matched walking wheel assembly within the current path segment, determine the descent control parameters of the matched walking wheel assembly with respect to the current path segment; Based on the distance parameters of the mismatched walking wheel assembly within the current path segment, determine the ascent control parameters of the mismatched walking wheel assembly with respect to the current path segment; Based on the descent control parameters of the matched walking wheel train, the servo drive system controls the lifting mechanism of the matched walking wheel train to perform the descent control operation on the matched walking wheel train; and based on the ascent control parameters of the mismatched walking wheel train, the servo drive system controls the lifting mechanism of the mismatched walking wheel train to perform the ascent control operation on the mismatched walking wheel train, so that the walking direction of the conveying robot matches the path direction of the current path segment.

[0017] As an optional implementation, in a second aspect of the present invention, the PLC control system further includes a positioning system, which includes a photoelectric sensor system and an RFID positioning system; Furthermore, the specific methods by which the positioning module detects the positioning information of the conveying robot through the PLC control system include: The RFID positioning system is used to detect the RFID tags on the conveying robot in order to calculate the RFID position of the conveying robot. The photoelectric sensor system is used to detect photoelectric signals of the conveying robot in order to calculate the photoelectric signal position of the conveying robot. The PLC control system determines whether the conveying robot has reached the determined target location based on the RFID location and the photoelectric signal location. When the goods conveying operation is a pickup conveying operation, the target location is the location of the pickup point; when the goods conveying operation is a delivery conveying operation, the target location is the location of the delivery point. When it is determined that the conveying robot has reached the target location, the positioning system detects whether there is a preset parking point marker at the target location; if the parking point marker is detected, the PLC control system controls the conveying robot to stop, and determines that the PLC control system has completed the cargo conveying operation corresponding to the target location. The positioning information includes at least location information, which includes information on whether the delivery robot has reached the target location. When the location information indicates that the delivery robot has reached the target location, the positioning information also includes identification information, which indicates whether the parking spot identification exists at the target location.

[0018] A third aspect of the present invention discloses another cargo transport control device for a transport robot, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the cargo transport control method for a transport robot disclosed in the first aspect of the present invention.

[0019] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the cargo transport control method for a transport robot disclosed in the first aspect of the present invention.

[0020] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, a transport path corresponding to a goods pickup and delivery task is planned based on a dual-track network. The goods pickup and delivery task includes a goods pickup point and a goods delivery point. According to the transport path and the dual-track network, the four-way walking mechanism and the rotatable conveyor line are controlled by a PLC control system to execute transport control operations. The transport control operations include goods transport operations and rotational alignment operations. The goods transport operations include pickup transport operations and delivery transport operations. During the execution of the goods transport operations, the positioning information of the transport robot is detected by the PLC control system to determine whether the transport robot has completed the goods transport operations. As can be seen, implementing this invention, through the integrated design of a four-way traveling mechanism and a rotatable conveyor line, covers the core functions of traditional roller conveyors, such as linear conveying and cargo turning, without the need for additional auxiliary equipment, achieving "one machine replacing the entire roller conveyor line." This simplifies the composition of the logistics conveying system. Specifically, based on a dual-track network, the conveying path for cargo pickup and delivery tasks is planned. This not only allows for the flexible replacement of traditional long-distance logistics roller conveyors with a dual-track system, but also improves the accuracy and flexibility of the planned conveying path. Subsequently, based on the planned conveying path and the dual-track network, the four-way traveling mechanism and the rotatable conveyor line are precisely controlled by a PLC control system to execute conveying control operations. The coordinated control of the mechanism and the rotating conveyor line ensures accurate movement and precise docking of goods during the picking and delivery process, enabling flexible turning of goods and dynamic adaptation to the path transportation needs, thus improving the accuracy and reliability of goods transportation. Furthermore, during the execution of goods transportation operations, the PLC control system detects the positioning information of the conveyor robot, enabling timely monitoring of the robot's position and status, and determining whether the goods transportation operation is complete. This helps to promptly detect abnormalities during transportation, such as path deviations or robot stoppages, allowing for rapid adjustments and repairs. Consequently, it contributes to ensuring the smooth progress of goods transportation tasks and improving the stability and controllability of the entire logistics transportation process. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic flowchart of a cargo transport control method for a transport robot disclosed in an embodiment of the present invention; Figure 2 This is a schematic flowchart of another cargo transport control method for a transport robot disclosed in an embodiment of the present invention; Figure 3This is a schematic diagram of a scenario in which a delivery robot disclosed in an embodiment of the present invention is applicable; Figure 4 This is a schematic diagram of the hardware module of a four-way walking mechanism disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a rotatable conveyor line disclosed in an embodiment of the present invention; Figure 6 This is a schematic block diagram of a PLC control system disclosed in an embodiment of the present invention; Figure 7 This is a flowchart illustrating a control method for a PLC control system disclosed in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a cargo conveying control device for a conveying robot disclosed in an embodiment of the present invention; Figure 9 This is a schematic diagram of another cargo transport control device for a transport robot disclosed in an embodiment of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] This invention discloses a cargo transport control method and apparatus for a transport robot, which can provide a cargo transport control method for transport robots, and can automatically achieve precise and effective control of non-fixed-size and irregular cargo, as well as achieve flexible fixation of cargo. These will be described in detail below.

[0027] Example 1 Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a cargo transport control method applied to a transport robot, as disclosed in an embodiment of the present invention. Figure 1 The described cargo transport control method for a transport robot can be applied to a cargo transport control device, which may include one of a control device, a control terminal, and a control server, without limitation in this embodiment. The transport robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of wheel trains, and the PLC control system includes a drive system, which includes a servo drive system and a stepper drive system. The PLC control system controls the transport robot to achieve cargo transport control on a dual-track network matching the four-way walking mechanism. Figure 1 As shown, the cargo transport control method applied to the transport robot may include the following operations: 101. Based on the dual-track network, plan the transportation path corresponding to the cargo pickup and delivery task.

[0028] In this embodiment of the invention, the dual-track network consists of symmetrically arranged and interconnected multiple track sections. For example, the dual-track network uses flexible dual tracks to replace traditional long-distance logistics roller conveyors. The horizontal and vertical spacing (outer edge) of the guide rails is a standard 1 meter, and the network is flexibly constructed with a standard length of 3 meters. It can be spliced ​​as needed according to the workshop and warehouse layout. For instance, the splicing length of the tracks is determined by the cargo transportation scenario of the conveying robot, eliminating the need for long-distance laying along a fixed path. Furthermore, passing positions are set at track intersections to ensure that multiple conveying robots can operate in parallel simultaneously, which is beneficial for optimizing space utilization efficiency.

