Rail guide vehicle complex track line speed control system and method

Abstract

This invention relates to the field of mobile robot control technology. The RGV (Automated Guided Vehicle) linear velocity control method provided by this invention aims to achieve efficient and safe operation of the vehicle on complex tracks. By acquiring real-time vehicle position, speed, and track information, and using a preset control algorithm to plan the speed change curve, the system adjusts the motor speed and steering to control the vehicle speed. Simultaneously, it receives vehicle feedback and compares it with the expected planned data, using a genetic algorithm to optimize control commands. This invention improves the operating efficiency, safety, and compatibility of RGVs on complex tracks, providing technical support for applications such as automated storage and retrieval systems (AS / RS).

Description

Technical Field

[0001] This invention relates to the field of mobile robot control technology, and in particular to a method for controlling the linear velocity of RGV (Rail Guided Vehicle) on complex tracks. Background Technology

[0002] RGV is an abbreviation for Rail Guided Vehicle, also known as a rail-guided shuttle vehicle, used in automated storage and retrieval systems (AS / RS). RGVs are one of the core components of the intelligent logistics warehousing industry. Currently, as the scale of automated storage and retrieval systems gradually increases, the rail transportation required in these systems becomes increasingly complex, with more and more types of tracks, more and more intricate routes, and increasingly higher efficiency requirements.

[0003] The efficient operation of RGV (Rail Guided Vehicle) in the complex tracks of automated warehouses relies on control systems, navigation technology, and flexible scheduling strategies. In the management system of automated warehouses, the optimal or suboptimal travel path is first planned for the RGV based on the warehouse's storage needs, cargo handling tasks, and track layout.

[0004] The RGV (Rail Guided Vehicle) in the complex tracks of automated warehouses involves a comprehensive process of path planning, navigation control, speed management, intersection coordination, obstacle avoidance response, cargo handling, and continuous monitoring and maintenance. Therefore, the rail transportation needs to be increasingly complex, and RGV rail-guided vehicles face the challenge of adapting to complex tracks while ensuring efficient operation. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for controlling the linear velocity of RGV (Rail Guided Vehicle) on complex tracks, solving the problem that RGVs need to adapt to complex tracks while ensuring high-efficiency operation.

[0006] This invention aims to solve the above-mentioned problems by providing a speed control method for RGV (Rail Guided Vehicle). This method integrates multiple conditions, including speed limits imposed by the dispatching system, the track's own speed limits, and the RGV's own motor capacity limits, to control the RGV. It aims to provide an efficient, safe, quiet, and highly compatible control method for RGVs, solving the problem of speed control for RGVs on complex track routes with numerous and varied track types, different speed requirements for different track types, different speed limits for different sections of the same track, and different speed limits for different loads.

[0007] To solve the above-mentioned technical problems, the specific technical solution of the present invention is as follows:

[0008] In a first aspect, the present invention provides a method for controlling the linear velocity of a complex track for an RGV (RGV-guided vehicle), comprising:

[0009] Step S101: The position information of the RGV rail-guided vehicle is obtained in real time by sensors installed on the RGV rail-guided vehicle and the track. The sensors include RFID tags and laser rangefinders. The real-time running speed of the RGV rail-guided vehicle is monitored by monitoring equipment, and track information is also obtained, including track length, track curve radius and track slope.

[0010] Step S102: Based on the position information of the RGV rail-guided vehicle, calculate the remaining distance between the RGV rail-guided vehicle and the target position. Based on the remaining distance and track conditions, use a preset control algorithm to calculate the speed change curve of the RGV rail-guided vehicle within the remaining distance.

[0011] Step S103: According to the planned speed change curve, the control system sends control commands to the frequency converter to adjust the speed and direction of the motor, which is used to control the running speed of the RGV rail-guided vehicle.

[0012] Step S104: Receive the actual operating status of the RGV rail-guided vehicle from the feedback of the RGV rail-guided vehicle. The actual operating status of the RGV rail-guided vehicle includes its position and speed. Compare the actual operating status of the RGV rail-guided vehicle with the expected RGV rail-guided vehicle operation planning data.

[0013] Step S105: If there is a deviation between the actual operating status of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control command is optimized to make the RGV rail-guided vehicle run according to the predetermined path and speed.

[0014] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S101 includes:

[0015] An RFID tag reader is installed on the RGV rail-guided vehicle. The RFID tag reader is used to read the RFID tag information that is pre-set on the track. The pre-set RFID tag information includes the RGV rail-guided vehicle position data.

[0016] A laser rangefinder is installed on the RGV rail-guided vehicle. The laser rangefinder measures the distance between the RGV rail-guided vehicle and a specific point or obstacle on the track in real time.

[0017] Use an RFID tag reader to read the RFID tags on the track to determine the specific location of the RGV track-guided vehicle.

[0018] The laser rangefinder is used to collect the relative position between the RGV (Rail Guided Vehicle) and the track. The relative position between the RGV and the track includes lateral and longitudinal position information.

[0019] The monitoring equipment installed on the RGV (Rail Guided Vehicle) includes speed sensors and encoders, which monitor the speed of the RGV.

[0020] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0021] Extract the target location information from the track path scheduling system. The target location information includes the track number and borehole number of the target location.

[0022] Using a preset path planning algorithm, the straight-line distance between the real-time RGV track-guided vehicle position and the target position is calculated, thus obtaining the real-time RGV track-guided vehicle position and the target position;

[0023] Based on the curve radius and gradient of the track, the real-time position of the RGV rail-guided vehicle and the target position are corrected. After correction, the actual remaining distance between the RGV rail-guided vehicle and the target position is obtained.