[0029] Goods pickup and delivery tasks include pickup points and delivery points. The transport path represents the shortest path required for the transport robot to travel from the pickup point to the delivery point in a dual-track network.

[0030] 102. Based on the conveying path and the dual-track network, the PLC control system controls the four-way traveling mechanism and the rotatable conveyor line to perform conveying control operations.

[0031] In this embodiment of the invention, all traveling wheel sets include transverse traveling wheel sets and longitudinal traveling wheel sets. A transverse traveling wheel set refers to a traveling wheel set with a transverse wheel direction in the dual-track network, and a longitudinal traveling wheel set refers to a traveling wheel set with a longitudinal wheel direction in the dual-track network. Each traveling wheel set includes two symmetrically arranged traveling wheel sets. For example, the four-way traveling mechanism consists of a four-way traveling chassis and all the aforementioned traveling wheel sets. Specifically, it adopts a square steel chassis structure, with identical transverse and longitudinal traveling wheel sets. Each wheel set is equipped with four rubber-coated traveling wheels with side guards, enabling flexible travel in four directions (transverse, longitudinal, and vertical). Compared to the traditional "long strip" layout of roller conveyors, the four-way traveling mechanism can reach the target location directly along any path through a dual-track intersecting layout, eliminating the need for long-distance continuous laying and reducing the overall space occupied by the conveying path.

[0032] In this embodiment of the invention, the rotatable conveyor line includes a pick-up and delivery platform for placing goods. For example, a 360-degree rotating roller pick-up and delivery platform is integrated above the chassis, forming an integrated rotatable conveyor line. This allows for precise 90-degree positioning, eliminating the need for additional steering mechanisms or reserved steering space for goods pick-up, delivery, and steering. The pick-up and delivery platform is a non-standard structure; it can be customized according to the actual pallet size without changing the bottom vehicle body, requiring only the replacement of the conveyor rollers. The roller conveying speed is ≥0.1m / s, directly undertaking the functions of carrying, conveying, and steering goods, replacing the linear conveying and steering auxiliary modules of traditional roller conveyors.

[0033] In this embodiment of the invention, the servo drive system is used to control all the walking wheel systems in any walking wheel system group to walk synchronously along the dual-track network; the stepper drive system is used to control the rotation angle of the rotatable conveyor line, and the adjustment range of the rotation angle is determined by the cargo conveying scenario in which the conveying robot is located; the PLC control system also includes a positioning system, which includes a photoelectric sensor system and an RFID positioning system, for realizing the positioning of the conveying robot.

[0034] Optionally, the PLC control system also includes an energy harvesting system, a dual-link redundant communication system, a safety system, and a cargo conveying system. The energy harvesting system includes a track power supply system to control the dual-track network and power the conveying robot; the dual-link redundant communication system includes a wireless bridge communication module and a wireless base station communication module to enable communication between the conveying robot and the host computer; the safety system includes a radar detection system to detect obstacles in the area where the conveying robot is located; and the cargo conveying system includes a roller drive system to control the conveyor rollers on the rotating conveyor line to transport goods from the pickup point to the pickup / delivery platform, or from the pickup / delivery platform to the delivery point.

[0035] Optionally, each traveling wheel system is equipped with a corresponding lifting mechanism. By controlling the lifting of the lifting mechanism, the four-way traveling mechanism can be controlled to change tracks in four directions on the dual-track network. The servo drive system is also used to control all traveling wheel systems in any traveling wheel system group to rise or fall synchronously.

[0036] In this embodiment of the invention, the conveying control operation includes a goods conveying operation and a rotation alignment operation. The goods conveying operation includes a pickup conveying operation and a delivery conveying operation. The pickup conveying operation refers to the operation of the conveying robot moving from an initial position point to a pickup point. Optionally, the initial position point can be the delivery point of the previous goods pickup / delivery task of the conveying robot, or it can be a preset standby point of the conveying robot; this embodiment of the invention does not impose any limitations. The delivery conveying operation refers to the operation of the conveying robot moving from the pickup point to the delivery point. Optionally, the rotation alignment operation includes: rotating the pickup / delivery platform to align with the goods at the pickup point, and / or rotating the goods on the pickup / delivery platform to align with the delivery point; this embodiment of the invention does not impose any limitations.

[0037] 103. During the cargo transportation operation, the PLC control system detects the positioning information of the transport robot to determine whether the transport robot has completed the cargo transportation operation.

[0038] In this embodiment of the invention, optionally, the positioning information includes at least location information; or, the positioning information includes at least location information and also includes identification information. Specifically, the positioning information includes at least location information, which includes information on whether the delivery robot has reached the target location. When the location information indicates that the delivery robot has reached the target location, the positioning information also includes identification information, which indicates whether a parking spot is located at the target location.

[0039] It is evident that implementation Figure 1The described cargo transport control method for conveyor robots, through the integrated design of a four-way walking mechanism and a rotatable conveyor line, covers the core functions of traditional roller conveyors, such as linear transport and cargo turning, without the need for additional auxiliary equipment. This achieves "one machine replacing an entire roller conveyor line," simplifying the composition of logistics transport systems. Specifically, based on a dual-track network, the transport path for cargo pickup and delivery tasks is planned. This not only allows for the flexible replacement of traditional long-distance logistics roller conveyors with a dual-track system but also improves the accuracy and flexibility of the planned transport path. Subsequently, based on the planned transport path and the dual-track network, the PLC control system precisely controls the four-way walking mechanism and the rotatable conveyor line to execute transport control operations. Through the coordinated control of the four-way walking mechanism and the rotatable conveyor line, the accurate movement and precise docking of goods during the picking and delivery process can be ensured. This enables flexible turning of goods and dynamic adaptation to the path transportation needs, improving the accuracy and reliability of goods transportation. Furthermore, during the execution of goods transportation operations, the PLC control system detects the positioning information of the conveyor robot, enabling timely monitoring of the robot's position and status, and determining whether the goods transportation operation has been completed. This helps to promptly detect abnormalities during transportation, such as path deviations or robot stoppages, allowing for rapid adjustments and repairs. Consequently, it is beneficial to ensure the smooth progress of goods transportation tasks and improve the stability and controllability of the entire logistics transportation process.