[0024] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0025] The location information, target location information, track information, and real-time running speed of the RGV track-guided vehicle obtained in step S101;

[0026] Using a preset control algorithm, combined with the actual remaining distance between the RGV rail-guided vehicle and the target position, track conditions, and the vehicle's operating status, the speed change curve of the RGV rail-guided vehicle within the remaining distance is calculated.

[0027] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0028] Historical data on the linear velocity control of RGV (Rail-Guided Vehicle) on complex tracks were obtained. This historical data was divided into training and validation sets. The random forest model was trained using the training and validation sets to obtain the linear velocity control model of RGV on complex tracks. This model was then used as the preset control algorithm.

[0029] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S103 includes:

[0030] Obtain the track length, curve radius, gradient, and track type, and determine the allowable speed range for each track segment based on the speed limit requirements of the track path scheduling system;

[0031] Based on the curve radius and gradient of the track, the acceleration and deceleration parameters are adjusted, and the RGV rail-guided vehicle is divided into segments according to the track type, curve and gradient conditions, with different speed limits set for each segment.

[0032] Within each segment, the speed change curve is calculated by combining the remaining distance and the allowable speed range of the RGV track-guided vehicle. The final speed change curve is generated by integrating the speed change curves of each segment to form a final speed change curve.

[0033] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S103 includes:

[0034] Based on the speed change curve, a target speed is set for the RGV rail-guided vehicle at each time point or specific location point;

[0035] The direction of motor rotation is determined based on the track layout and the actual direction of vehicle operation. The direction of motor rotation includes forward or reverse rotation.

[0036] The control system encodes the calculated target speed and steering information into control commands, which include target speed value commands, steering commands, acceleration time and deceleration time. The generated control commands are sent to the frequency converter through the communication interface.

[0037] After receiving control commands from the control system, the frequency converter adjusts the power supply frequency of the motor according to the control commands, so that the RGV rail-guided vehicle runs according to the planned speed change curve.

[0038] During the adjustment of motor speed and direction, the control system continuously monitors the actual operating status of the motor, including the actual speed and direction information.

[0039] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S104 includes:

[0040] The actual operating status data and the expected planning data are preprocessed. The preprocessed actual operating status data are then compared and analyzed with the expected planning data. The comparison and analysis include: location comparison, speed comparison, time comparison, and path consistency comparison, and the comparison results are obtained.

[0041] Based on the comparison results, the deviation between the actual operating status and the expected planned data is evaluated. The evaluation includes the degree of difference between the actual value and the expected value, and whether the deviation is positive or negative, thus obtaining the deviation assessment.

[0042] Furthermore, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S105 includes:

[0043] In step S105, if there is a deviation between the actual operating state of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control commands are optimized using a genetic algorithm, including:

[0044] Initialize the population: Based on the deviation between the actual operating status of the RGV rail-guided vehicle and the expected plan, set the initial population of the genetic algorithm. In the population, each individual represents a set of control command parameters, including acceleration, deceleration, and velocity curve; encode the control command parameters into genotype form.

[0045] Define a fitness function, which is used to evaluate the quality of each individual, i.e., each set of control command parameters. The fitness function is calculated based on the deviation between the actual operating state of the RGV rail-guided vehicle and the expected plan. The smaller the deviation, the higher the fitness of the individual.

[0046] The selection operation involves choosing individuals with higher fitness as parents based on the results of the fitness assessment.

[0047] Crossover operation: Perform a crossover operation on selected parent individuals to generate new child individuals;

[0048] Mutation operations are performed on offspring individuals, merging the resulting offspring individuals with the parent individuals to form a new population, and then conducting the next round of fitness assessment, selection, crossover, and mutation operations.

[0049] Through iterative updates, individuals in the population are optimized so that each set of control commands meets the expected planning requirements, and the optimal set of control commands is obtained. Each set of control commands is then decoded to convert it back into control command parameters.

[0050] Secondly, the RGV track-guided vehicle complex track linear velocity control system provided by the present invention applies the RGV track-guided vehicle complex track linear velocity control method as described above, including: the RGV track-guided vehicle operation control system establishing communication connections with the track path scheduling system, the servo motor control system and the laser photoelectric digital aperture positioning device respectively.

[0051] The track routing system transmits the planned route information to the RGV (Rail Guided Vehicle) operation control system via wireless communication. Based on the track type, speed limit instructions from the routing system, and positioning information provided by the laser photoelectric aperture counting device, the RGV operation control system calculates and sends speed commands to the servo motor control system. Upon receiving the speed commands, the servo motor control system executes them and feeds back the real-time speed to the RGV operation control system. The laser photoelectric aperture counting device provides aperture counting for the RGV's positioning and sends the real-time aperture positioning information to the RGV operation control system.

[0052] The beneficial effects of this invention are:

[0053] This invention acquires real-time vehicle position, speed information, and track conditions, and combines this with a preset control algorithm to accurately calculate speed change curves, optimize travel paths and speeds, thereby improving overall operational efficiency. Taking into account track conditions, real-time vehicle status, and speed limits imposed by the dispatching system, this invention dynamically adjusts vehicle speed, effectively preventing speeding or improper operation and ensuring safe vehicle operation on complex tracks.

[0054] This invention is adaptable to different types of tracks, different speed limits, and different speed limits for loaded cargo. Utilizing advanced sensors and monitoring equipment, combined with control algorithms, this invention enables the control of RGV (Rail Guided Vehicle) vehicles, including adjustments to speed, steering, and other aspects.