[0040] Example 2 Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a cargo transport control method applied to a transport robot, as disclosed in an embodiment of the present invention. Figure 2 The described cargo transport control method for a transport robot can be applied to a cargo transport control device, which may include one of a control device, a control terminal, and a control server, without limitation in this embodiment of the invention. The transport robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of walking wheel trains, and the PLC control system includes a drive system, which includes a servo drive system and a stepper drive system. The transport robot is controlled by the PLC control system to achieve cargo transport control on a dual-track network matching the four-way walking mechanism. Figure 2 As shown, the cargo transport control method applied to the transport robot may include the following operations: 201. Based on the dual-track network, plan the transportation path corresponding to the cargo pickup and delivery task.

[0041] 202. Based on the conveying path and the dual-track network, at least one set of walking wheel trains is controlled by a servo drive system to perform the picking and conveying operation so that the conveying robot can reach the picking point.

[0042] In this embodiment of the invention, specifically, based on the conveying path and the dual-track network, at least one set of walking wheel trains is controlled by a servo drive system to drive the conveying robot from the initial position point to the pickup point, so that the conveying robot can walk to the pickup point.

[0043] 203. By using a stepper drive system to control the rotatable conveyor line, at the picking point, the picking platform of the rotatable conveyor line is rotated and aligned to realize the picking operation of the conveyor robot on the goods.

[0044] In this embodiment of the invention, specifically, a stepper drive system controls a rotatable conveyor line to rotate the pick-up and delivery platform to align with the goods at the pick-up point, thereby enabling the conveyor robot to pick up the goods.

[0045] 204. Based on the conveying path and the dual-track network, at least one set of walking wheel trains is controlled by a servo drive system to perform delivery and conveying operations so that the conveying robot can reach the delivery point.

[0046] In this embodiment of the invention, specifically, based on the transport path and the dual-track network, a servo drive system controls at least one set of walking wheel trains to drive the transport robot from the pickup point to the delivery point, so that the transport robot reaches the delivery point.

[0047] 205. By controlling the rotatable conveyor line through the stepper drive system, the delivery platform is rotated and aligned at the delivery point to realize the delivery operation of the conveyor robot.

[0048] In this embodiment of the invention, specifically, a stepper drive system controls a rotatable conveyor line to rotate the goods on the pick-up and delivery platform to align with the delivery point, thereby enabling the delivery robot to deliver the goods.

[0049] 206. During the cargo transportation operation, the PLC control system detects the positioning information of the transport robot to determine whether the transport robot has completed the cargo transportation operation.

[0050] In this embodiment of the invention, for other descriptions of steps 201-206, please refer to the detailed description of steps 101-103 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0051] It is evident that implementation Figure 2The described cargo transport control method for conveyor robots, through the integrated design of a four-way walking mechanism and a rotatable conveyor line, covers the core functions of traditional roller conveyors, such as linear transport and cargo turning, without the need for additional auxiliary equipment. This achieves "one machine replacing an entire roller conveyor line," simplifying the composition of logistics transport systems. Specifically, based on a dual-track network, the transport path for cargo pickup and delivery tasks is planned. This not only allows for the flexible replacement of traditional long-distance logistics roller conveyors with a dual-track system but also improves the accuracy and flexibility of the planned transport path. Subsequently, based on the planned transport path and the dual-track network, the PLC control system precisely controls the four-way walking mechanism and the rotatable conveyor line to execute transport control operations. Through the coordinated control of the four-way walking mechanism and the rotatable conveyor line, the accurate movement and precise docking of goods during the picking and delivery process can be ensured. This enables flexible turning of goods and dynamic adaptation to the path transportation needs, improving the accuracy and reliability of goods transportation. Furthermore, during the execution of goods transportation operations, the PLC control system detects the positioning information of the conveyor robot, enabling timely monitoring of the robot's position and status, and determining whether the goods transportation operation has been completed. This helps to promptly detect abnormalities during transportation, such as path deviations or robot stoppages, allowing for rapid adjustments and repairs. Consequently, it is beneficial to ensure the smooth progress of goods transportation tasks and improve the stability and controllability of the entire logistics transportation process. Furthermore, by combining a dual-track network and conveyor path, a servo drive system can control at least one set of walking wheel trains to perform picking and conveying operations, ensuring that the conveying robot accurately arrives at the picking point. Upon arrival, a stepper drive system controls a rotating conveyor line to perform a rotational alignment operation on the picking and delivery platform, completing the picking operation precisely and intelligently. Subsequently, the servo drive system again controls the walking wheel trains to perform delivery conveying operations, ensuring that the conveying robot accurately arrives at the delivery point. At the delivery point, a stepper drive system again controls a rotating conveyor line to perform a rotational alignment operation on the picking and delivery platform, completing the delivery operation precisely and intelligently. By setting up a servo drive system and a stepper drive system to work together, the conveyor robot can be precisely controlled to complete the pickup and delivery tasks. This helps improve the accuracy and reliability of cargo transportation and enhances the intelligence of the entire logistics process, making the pickup and delivery process smoother and more efficient, reducing waiting time between each link, and improving the overall efficiency of logistics operations. Based on a dual-track network and precise conveying path planning, combined with the drive system, the conveyor robot can adapt to complex logistics transportation environments, such as multi-node, multi-path warehouses or logistics centers, and flexibly respond to different pickup and delivery task requirements, demonstrating strong versatility and adaptability.

[0052] In an optional embodiment, step 203 above, which involves controlling at least one set of walking wheel trains via a servo drive system to perform a pickup and delivery operation based on the delivery path and the dual-track network, so that the delivery robot reaches the pickup point, includes: Based on the transport path and the dual-track network, at least one picking path segment of the transport robot is determined. Each picking path segment has a corresponding path direction and walking sequence, and the path direction between any two picking path segments with adjacent walking sequences is different. Based on the path direction of all pickup path segments and the wheel direction of all walking wheel sets, match all pickup path segments with all walking wheel sets to obtain the matching and non-matching walking wheel sets for each pickup path segment. Based on the walking order of each pickup route segment, determine the current route segment to be walked; The servo drive system controls the matching and non-matching wheel trains of the current path segment to drive the conveyor robot to walk along the current path segment; and re-executes the operation based on the walking sequence of each picking path segment to determine the current path segment to be walked, until the last picking path segment of the walking sequence is completed. The end point of the last picking path segment of the walking sequence is the picking point.

[0053] In this embodiment of the invention, the dual-track network may be provided with grid coordinate axes, and the grid coordinate axes may include horizontal coordinate axes and vertical coordinate axes; optionally, the path direction of each pickup path segment may be the direction that conforms to the horizontal coordinate axis, denoted as the horizontal path segment, or the direction that conforms to the vertical coordinate axis, denoted as the vertical path segment; and each pickup path segment is obtained by dividing it through the grid coordinate axes that it conforms to in the dual-track network, which is not limited in this embodiment of the invention.

[0054] In this embodiment of the invention, specifically, for a lateral path segment, a lateral travel wheel train set is determined as a matching travel wheel train set for the lateral path segment, and a longitudinal travel wheel train set is determined as a mismatched travel wheel train set for the lateral path segment; for a longitudinal path segment, a longitudinal travel wheel train set is determined as a matching travel wheel train set for the longitudinal path segment, and a lateral travel wheel train set is determined as a mismatched travel wheel train set for the longitudinal path segment.

[0055] As can be seen, this optional embodiment can determine at least one picking path segment based on the conveying path and the dual-track network, so as to clarify the path direction and walking sequence of each path segment, making the directions of adjacent path segments different. Thus, based on the path directions of all picking path segments and the wheel train directions of all walking wheel trains, the matching and mismatched walking wheel trains of each path segment are matched. By allocating accurate and reasonable walking wheel trains to be driven through the directions of different path segments, it is beneficial to improve the accuracy of subsequent control of the walking wheel trains, thereby improving the driving accuracy of the conveying robot.

[0056] In this optional embodiment, as an optional implementation, a servo drive system controls the matching and mismatched wheel trains of the current path segment to drive the transport robot to move along the current path segment, including: The servo drive system controls the lifting mechanism of all walking wheel trains to perform lifting control operations so that the walking direction of the conveyor robot matches the path direction of the current path segment. The servo drive system controls the matching walking wheel system of the current path segment, driving the conveyor robot to walk along the current path segment.

[0057] In this embodiment of the invention, the lifting control operation includes an upward control operation and a downward control operation, specifically including: a downward control operation for a matched walking wheel system group, and an upward control operation for an incompatible walking wheel system group. The upward control operation includes controlling the lifting mechanism of the incompatible walking wheel system group to drive all walking wheel systems within that group to rise synchronously. The downward control operation includes controlling the lifting mechanism of the matched walking wheel system group to drive all walking wheel systems within that group to descend synchronously. As can be seen, this optional implementation can control the lifting mechanism of all walking wheel sets through the servo drive system to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment. This can improve the control accuracy and flexibility of the walking direction of the conveying robot, which is conducive to flexibly adapting to the directional requirements of different picking path segments. It is also conducive to more flexibly realizing the conveying robot to perform straight walking, turning and other actions. Then, by controlling the matching walking wheel set of the current path segment, the conveying robot is driven to walk along the current path segment. Through the coordinated operation of the lifting mechanism and the matching walking wheel set, the walking control of the conveying robot can be flexibly and accurately realized.

[0058] In this optional implementation, optionally, a servo drive system controls the lifting mechanism of all walking wheel trains to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment, including: Based on the distance parameters of the matched walking wheel assembly within the current path segment, determine the descent control parameters of the matched walking wheel assembly with respect to the current path segment; Based on the distance parameters of the mismatched walking wheel assembly within the current path segment, determine the ascent control parameters of the mismatched walking wheel assembly with respect to the current path segment; Based on the descent control parameters of the matching walking wheel system, the servo drive system controls the lifting mechanism of the matching walking wheel system to perform a descent control operation on the matching walking wheel system; and based on the ascent control parameters of the mismatched walking wheel system, the servo drive system controls the lifting mechanism of the mismatched walking wheel system to perform an ascent control operation on the mismatched walking wheel system, so that the walking direction of the conveying robot matches the path direction of the current path segment.

[0059] In this embodiment of the invention, the distance parameter represents the distance between the corresponding walking wheel assembly and the dual-track network. Optionally, the descent control parameter may include at least one of descent distance, descent position, descent speed, etc., and the ascent control parameter may include at least one of ascent distance, ascent position, ascent speed, etc., which is not limited in this embodiment of the invention. Specifically, within the current path segment, the descent control parameter of the matched walking wheel assembly with respect to the current path segment is determined based on the distance between the matched walking wheel assembly and the dual-track network, and the ascent control parameter of the unmatched walking wheel assembly with respect to the current path segment is determined based on the distance between the unmatched walking wheel assembly and the dual-track network.

[0060] Specifically, for the lateral path segment, based on the descent control parameters of the lateral wheel train, the servo drive system controls the lifting mechanism of the lateral wheel train to synchronously lower all the traveling wheels within the lateral wheel train. Similarly, based on the ascending control parameters of the longitudinal wheel train, the servo drive system controls the lifting mechanism of the longitudinal wheel train to synchronously ascend all the traveling wheels within the longitudinal wheel train, ensuring that the robot's travel direction matches the path direction of the lateral path segment, i.e., both are lateral. For the longitudinal path segment, based on the descent control parameters of the longitudinal wheel train, the servo drive system controls the lifting mechanism of the longitudinal wheel train to synchronously lower all the traveling wheels within the longitudinal wheel train. Furthermore, based on the ascending control parameters of the lateral wheel train, the servo drive system controls the lifting mechanism of the lateral wheel train to synchronously ascend all the traveling wheels within the lateral wheel train, ensuring that the robot's travel direction matches the path direction of the longitudinal path segment, i.e., both are longitudinal.

[0061] As can be seen, this optional implementation can also determine the descent and ascent control parameters based on the distance parameters of the matched and mismatched walking wheel sets within the current path segment, and control the corresponding lifting mechanism to perform corresponding operations so that the walking direction of the conveying robot matches the path direction of the current path segment. This can improve the accuracy of lifting control for each walking wheel set, which is beneficial to improving the accuracy and reliability of the control of the walking direction of the conveying robot, and is also beneficial to flexibly adapting to complex and ever-changing track network paths.

[0062] In another optional embodiment, step 207 above, detecting the positioning information of the conveying robot via the PLC control system, includes: The RFID positioning system is used to detect the RFID tags on the conveyor robot in order to calculate the RFID location of the conveyor robot. The photoelectric sensor system is used to detect photoelectric signals of the conveying robot in order to calculate the photoelectric signal position of the conveying robot. The PLC control system determines whether the conveying robot has reached the determined target position based on the RFID location and photoelectric signal location. When it is determined that the conveyor robot has reached the target location, the positioning system detects whether there is a preset parking point marker at the target location. If a parking point marker is detected, the PLC control system controls the conveyor robot to stop and determines that the PLC control system has completed the cargo conveying operation corresponding to the target location.