[0055] By monitoring the actual operating status of vehicles in real time and comparing it with the expected planning data, this invention can promptly detect and correct deviations, enabling vehicles to run along predetermined paths and speeds, thereby improving system stability. In summary, this invention brings significant benefits to applications such as automated storage and retrieval systems. Attached Figure Description

[0056] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0057] Figure 1This is a schematic diagram of the process for controlling the linear velocity of a complex track for an RGV (RGV-guided vehicle) provided by the present invention.

[0058] Figure 2 This is a schematic diagram of a track for a complex track application scenario of the RGV track-guided vehicle provided by the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The technical solutions provided by various embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0060] To better understand the purpose of this invention, the invention will now be described in further detail.

[0061] Firstly, please refer to Figure 1 as well as Figure 2 The present invention provides a method for controlling the linear velocity of a RGV (Rail-Guided Vehicle) on a complex track, comprising:

[0062] Step S101: The position information of the RGV rail-guided vehicle is obtained in real time by sensors installed on the RGV rail-guided vehicle and the track. The sensors include RFID tags and laser rangefinders. The real-time running speed of the RGV rail-guided vehicle is monitored by monitoring equipment, and track information is also obtained, including track length, track curve radius and track slope.

[0063] RFID Tags and Readers: RFID tags and readers are installed on the RGV track-guided vehicles and tracks. As the vehicle passes a specific location on the track, the RFID reader identifies and reads the information from these tags, thereby accurately determining the vehicle's exact position on the track.

[0064] Laser rangefinders: In addition to RFID technology, laser rangefinders are used to measure the distance between the vehicle and specific points or obstacles on the track in real time. Laser rangefinders measure distance by emitting a laser beam and receiving the reflected signal, further enhancing the reliability of vehicle positioning.

[0065] Through the coordinated operation of the aforementioned sensors, the real-time position information of the RGV (Rail-Guided Vehicle) can be acquired, including its specific position on the track and the remaining distance to the target position. Simultaneously, monitoring equipment installed on the vehicle (such as speed sensors and encoders) can monitor the vehicle's operating speed in real time, providing data for subsequent speed planning and control.

[0066] In addition to vehicle position and speed information, track information is also indispensable. In step S101, information such as track length, curve radius, and gradient is obtained.

[0067] The acquired position, speed, and track information are used to calculate the speed change curve between the vehicle and the target position, generate control commands to adjust the motor speed and direction, and enable the vehicle to run strictly according to the predetermined path and speed through deviation detection and optimization mechanisms.

[0068] Step S102: Based on the position information of the RGV rail-guided vehicle, calculate the remaining distance between the RGV rail-guided vehicle and the target position. Based on the remaining distance and track conditions, use a preset control algorithm to calculate the speed change curve of the RGV rail-guided vehicle within the remaining distance.

[0069] In step S102, based on the position information of the RGV track-guided vehicle, the remaining distance between the vehicle and the target position is calculated, and combined with the actual conditions of the track, an advanced preset control algorithm is used to plan the speed change curve of the vehicle within the remaining distance.

[0070] Using the vehicle position information obtained in step S101, the current position of the RGV (Rail Guided Vehicle) on the track is determined. Then, combined with the target position information (usually extracted from the track scheduling system), the straight-line distance between the vehicle and the target position is calculated. However, due to the complexity of the track, such as curves and gradients, the straight-line distance needs to be corrected according to the actual conditions to obtain a more accurate remaining distance value.

[0071] Track conditions, including curve radius, gradient, and obstacles, significantly impact the operating speed of RGV (Rail Guided Vehicle). For example, at curves, the vehicle needs to decelerate to maintain stability and safety; on slopes, the vehicle's acceleration or deceleration capabilities are limited.

[0072] The preset control algorithm, as described in step S102, combines the remaining distance, track conditions, and vehicle operating status (such as current speed and acceleration) to derive the vehicle's speed variation curve over the remaining distance through complex calculations and analysis. This curve not only considers the vehicle's dynamic performance and the track's physical limitations but also optimizes the vehicle's operating efficiency and safety. The preset control algorithm employs various optimization techniques and mathematical models, such as genetic algorithms and random forest models, to ensure that the resulting speed variation curve both meets practical requirements and possesses optimal performance.

[0073] The calculated speed variation curve serves as a reference for the control system input during subsequent control processes, guiding the frequency converter to adjust the motor's speed and direction, enabling the RGV (Rail Guided Vehicle) to operate according to the planned speed and path. Simultaneously, the speed variation curve also provides a benchmark for the deviation detection and optimization mechanism, helping the system to promptly identify and correct deviations during vehicle operation, ensuring the vehicle accurately and stably reaches the target position.

[0074] In summary, step S102 provides a strong guarantee for the efficient and safe operation of the RGV rail-guided vehicle by accurately calculating the remaining distance, fully considering track conditions, adopting advanced preset control algorithms, and generating key speed change curves.

[0075] Step S103: According to the planned speed change curve, the control system sends control commands to the frequency converter to adjust the speed and direction of the motor, which is used to control the running speed of the RGV rail-guided vehicle.

[0076] In step S103, based on the previously planned speed change curve, the control system sends control commands to the frequency converter to adjust the motor speed and direction, thereby controlling the running speed of the RGV rail-guided vehicle.

[0077] The control system calculates the target speed that the vehicle should reach at each time point or location point based on the speed change curve. Then, based on these target speeds, the system generates corresponding control commands, including target speed values, steering commands (if the vehicle needs to change direction), acceleration or deceleration rates, etc. These control commands are the direct basis for the inverter to adjust the motor's operating state.

[0078] A frequency converter is a device that connects the control system and the motor. It receives control commands from the control system and adjusts the power supply frequency and voltage of the motor according to the commands, thereby changing the speed and direction of the motor. Frequency converters have the advantages of fast response speed and high control precision, enabling the motor to closely follow the speed change curve during actual operation.

[0079] Upon receiving the control signal from the frequency converter, the motor responds quickly and adjusts its speed and direction. By adjusting the motor speed, the vehicle can accelerate, decelerate, and travel at a constant speed on the track. By changing the motor's direction, the vehicle's direction of travel is controlled, allowing the track-guided vehicle to move along a predetermined path.

[0080] Real-time feedback and adjustment

[0081] During the control process, the system also monitors the actual operating status of the motor in real time, including speed, direction, and any abnormalities. This feedback information is promptly transmitted back to the control system and compared with the expected speed change curve. If a deviation is detected between the actual operating status and the expectation, the control system will immediately adjust by sending new control commands to correct the deviation, ensuring that the vehicle always stays on the correct track and at the correct speed.

[0082] In summary, step S103 achieves control over the running speed of the RGV rail-guided vehicle through precise generation of control commands, adjustment of motor status using a frequency converter, and real-time monitoring and adjustment.

[0083] Step S104: Receive the actual operating status of the RGV rail-guided vehicle from the feedback of the RGV rail-guided vehicle. The actual operating status of the RGV rail-guided vehicle includes its position and speed. Compare the actual operating status of the RGV rail-guided vehicle with the expected RGV rail-guided vehicle operation planning data.

[0084] In step S104, the actual operating status information fed back by the RGV rail-guided vehicle is received and compared in detail with the expected operating plan data to ensure that the vehicle's operating status is consistent with the plan, thereby timely detecting and correcting any deviations.

[0085] The system uses advanced sensors and monitoring equipment to receive real-time operational status information from RGV (Rail-Guided Vehicle) vehicles. This information includes the vehicle's current position, actual speed, acceleration, and any abnormal conditions.

[0086] The expected number of RGV track-guided vehicle operation plans is calculated based on previous speed change curves, track conditions, and vehicle performance parameters. It is used to describe the ideal state that the vehicle should achieve at each time point or location point, including position, speed, acceleration, etc.

[0087] Upon receiving the actual operational status information, the system immediately compares it with the expected operational plan data. This comparison process involves multiple dimensions, including position deviation, speed deviation, and acceleration changes. By comparing the actual operation of the vehicle with the planned data, the system determines whether the vehicle is operating according to the predetermined path and speed.

[0088] If a deviation is found between the actual operating status and the expected plan during the comparison process, the system immediately triggers the deviation monitoring mechanism to determine whether it will affect the vehicle's operating efficiency and safety. Depending on the severity of the deviation, the system will take corresponding measures, such as sending adjustment commands to the inverter to correct the vehicle's operating status, or triggering an alarm mechanism to notify the operator for manual intervention.

[0089] Step S104 is not only a process of monitoring and correcting deviations, but also an opportunity for continuous optimization and improvement. By comparing and analyzing the actual operating status with the expected plan, we can gain a deeper understanding of the vehicle's operating characteristics and the actual conditions of the track, providing more accurate data support for subsequent planning and control.

[0090] In summary, step S104, through key steps such as receiving actual operating status information, comparing it with expected planning data, detecting and processing deviations, and continuous optimization and improvement, enables the RGV rail-guided vehicle to operate strictly according to the predetermined path and speed, providing a strong guarantee for the efficient and safe operation of the vehicle.

[0091] Step S105: If there is a deviation between the actual operating status of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control command is optimized to make the RGV rail-guided vehicle run according to the predetermined path and speed.

[0092] In step S105, measures are taken to optimize control commands to address the discrepancy between the actual operating status of the RGV rail-guided vehicle and the expected operating plan data, so that the vehicle can run according to the predetermined path and speed.

[0093] The system analyzes the deviations between the actual operating status and the expected planned data, including position deviations, velocity deviations, and acceleration deviations. Based on the results of the deviation analysis, the system formulates a series of strategies to optimize control commands. These strategies include:

[0094] Adjust target speed: Adjust the vehicle's target speed appropriately based on the magnitude and nature of the deviation to ensure that the vehicle can converge to the predetermined path and speed more quickly.

[0095] Change acceleration / deceleration rate: By adjusting the rate of acceleration or deceleration, the vehicle can transition more smoothly to the expected operating state.

[0096] Introducing Compensation Control: For specific deviation patterns, a compensation control algorithm is introduced to eliminate or reduce the impact of the deviation.

[0097] Consideration of track characteristics: When optimizing control commands, fully consider the characteristics of the track, such as the curve radius and gradient, to ensure that the vehicle can operate stably under different track conditions.

[0098] Optimize the generation and transmission of control commands.

[0099] After the optimization strategy is formulated, the system generates new control commands and sends them to the frequency converter through the control system. These optimized control commands guide the frequency converter to more accurately adjust the motor speed and direction, thereby correcting the deviation between the actual operating state of the vehicle and the expected planned data.

[0100] After sending the optimization control command, the system continues to monitor the vehicle's actual operating status in real time and compare it with the expected planned data. If the deviation is still present or has increased, the system will perform optimization adjustments again, forming a closed-loop control process.

[0101] Finally, the system evaluates the effectiveness of the optimized control commands. By comparing vehicle operating status data before and after optimization, we can understand the effectiveness of the optimization measures and provide feedback for subsequent control command optimization. This effectiveness evaluation and feedback mechanism helps to continuously improve the performance and accuracy of the control system.