[0063] In this embodiment of the invention, specifically, the PLC control system detects the RFID position and the photoelectric signal position. If both the RFID position and the photoelectric signal position are detected as the target position, it is determined that the conveying robot has reached the target position; if at least one of the RFID position and the photoelectric signal position is detected as not being the target position, it is determined that the conveying robot has not yet reached the target position.

[0064] In this embodiment of the invention, when the goods conveying operation is a pickup conveying operation, the target location is the pickup point; when the goods conveying operation is a delivery conveying operation, the target location is the delivery point. Specifically, during the pickup conveying operation, it is determined whether the conveying robot has reached the pickup point. If it is determined that the conveying robot has reached the pickup point, and further if a preset parking point marker is detected at the pickup point, the PLC control system controls the conveying robot to stop, and confirms that the PLC control system has completed the pickup conveying operation. During the delivery conveying operation, it is determined whether the conveying robot has reached the delivery point. If it is determined that the conveying robot has reached the delivery point, and further if a preset parking point marker is detected at the delivery point, the PLC control system controls the conveying robot to stop, and confirms that the PLC control system has completed the delivery conveying operation.

[0065] As can be seen, this optional embodiment can detect the positioning information of the conveying robot by combining the PLC control system with the RFID positioning system and the photoelectric sensor system. By using multiple positioning systems to locate the position and markings of the conveying robot, the positioning accuracy of the conveying robot can be improved, thereby improving the accuracy of determining whether the conveying robot has completed the corresponding conveying operation.

[0066] It should be noted that for other descriptions of step 204, please refer to the detailed description of the embodiment for step 202. The embodiments of the present invention will not repeat the descriptions.

[0067] For example, such as Figure 3 As shown, Figure 3 This is a schematic diagram illustrating a scenario in which a conveying robot, as disclosed in an embodiment of the present invention, is applicable. Figure 3 The described conveyor robot is an example of a low-voltage rail-powered conveyor robot. This scenario can be a logistics conveying scenario, which may include conveyor robots and a dual-rail network, such as... Figure 3 The four-way vehicle transport robot and low-pressure track are shown; furthermore, the logistics transport scenario may also include a four-way vehicle transfer area to ensure that multiple transport robots can operate in parallel at the same time.

[0068] For example, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the hardware module of a four-way walking mechanism disclosed in an embodiment of the present invention, wherein, Figure 4 The described four-way walking mechanism includes three hardware modules: a steel chassis, a walking wheel set (i.e., the walking wheel system set mentioned above), and a conductive wheel set. The conductive wheel set is used to electrically connect to the dual-track network, serving as the power supply interface for the dual-track network to the transport robot.

[0069] For example, such as Figure 5 As shown, Figure 5 This is a schematic diagram of a rotatable conveyor line disclosed in an embodiment of the present invention, wherein, Figure 5 The described rotatable conveyor line is integrated in Figure 4 The described four-way traveling mechanism has a pick-and-place platform above its chassis and on a rotatable conveyor line, such as... Figure 5 The tray shown is a schematic diagram.

[0070] For example, such as Figure 6 As shown, Figure 6 This is a schematic block diagram of a PLC control system disclosed in an embodiment of the present invention, such as... Figure 7 As shown, Figure 7 This is a flowchart illustrating a control method for a PLC control system disclosed in an embodiment of the present invention, combined with... Figure 6 and Figure 7 The specific control method of this PLC control system is as follows: When the conveyor robot starts running, it receives scheduling instructions through the PLC control system. The PLC control system performs task conversion, obtains the goods picking and delivery task, and determines whether the goods picking and delivery task is a normal task or a fire-fighting task, and obtains the task judgment result. If the task judgment result is yes, the RFID positioning system and photoelectric sensor system are executed to locate the conveyor robot. After the conveyor robot passes through the deceleration zone, it is determined whether the conveyor robot has reached the target position and the position judgment result is obtained. If the position judgment result is yes, the conveyor robot is controlled to stop when the parking positioning mark is detected. If the position judgment result is no, the operation of the RFID positioning system and photoelectric sensor system is re-executed. If the task judgment result is negative, the encoder positioning system (which can be integrated into the PLC control system or exist independently of the PLC control system) is executed to generate a positioning curve. When an RFID tag is detected, the RFID position is calculated, and the encoder position currently reached by the conveyor robot is detected by the encoder. The calculated RFID position and encoder position are identified by the RFID positioning system and judged. If both the RFID position and the encoder position are determined to be the target position, the conveyor robot is controlled to stop when a parking positioning tag is detected. If at least one of the RFID position and the encoder position is determined not to be the target position, the operation of generating the positioning curve is re-executed.

[0071] Combination Figures 3 to 7 The workflow of the delivery robot is as follows: Step 1, Task Reception: The robot communicates with the host computer via WiFi to receive the goods pickup and delivery task (replacing the fixed path conveying instructions of the traditional roller conveyor). Step 2, Path Planning: The scheduling algorithm is based on the track network and plans the shortest path from the starting point to the end point (without needing to transport along a long roller line). Step 3, Four-way movement: The robot moves along the dual tracks to the pickup point using a four-way wheel system, replacing the straight conveyor section of the roller conveyor. Step 4, Rotary Pickup: The rotatable conveyor rotates 360 degrees to align the goods, and the powered roller starts to receive the goods, replacing the picking section and steering mechanism of the roller conveyor. Step 5, Direct Delivery: The robot travels in four directions along the optimal path directly to the delivery point. The rotatable conveyor line rotates 90 degrees to deliver goods precisely, replacing the delivery section of the roller conveyor. Step Six, Task Feedback: After the delivery is completed, the robot returns to the standby position or receives the next batch of tasks, realizing a fully automated conveyor system without the participation of roller conveyors.

[0072] Example 3 Please see Figure 8 , Figure 8 This is a schematic diagram of a cargo transport control device for a transport robot, as disclosed in an embodiment of the present invention. Figure 8 The described cargo transport control device for a transport robot may include one of a control device, a control terminal, and a control server, which is not limited in the embodiments of the present invention; wherein, the transport robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system, the four-way walking mechanism including multiple sets of walking wheel trains, the PLC control system including a drive system, and the drive system including a servo drive system and a stepper drive system; the transport robot is controlled by the PLC control system to realize cargo transport control on a dual-track network matching the four-way walking mechanism. Figure 8 As shown, the cargo transport control device applied to the transport robot may include: The planning module 301 is used to plan the transportation path corresponding to the cargo pickup and delivery task based on the dual-track network. The cargo pickup and delivery task includes the pickup point and the delivery point of the cargo.