[0102] In summary, step S105 achieves precise control of the RGV rail-guided vehicle's operating status through key steps such as identifying and analyzing deviations, formulating optimization strategies, generating and sending optimization control commands, real-time monitoring and adjustment, and effect evaluation and feedback.

[0103] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S101 includes:

[0104] An RFID tag reader is installed on the RGV rail-guided vehicle. The RFID tag reader is used to read the RFID tag information that is pre-set on the track. The pre-set RFID tag information includes the RGV rail-guided vehicle position data.

[0105] A laser rangefinder is installed on the RGV rail-guided vehicle. The laser rangefinder measures the distance between the RGV rail-guided vehicle and a specific point or obstacle on the track in real time.

[0106] Use an RFID tag reader to read the RFID tags on the track to determine the specific location of the RGV track-guided vehicle.

[0107] The laser rangefinder is used to collect the relative position between the RGV (Rail Guided Vehicle) and the track. The relative position between the RGV and the track includes lateral and longitudinal position information.

[0108] The monitoring equipment installed on the RGV (Rail Guided Vehicle) includes speed sensors and encoders, which monitor the speed of the RGV.

[0109] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0110] Extract the target location information from the track path scheduling system. The target location information includes the track number and borehole number of the target location.

[0111] Using a preset path planning algorithm, the straight-line distance between the real-time RGV track-guided vehicle position and the target position is calculated, thus obtaining the real-time RGV track-guided vehicle position and the target position;

[0112] Based on the curve radius and gradient of the track, the real-time position of the RGV rail-guided vehicle and the target position are corrected. After correction, the actual remaining distance between the RGV rail-guided vehicle and the target position is obtained.

[0113] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0114] The location information, target location information, track information, and real-time running speed of the RGV track-guided vehicle obtained in step S101;

[0115] Using a preset control algorithm, combined with the actual remaining distance between the RGV rail-guided vehicle and the target position, track conditions, and the vehicle's operating status, the speed change curve of the RGV rail-guided vehicle within the remaining distance is calculated.

[0116] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S102 includes:

[0117] Historical data on the linear velocity control of RGV (Rail-Guided Vehicle) on complex tracks were obtained. This historical data was divided into training and validation sets. The random forest model was trained using the training and validation sets to obtain the linear velocity control model of RGV on complex tracks. This model was then used as the preset control algorithm.

[0118] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S103 includes:

[0119] Obtain the track length, curve radius, gradient, and track type, and determine the allowable speed range for each track segment based on the speed limit requirements of the track path scheduling system;

[0120] Based on the curve radius and gradient of the track, the acceleration and deceleration parameters are adjusted, and the RGV rail-guided vehicle is divided into segments according to the track type, curve and gradient conditions, with different speed limits set for each segment.

[0121] Within each segment, the speed change curve is calculated by combining the remaining distance and the allowable speed range of the RGV track-guided vehicle. The final speed change curve is generated by integrating the speed change curves of each segment to form a final speed change curve.

[0122] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S103 includes:

[0123] Based on the speed change curve, a target speed is set for the RGV rail-guided vehicle at each time point or specific location point;

[0124] The direction of motor rotation is determined based on the track layout and the actual direction of vehicle operation. The direction of motor rotation includes forward or reverse rotation.

[0125] The control system encodes the calculated target speed and steering information into control commands, which include target speed value commands, steering commands, acceleration time and deceleration time. The generated control commands are sent to the frequency converter through the communication interface.

[0126] After receiving control commands from the control system, the frequency converter adjusts the power supply frequency of the motor according to the control commands, so that the RGV rail-guided vehicle runs according to the planned speed change curve.

[0127] During the adjustment of motor speed and direction, the control system continuously monitors the actual operating status of the motor, including the actual speed and direction information.

[0128] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S104 includes:

[0129] The actual operating status data and the expected planning data are preprocessed. The preprocessed actual operating status data are then compared and analyzed with the expected planning data. The comparison and analysis include: location comparison, speed comparison, time comparison, and path consistency comparison, and the comparison results are obtained.

[0130] Based on the comparison results, the deviation between the actual operating status and the expected planned data is evaluated. The evaluation includes the degree of difference between the actual value and the expected value, and whether the deviation is positive or negative, thus obtaining the deviation assessment.

[0131] Specifically, in the RGV track-guided vehicle complex track linear velocity control method of the present invention, step S105 includes:

[0132] In step S105, if there is a deviation between the actual operating state of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control commands are optimized using a genetic algorithm, including:

[0133] Initialize the population: Based on the deviation between the actual operating status of the RGV rail-guided vehicle and the expected plan, set the initial population of the genetic algorithm. In the population, each individual represents a set of control command parameters, including acceleration, deceleration, and velocity curve; encode the control command parameters into genotype form.

[0134] Define a fitness function, which is used to evaluate the quality of each individual, i.e., each set of control command parameters. The fitness function is calculated based on the deviation between the actual operating state of the RGV rail-guided vehicle and the expected plan. The smaller the deviation, the higher the fitness of the individual.

[0135] The selection operation involves choosing individuals with higher fitness as parents based on the results of the fitness assessment.

[0136] Crossover operation: Perform a crossover operation on selected parent individuals to generate new child individuals;

[0137] Mutation operations are performed on offspring individuals, merging the resulting offspring individuals with the parent individuals to form a new population, and then conducting the next round of fitness assessment, selection, crossover, and mutation operations.

[0138] Through iterative updates, individuals in the population are optimized so that each set of control commands meets the expected planning requirements, and the optimal set of control commands is obtained. Each set of control commands is then decoded to convert it back into control command parameters.