[0073] The picking control module 302 is used to control at least one set of the walking wheel system to perform picking and conveying operations according to the conveying path and the dual-track network, so that the conveying robot can reach the picking point.

[0074] The rotation alignment module 303 is used to control the rotatable conveyor line through the stepper drive system to perform a rotation alignment operation on the pick-up platform of the rotatable conveyor line at the pick-up point, so as to realize the pick-up operation of the conveying robot on the goods.

[0075] The delivery control module 304 is used to control at least one set of the walking wheel trains to perform delivery operations according to the delivery path and the dual-track network through the servo drive system, so that the delivery robot can reach the delivery point.

[0076] The rotation alignment module 303 is also used to control the rotatable conveyor line through the stepper drive system to perform the rotation alignment operation on the pick-up and delivery platform at the delivery point, so as to realize the delivery operation of the conveying robot on the goods.

[0077] In this embodiment of the invention, all the walking wheel train sets include a transverse walking wheel train set and a longitudinal walking wheel train set. The transverse walking wheel train set refers to the walking wheel train set with the wheel train direction being transverse in the double track network, and the longitudinal walking wheel train set refers to the walking wheel train set with the wheel train direction being longitudinal in the double track network; wherein, each walking wheel train set includes two walking wheel trains arranged symmetrically. The servo drive system is used to control all the walking wheel systems in any walking wheel system group, so that they walk synchronously along the dual-track network; the stepper drive system is used to control the rotation angle of the rotatable conveyor line. The adjustment range of the rotation angle is determined by the cargo transportation scenario in which the conveyor robot is located. The dual-track network consists of multiple sections of track arranged symmetrically and spliced ​​together. The splicing length of the track is determined by the cargo transportation scenario.

[0078] The positioning module 305 is used to detect the positioning information of the conveying robot through the PLC control system during the cargo conveying operation to determine whether the conveying robot has completed the cargo conveying operation.

[0079] It is evident that implementation Figure 8The described cargo transport control device for conveyor robots, through its integrated design of a four-way walking mechanism and a rotating conveyor line, covers the core functions of traditional roller conveyors, such as linear transport and cargo turning, without the need for additional auxiliary equipment. This achieves "one machine replacing an entire roller conveyor line," simplifying the composition of logistics transport systems. Specifically, based on a dual-track network, it plans the transport path for cargo pickup and delivery tasks. This not only allows for the flexible replacement of traditional long-distance logistics roller conveyors with a dual-track system but also improves the accuracy and flexibility of the planned transport path. Subsequently, based on the planned transport path and the dual-track network, the PLC control system precisely controls the four-way walking mechanism and the rotating conveyor line to execute transport control operations. Through the coordinated control of the four-way walking mechanism and the rotatable conveyor line, the accurate movement and precise docking of goods during the picking and delivery process can be ensured. This enables flexible turning of goods and dynamic adaptation to the path transportation needs, improving the accuracy and reliability of goods transportation. Furthermore, during the execution of goods transportation operations, the PLC control system detects the positioning information of the conveyor robot, enabling timely monitoring of the robot's position and status, and determining whether the goods transportation operation has been completed. This helps to promptly detect abnormalities during transportation, such as path deviations or robot stoppages, allowing for rapid adjustments and repairs. Consequently, it is beneficial to ensure the smooth progress of goods transportation tasks and improve the stability and controllability of the entire logistics transportation process. Furthermore, by combining a dual-track network and conveyor path, a servo drive system can control at least one set of walking wheel trains to perform picking and conveying operations, ensuring that the conveying robot accurately arrives at the picking point. Upon arrival, a stepper drive system controls a rotating conveyor line to perform a rotational alignment operation on the picking and delivery platform, completing the picking operation precisely and intelligently. Subsequently, the servo drive system again controls the walking wheel trains to perform delivery conveying operations, ensuring that the conveying robot accurately arrives at the delivery point. At the delivery point, a stepper drive system again controls a rotating conveyor line to perform a rotational alignment operation on the picking and delivery platform, completing the delivery operation precisely and intelligently. By setting up a servo drive system and a stepper drive system to work together, the conveyor robot can be precisely controlled to complete the pickup and delivery tasks. This helps improve the accuracy and reliability of cargo transportation and enhances the intelligence of the entire logistics process, making the pickup and delivery process smoother and more efficient, reducing waiting time between each link, and improving the overall efficiency of logistics operations. Based on a dual-track network and precise conveying path planning, combined with the drive system, the conveyor robot can adapt to complex logistics transportation environments, such as multi-node, multi-path warehouses or logistics centers, and flexibly respond to different pickup and delivery task requirements, demonstrating strong versatility and adaptability.

[0080] In this optional embodiment, as an optional implementation, the picking control module 302, based on the conveying path and the dual-track network, controls at least one set of walking wheel trains through a servo drive system to perform the picking and conveying operation, so that the conveying robot reaches the picking point in the following specific ways: Based on the transport path and the dual-track network, at least one picking path segment of the transport robot is determined. Each picking path segment has a corresponding path direction and walking sequence, and the path direction between any two picking path segments with adjacent walking sequences is different. Based on the path direction of all pickup path segments and the wheel direction of all walking wheel sets, match all pickup path segments with all walking wheel sets to obtain the matching and non-matching walking wheel sets for each pickup path segment. Based on the walking order of each pickup route segment, determine the current route segment to be walked; The servo drive system controls the matching and non-matching wheel trains of the current path segment to drive the conveyor robot to walk along the current path segment; and re-executes the operation based on the walking sequence of each picking path segment to determine the current path segment to be walked, until the last picking path segment of the walking sequence is completed. The end point of the last picking path segment of the walking sequence is the picking point.

[0081] As can be seen, this optional implementation can determine at least one picking path segment based on the conveying path and the dual-track network, so as to clarify the path direction and walking sequence of each path segment, making the directions of adjacent path segments different. Thus, based on the path directions of all picking path segments and the wheel train directions of all walking wheel trains, the matching and mismatched walking wheel trains of each path segment are obtained. By allocating accurate and reasonable walking wheel trains to be driven through the directions of different path segments, it is beneficial to improve the accuracy of subsequent control of the walking wheel trains, thereby improving the driving accuracy of the conveying robot.