[0139] Secondly, the RGV track-guided vehicle complex track linear velocity control system provided by the present invention applies the RGV track-guided vehicle complex track linear velocity control method as described above, including: the RGV track-guided vehicle operation control system establishing communication connections with the track path scheduling system, the servo motor control system and the laser photoelectric digital aperture positioning device respectively.

[0140] The track routing system transmits the planned route information to the RGV (Rail Guided Vehicle) operation control system via wireless communication. Based on the track type, speed limit instructions from the routing system, and positioning information provided by the laser photoelectric aperture counting device, the RGV operation control system calculates and sends speed commands to the servo motor control system. Upon receiving the speed commands, the servo motor control system executes them and feeds back the real-time speed to the RGV operation control system. The laser photoelectric aperture counting device provides aperture counting for the RGV's positioning and sends the real-time aperture positioning information to the RGV operation control system.

[0141] The RGV rail-guided vehicle linear speed control system provided by this invention enables precise speed control of the vehicle on complex tracks.

[0142] The RGV (Rail Guided Vehicle) operation control system is used to calculate and send control commands.

[0143] The track path scheduling system is responsible for planning the travel path of the RGV (Rail Guided Vehicle) and transmitting the path information (including track type, speed limit, etc.) to the RGV track guided vehicle operation control system via wireless communication.

[0144] The servo motor control system receives speed commands from the RGV (Rail Guided Vehicle) operation control system and controls the speed and direction of the servo motors, thereby driving the RGV to travel at the planned speed. Simultaneously, it also provides real-time feedback of the motor's actual speed to the RGV operation control system.

[0145] The laser-based photoelectric aperture counting device provides aperture counting for RGV (Rail-Guided Vehicle) rail-guided vehicles, enabling vehicle positioning. It transmits real-time aperture counting information to the RGV's operation control system, allowing the system to more accurately calculate and control the vehicle's speed.

[0146] The track path scheduling system plans the travel path of the RGV (Rail Guided Vehicle) according to mission requirements and transmits the path information to the RGV operation control system via wireless communication. The RGV operation control system calculates the target speed the vehicle should reach based on the received path information (including track type, speed limit, etc.) and the positioning information provided by the laser photoelectric aperture positioning device.

[0147] The system sends the calculated speed command to the servo motor control system. Upon receiving the speed command, the servo motor control system controls the speed and direction of the servo motors, ensuring the RGV (Rail Guided Vehicle) travels at the planned speed. Simultaneously, the servo motor control system provides real-time feedback of the motor's actual speed to the RGV's operational control system, enabling real-time speed adjustments and optimizations.

[0148] The laser-based photoelectric aperture counting device continuously provides aperture counts for the RGV (Rail-Guided Vehicle) for precise vehicle positioning. Real-time aperture counting information is transmitted to the RGV's operation control system, providing accurate positioning data for speed calculation and control.

[0149] In summary, the RGV track-guided vehicle speed control system provided by this invention can effectively achieve speed control of the vehicle on complex track lines.

[0150] This invention provides a speed control method for RGV vehicles. By integrating multiple conditions such as the speed limit requirements of the scheduling system, the speed limit requirements of the track itself, and the motor capacity limit of the vehicle, the method aims to provide an efficient, safe, quiet, and highly compatible RGV vehicle control method. It solves the problem of RGV vehicle speed control under complex track routes with various speed requirements, such as different speed requirements for different track types, different speed limits for different sections of the same track, and different speed limits for different loaded goods.

[0151] To achieve the above objectives, the technical solutions adopted in this invention include: a track path scheduling system, a servo motor control system, a laser photoelectric digital aperture positioning device, and an RGV trolley operation control system.

[0152] The RGV trolley speed control method operates within the RGV trolley operation control system, which communicates and interacts with the other systems or devices mentioned above. Specifically:

[0153] The track path scheduling system needs to possess all track information for the target track line, track aperture information, and the ability to plan paths between any two points. The planned path information between two points is transmitted to the RGV vehicle operation control system via wireless communication. The path information is broken down into different track information sub-units, each containing track type, travel direction, number of apertures, maximum speed limit, and other information.

[0154] The RGV vehicle operation control system needs this information for motion control. For example, if the information of a sub-unit is the left branch track, the direction is turning, traveling through 12 holes, and the maximum speed limit is 3m / s, then this sub-unit information requires the vehicle to choose to turn left instead of continuing straight on the current left branch track. After the laser hole counter on the left counts 12 holes, the vehicle will leave this section of track. During the travel on this section of track, the maximum speed is not allowed to exceed 3m / s. The path scheduling system needs to continuously plan paths according to business needs and issue them to the vehicle, and the vehicle will execute the actions.

[0155] The servo motor control system is a component of and controlled by the RGV vehicle operation control system. Servo motors have many excellent characteristics, such as timely speed tracking response and accurate positioning. Using servo motors in the RGV vehicle control system makes it easier to achieve precise speed control of the vehicle using this RGV vehicle speed control method. This servo motor control system must operate in speed mode, and the various parameters of the motor need to be adjusted according to the vehicle's weight and load to ensure perfect performance of the motor during acceleration and deceleration. This is a prerequisite for achieving precise speed control of the vehicle using this RGV vehicle speed control method.

[0156] The laser photoelectric aperture positioning device is connected to the RGV trolley operation control system to provide the system with accurate aperture counting for positioning. The device must respond quickly. The faster the trolley speed, the shorter the time to pass through the same aperture distance. The device needs to have high response performance. The RGV trolley operation control system needs to have a basic filtering algorithm to filter the signal of the aperture positioning device. When the trolley passes through the track joint, the joint needs to be filtered out to ensure the accuracy of aperture positioning.

[0157] Once the above-mentioned prerequisites are met, the RGV vehicle speed control method is implemented through the control software running in the RGV vehicle operation control system.

[0158] RGV vehicle speed control method:

[0159] The trolley reversing mechanism requires time to operate. To ensure safety, it must be a mechanism that selects the track before entering any branching, diversioning, merging, or converging track.

[0160] Each track section has a different speed limit. When entering a track with a lower speed limit from a track with a higher speed limit, you must slow down in advance.

[0161] The control methods are divided into commutation structure and speed synchronization control.

[0162] Switching Structure: Starting with the currently executing instruction unit, the system recursively reads the switching structure requirements of the next branching, merging, splitting, or merging instruction subunit from the instruction queue of the scheduling system. If the currently executing instruction unit is in a branching, merging, splitting, or merging instruction unit, the recursive reading ends. The switching structure and instruction requirements are kept consistent to ensure entry into the track.

[0163] Speed ​​control: Speed ​​control is updated in real time based on the current hole position and is mainly controlled by a combination of two types of hole number positioning values.

[0164] The control priority is ranked from high to low as follows: global orifice count and instruction unit orifice count. The global orifice count is determined by recursively reading the reversing requirements of the next branch, merge, split, and merge. When the current reversing structure cannot stop the recursive reading through a certain instruction unit, the cumulative orifice count of all instruction units from the current instruction unit to the instruction unit that cannot be completed is taken as the global target orifice count. Deceleration is performed when the current speed reaches the predetermined deceleration distance. The instruction unit orifice count is the orifice count required by the currently running instruction unit. Deceleration is performed with the speed limit of the next unit as the target. Deceleration is performed when the predetermined deceleration target distance is reached.

[0165] When the vehicle's operating speed has not reached the speed limit, acceleration should be aimed at the current speed limit to ensure maximum operating efficiency.

[0166] The technical solution of this invention provides a comprehensive and innovative solution to the problem faced by RGV (Rail Guided Vehicle) vehicles in adapting to complex tracks and ensuring high-efficiency operation:

[0167] This invention employs a multi-condition fusion control strategy, which comprehensively considers the stringent speed limits of the scheduling system, the physical speed limits of the track itself, and the performance limits of the RGV (Rail Guided Vehicle) motor. Through this comprehensive control method, this invention aims to provide an efficient, safe, quiet, and highly compatible speed control solution for RGVs.

[0168] Utilizing advanced sensors (such as RFID tag readers and laser rangefinders) installed on the RGV (Rail Guided Vehicle) and its track, the system can capture the vehicle's position information in real time. RFID tag readers accurately determine the vehicle's position on the track by reading pre-set RFID tags; while laser rangefinders measure the precise distance between the vehicle and specific points or obstacles on the track in real time. The system also collects key information such as track length, curve radius, and gradient, providing foundational data for subsequent speed planning. Through speed sensors and encoders equipped on the vehicle, the system can monitor the vehicle's operating speed in real time, ensuring data accuracy and timeliness.

[0169] Based on the vehicle's location information, the system calculates the remaining distance between the vehicle and the target location, and adjusts this distance according to the actual conditions of the track (such as curve radius and gradient) to improve data accuracy. Employing advanced preset control algorithms (such as a control algorithm based on a random forest model), the system combines the remaining distance, track conditions, and the vehicle's operating status to accurately calculate the vehicle's speed change curve within the remaining distance. This curve fully considers various factors such as track type, curves, and gradients, ensuring that the vehicle operates at optimal speed on different track sections.

[0170] Based on the planned speed variation curve, the control system intelligently generates control commands, including target speed commands, steering commands, acceleration times, and deceleration times, to ensure the vehicle operates according to the planned speed and path. Upon receiving the control commands, the frequency converter quickly adjusts the motor's power supply frequency, allowing the vehicle to run smoothly according to the planned speed variation curve. Simultaneously, the control system continuously monitors the motor's actual operating status and compares it with the expected planned data to ensure accurate execution of the commands.

[0171] If the vehicle's actual operating state deviates from the planned data (such as position or speed deviation), the control system will immediately detect and assess the degree and direction of the deviation to ensure timely problem identification. An advanced genetic algorithm is used to optimize the control commands. Through steps such as initializing the population, defining the fitness function, selection, crossover, and mutation operations, the system iteratively updates the individuals in the population, gradually ensuring that each set of control commands conforms to the expected planning requirements. The optimized control commands are then used to adjust the vehicle's operating state, ensuring it operates strictly according to the predetermined path and speed.

[0172] The RGV rail-guided vehicle complex track linear velocity control system of the present invention adopts an advanced system architecture, including RGV rail-guided vehicle operation control system, track path scheduling system, servo motor control system and laser photoelectric digital aperture positioning device, etc. The systems or devices achieve data interaction and collaborative work through efficient communication connection, thereby improving the stability of the entire system.

[0173] The track routing system transmits the planned route information to the RGV track-guided vehicle operation control system in real time via wireless communication; the laser photoelectric aperture positioning device provides the vehicle with accurate aperture counting for positioning and sends the real-time aperture positioning information to the control system; the servo motor control system receives and executes the speed command from the control system and simultaneously feeds back the real-time speed to the control system.

[0174] In summary, this invention effectively solves the problem of RGV track-guided vehicles needing to adapt to complex tracks and ensure high-efficiency operation through technological innovations in multi-condition fusion control methods, real-time data acquisition and precise speed planning, efficient generation and execution of control commands, deviation detection and intelligent optimization, and system architecture and efficient communication.