[0082] In this optional implementation, each traveling wheel system is optionally equipped with a corresponding lifting mechanism. By controlling the lifting of the lifting mechanism, the four-way traveling mechanism can be controlled to change tracks in four directions on the dual-track network. The servo drive system is also used to control all traveling wheel systems within any traveling wheel system group to rise or fall synchronously. Furthermore, the picking control module 302, through the servo drive system, controls the matching and mismatching traveling wheel systems of the current path segment, driving the conveyor robot to travel along the current path segment in the following specific ways: The servo drive system controls the lifting mechanism of all walking wheel groups to perform lifting control operations so that the walking direction of the conveyor robot matches the path direction of the current path segment. The lifting control operations include upward control operations and downward control operations. The servo drive system controls the matching walking wheel system of the current path segment, driving the conveyor robot to walk along the current path segment.

[0083] As can be seen, this optional implementation can also control the lifting mechanism of all walking wheel sets through the servo drive system to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment. This can improve the control accuracy and flexibility of the walking direction of the conveying robot, which is conducive to flexibly adapting to the directional requirements of different picking path segments. It is also conducive to more flexibly realizing the conveying robot to perform straight walking, turning and other actions. Then, by controlling the matching walking wheel set of the current path segment, the conveying robot is driven to walk along the current path segment. Through the coordinated operation of the lifting mechanism and the matching walking wheel set, the walking control of the conveying robot can be flexibly and accurately realized.

[0084] In this optional implementation, further optionally, the picking control module 302 controls the lifting mechanism of all walking wheel systems through a servo drive system to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment. Specific methods include: Based on the distance parameters of the matched walking wheel assembly within the current path segment, determine the descent control parameters of the matched walking wheel assembly with respect to the current path segment; Based on the distance parameters of the mismatched walking wheel assembly within the current path segment, determine the ascent control parameters of the mismatched walking wheel assembly with respect to the current path segment; Based on the descent control parameters of the matching walking wheel system, the servo drive system controls the lifting mechanism of the matching walking wheel system to perform a descent control operation on the matching walking wheel system; and based on the ascent control parameters of the mismatched walking wheel system, the servo drive system controls the lifting mechanism of the mismatched walking wheel system to perform an ascent control operation on the mismatched walking wheel system, so that the walking direction of the conveying robot matches the path direction of the current path segment.

[0085] As can be seen, this optional implementation can also determine the descent and ascent control parameters based on the distance parameters of the matched and mismatched walking wheel sets within the current path segment, and control the corresponding lifting mechanism to perform corresponding operations so that the walking direction of the conveying robot matches the path direction of the current path segment. This can improve the accuracy of lifting control for each walking wheel set, which is beneficial to improving the accuracy and reliability of the control of the walking direction of the conveying robot, and is also beneficial to flexibly adapting to complex and ever-changing track network paths.

[0086] In another alternative embodiment, the PLC control system further includes a positioning system, which comprises a photoelectric sensor system and an RFID positioning system. Furthermore, the specific method by which the positioning module 305 detects the positioning information of the conveying robot through the PLC control system includes: The RFID positioning system is used to detect the RFID tags on the conveyor robot in order to calculate the RFID location of the conveyor robot. The photoelectric sensor system is used to detect photoelectric signals of the conveying robot in order to calculate the photoelectric signal position of the conveying robot. The PLC control system determines whether the conveying robot has reached the designated target location based on RFID location and photoelectric signal location. Specifically, when the goods conveying operation is a pick-up operation, the target location is the pick-up point; when the goods conveying operation is a delivery operation, the target location is the delivery point. When it is determined that the conveyor robot has reached the target location, the positioning system detects whether there is a preset parking point marker at the target location. If a parking point marker is detected, the PLC control system controls the conveyor robot to stop and determines that the PLC control system has completed the cargo conveying operation corresponding to the target location. The positioning information includes at least location information, which includes whether the delivery robot has reached the target location. When the location information is that the delivery robot has reached the target location, the positioning information also includes identification information, which is information on whether there is a parking spot at the target location.

[0087] As can be seen, this optional embodiment can detect the positioning information of the conveying robot by combining the PLC control system with the RFID positioning system and the photoelectric sensor system. By using multiple positioning systems to locate the position and markings of the conveying robot, the positioning accuracy of the conveying robot can be improved, thereby improving the accuracy of determining whether the conveying robot has completed the corresponding conveying operation.

[0088] Example 4 Please see Figure 9 , Figure 9 This is a schematic diagram of another cargo transport control device for a transport robot disclosed in an embodiment of the present invention. Figure 9 As shown, the cargo transport control device applied to the transport robot may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the cargo transport control method applied to the transport robot as described in Embodiment 1 or Embodiment 2 of the present invention.

[0089] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the cargo transport control method applied to a transport robot as described in Embodiment 1 or Embodiment 2 of this invention.

[0090] Example 6 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the cargo transport control method for a transport robot described in Embodiment 1 or Embodiment 2.

[0091] The 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.

[0092] 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.

[0093] Finally, it should be noted that the cargo transportation control method and device for a transport robot disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. 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 cargo conveyance control method for a conveyance robot, characterized by, The conveying robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of walking wheel trains, and the PLC control system includes a drive system, which includes a servo drive system and a stepper drive system. The conveying robot is controlled by the PLC control system to achieve cargo conveying control on a dual-track network matching the four-way walking mechanism. The method includes: Based on the dual-track network, a transport path is planned for the cargo pickup and delivery task, which includes the cargo pickup point and the cargo delivery point. Based on the conveying path and the dual-track network, at least one set of the walking wheel system is controlled by the servo drive system to perform a picking and conveying operation so that the conveying robot can reach the picking point. The stepper drive system controls the rotatable conveyor line to perform a rotational alignment operation on the pick-up platform of the rotatable conveyor line at the pick-up point, so as to realize the pick-up operation of the conveying robot on the goods. Based on the transport path and the dual-track network, at least one set of the walking wheel system is controlled by the servo drive system to perform a delivery transport operation so that the transport robot can reach the delivery point. The stepper drive system controls the rotatable conveyor line to perform the rotation alignment operation on the pick-up and delivery platform at the delivery point, so as to realize the delivery operation of the conveying robot on the goods; During the cargo transportation operation, the PLC control system detects the positioning information of the transportation robot to determine whether the transportation robot has completed the cargo transportation operation; wherein, the cargo transportation operation includes the picking-up transportation operation and the delivery transportation operation; All of the aforementioned walking wheel train sets include a transverse walking wheel train set and a longitudinal walking wheel train set. The transverse walking wheel train set runs in the direction of transverse walking in the dual-track network, and the longitudinal walking wheel train set runs in the direction of longitudinal walking in the dual-track network. Each of the aforementioned walking wheel train sets includes two walking wheel trains arranged symmetrically. The servo drive system is used to control all the walking wheel systems in any of the walking wheel systems to walk synchronously along the dual-track network; the stepper drive system is used to control the rotation angle of the rotatable conveyor line, the adjustment range of the rotation angle is determined by the cargo transportation scenario in which the conveying robot is located, the dual-track network is composed of multiple sections of track arranged symmetrically and spliced ​​together, and the splicing length of the track is determined by the cargo transportation scenario; And, according to the conveying path and the dual-track network, controlling at least one set of the walking wheel trains through the servo drive system to perform a picking and conveying operation so that the conveying robot reaches the picking point includes: Based on the conveying path and the dual-track network, at least one picking path segment of the conveying robot is determined. Each picking path segment has a corresponding path direction and walking sequence, and the path directions between any two picking path segments with adjacent walking sequences are different. Based on the path direction of all the pickup path segments and the wheel direction of all the walking wheel sets, all the pickup path segments are matched with all the walking wheel sets to obtain the matching walking wheel sets and the non-matching walking wheel sets for each pickup path segment. Based on the walking order of each of the aforementioned pickup path segments, determine the current path segment to be walked; The servo drive system controls the matching and non-matching wheel trains of the current path segment to drive the conveying robot to walk along the current path segment; and re-executes the operation of determining the current path segment to be walked based on the walking sequence of each of the picking path segments, until the last picking path segment of the walking sequence is walked, and the end point of the last picking path segment of the walking sequence is the picking point.

2. The load conveying control method for a conveying robot according to claim 1, characterized by, Each of the aforementioned walking wheel systems is equipped with a corresponding lifting mechanism. By controlling the lifting of the lifting mechanism, the four-way walking mechanism can be controlled to change tracks in four directions on the dual-track network. The servo drive system is also used to control all the walking wheel systems within any of the walking wheel systems to rise or fall synchronously. And, the step of controlling the matching and non-matching wheel trains of the current path segment to drive the conveying robot to move along the current path segment via the servo drive system includes: The servo drive system controls the lifting mechanisms of all the walking wheel trains to perform lifting control operations so that the walking direction of the conveying robot matches the path direction of the current path segment. The lifting control operations include rising control operations and falling control operations. The servo drive system controls the matching walking wheel system of the current path segment to drive the conveyor robot to walk along the current path segment.

3. The cargo transport control method applied to a transport robot according to claim 2, characterized in that, The step of controlling the lifting mechanism of all the walking wheel trains through the servo drive system to perform lifting control operations, so that the walking direction of the conveying robot matches the path direction of the current path segment, includes: Based on the distance parameters of the matched walking wheel assembly within the current path segment, determine the descent control parameters of the matched walking wheel assembly with respect to the current path segment; Based on the distance parameters of the mismatched walking wheel assembly within the current path segment, determine the ascent control parameters of the mismatched walking wheel assembly with respect to the current path segment; Based on the descent control parameters of the matched walking wheel system, the servo drive system controls the lifting mechanism of the matched walking wheel system to perform the descent control operation on the matched walking wheel system; and based on the ascent control parameters of the mismatched walking wheel system, the servo drive system controls the lifting mechanism of the mismatched walking wheel system to perform the ascent control operation on the mismatched walking wheel system, so that the walking direction of the conveying robot matches the path direction of the current path segment.

4. The cargo transport control method applied to a transport robot according to any one of claims 1-3, characterized in that, The PLC control system also includes a positioning system, which includes a photoelectric sensor system and an RFID positioning system. And, the detection of the positioning information of the conveying robot through the PLC control system includes: The RFID positioning system is used to detect the RFID tags on the conveying robot in order to calculate the RFID position of the conveying robot. The photoelectric sensor system detects photoelectric signals from the conveying robot to calculate its photoelectric signal position. The PLC control system determines whether the conveying robot has reached the determined target location based on the RFID location and the photoelectric signal location. When the goods conveying operation is a pickup conveying operation, the target location is the location of the pickup point; when the goods conveying operation is a delivery conveying operation, the target location is the location of the delivery point. When it is determined that the conveying robot has reached the target location, the positioning system detects whether there is a preset parking point marker at the target location; if the parking point marker is detected, the PLC control system controls the conveying robot to stop, and determines that the PLC control system has completed the cargo conveying operation corresponding to the target location. The positioning information includes at least location information, which includes information on whether the delivery robot has reached the target location. When the location information indicates that the delivery robot has reached the target location, the positioning information also includes identification information, which indicates whether the parking spot identification exists at the target location.

5. A cargo conveying control device applied to a conveying robot, characterized in that, The conveying robot is equipped with a four-way walking mechanism, a rotatable conveyor line, and a PLC control system. The four-way walking mechanism includes multiple sets of walking wheel trains, and the PLC control system includes a drive system, which includes a servo drive system and a stepper drive system. The PLC control system controls the conveying robot to achieve cargo conveying control on a dual-track network matching the four-way walking mechanism. The device is used to execute the cargo conveying control method for a conveying robot as described in any one of claims 1-4, and the device includes: The planning module is used to plan the transportation path corresponding to the cargo pickup and delivery task based on the dual-track network. The cargo pickup and delivery task includes the cargo pickup point and the cargo delivery point. The picking control module is used to control at least one set of the walking wheel system to perform picking and conveying operations according to the conveying path and the dual-track network, so that the conveying robot can reach the picking point. The rotation alignment module is used to control the rotatable conveyor line to perform a rotation alignment operation on the pick-up platform of the rotatable conveyor line at the pick-up point through the stepper drive system, so as to realize the pick-up operation of the conveying robot on the goods; The delivery control module is used to control at least one set of the walking wheel system to perform delivery operations according to the delivery path and the dual-track network, so that the delivery robot can reach the delivery point. The rotation alignment module is also used to control the rotatable conveyor line to perform the rotation alignment operation on the pick-up and delivery platform at the delivery point through the stepper drive system, so as to realize the delivery operation of the conveying robot on the goods; The positioning module is used to detect the positioning information of the conveying robot through the PLC control system during the execution of the goods conveying operation, so as to determine whether the conveying robot has completed the goods conveying operation; wherein, the goods conveying operation includes the picking conveying operation and the delivery conveying operation.

6. A cargo conveying control device applied to a conveying robot, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the cargo transport control method applied to the transport robot as described in any one of claims 1-4.

7. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the cargo transport control method for a transport robot as described in any one of claims 1-4.

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