Claims

1. A method for controlling the linear velocity of a RGV (Rail-Guided Vehicle) on a complex track, characterized in that, include: Step S101: The position information of the RGV rail-guided vehicle is obtained in real time by sensors installed on the RGV rail-guided vehicle and the track. The sensors include RFID tags and laser rangefinders. The real-time running speed of the RGV rail-guided vehicle is monitored by monitoring equipment, and track information is also obtained, including track length, track curve radius and track slope. Step S102: Based on the position information of the RGV rail-guided vehicle, calculate the remaining distance between the RGV rail-guided vehicle and the target position. Based on the remaining distance and track conditions, use a preset control algorithm to calculate the speed change curve of the RGV rail-guided vehicle within the remaining distance. Step S103: According to the planned speed change curve, the control system sends control commands to the frequency converter to adjust the speed and direction of the motor, which is used to control the running speed of the RGV rail-guided vehicle. Step S104: Receive the actual operating status of the RGV rail-guided vehicle from the feedback of the RGV rail-guided vehicle. The actual operating status of the RGV rail-guided vehicle includes its position and speed. Compare the actual operating status of the RGV rail-guided vehicle with the expected RGV rail-guided vehicle operation planning data. Step S105: If there is a deviation between the actual operating status of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control command is optimized to make the RGV rail-guided vehicle run according to the predetermined path and speed.

2. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 1, characterized in that, Step S101 includes: An RFID tag reader is installed on the RGV rail-guided vehicle. The RFID tag reader is used to read the RFID tag information that is pre-set on the track. The pre-set RFID tag information includes the RGV rail-guided vehicle position data. A laser rangefinder is installed on the RGV rail-guided vehicle. The laser rangefinder measures the distance between the RGV rail-guided vehicle and a specific point or obstacle on the track in real time. Use an RFID tag reader to read the RFID tags on the track to determine the specific location of the RGV track-guided vehicle. The laser rangefinder is used to collect the relative position between the RGV (Rail Guided Vehicle) and the track. The relative position between the RGV and the track includes lateral and longitudinal position information. The monitoring equipment installed on the RGV (Rail Guided Vehicle) includes speed sensors and encoders, which monitor the speed of the RGV.

3. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 1, characterized in that, Step S102 includes: Extract the target location information from the track path scheduling system. The target location information includes the track number and borehole number of the target location. Using a preset path planning algorithm, the straight-line distance between the real-time RGV track-guided vehicle position and the target position is calculated, thus obtaining the real-time RGV track-guided vehicle position and the target position; Based on the curve radius and gradient of the track, the real-time position of the RGV rail-guided vehicle and the target position are corrected. After correction, the actual remaining distance between the RGV rail-guided vehicle and the target position is obtained.

4. The method for controlling the linear velocity of a complex track for an RGV (RGV-guided vehicle) as described in claim 3, characterized in that, Step S102 includes: The location information, target location information, track information, and real-time running speed of the RGV track-guided vehicle obtained in step S101; Using a preset control algorithm, combined with the actual remaining distance between the RGV rail-guided vehicle and the target position, track conditions, and the vehicle's operating status, the speed change curve of the RGV rail-guided vehicle within the remaining distance is calculated.

5. The method for controlling the linear velocity of a complex track for an RGV (RGV-guided vehicle) as described in claim 4, characterized in that, Step S102 includes: Historical data on the linear velocity control of RGV (Rail-Guided Vehicle) on complex tracks were obtained. This historical data was divided into training and validation sets. The random forest model was trained using the training and validation sets to obtain the linear velocity control model of RGV on complex tracks. This model was then used as the preset control algorithm.

6. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 1, characterized in that, Step S103 includes: Obtain the track length, curve radius, gradient, and track type, and determine the allowable speed range for each track segment based on the speed limit requirements of the track path scheduling system; Based on the curve radius and gradient of the track, the acceleration and deceleration parameters are adjusted, and the RGV rail-guided vehicle is divided into segments according to the track type, curve and gradient conditions, with different speed limits set for each segment. Within each segment, the speed change curve is calculated by combining the remaining distance and the allowable speed range of the RGV track-guided vehicle. The final speed change curve is generated by integrating the speed change curves of each segment to form a final speed change curve.

7. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 6, characterized in that, Step S103 includes: Based on the speed change curve, a target speed is set for the RGV rail-guided vehicle at each time point or specific location point; The direction of motor rotation is determined based on the track layout and the actual direction of vehicle operation. The direction of motor rotation includes forward or reverse rotation. The control system encodes the calculated target speed and steering information into control commands, which include target speed value commands, steering commands, acceleration time and deceleration time. The generated control commands are sent to the frequency converter through the communication interface. After receiving control commands from the control system, the frequency converter adjusts the power supply frequency of the motor according to the control commands, so that the RGV rail-guided vehicle runs according to the planned speed change curve. During the adjustment of motor speed and direction, the control system continuously monitors the actual operating status of the motor, including the actual speed and direction information.

8. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 1, characterized in that, Step S104 includes: The actual operating status data and the expected planning data are preprocessed. The preprocessed actual operating status data are then compared and analyzed with the expected planning data. The comparison and analysis include: location comparison, speed comparison, time comparison, and path consistency comparison, and the comparison results are obtained. Based on the comparison results, the deviation between the actual operating status and the expected planned data is evaluated. The evaluation includes the degree of difference between the actual value and the expected value, and whether the deviation is positive or negative, thus obtaining the deviation assessment.

9. The method for controlling the linear velocity of a complex track for an RGV (Rail-Guided Vehicle) as described in claim 1, characterized in that, Step S105 includes: In step S105, if there is a deviation between the actual operating state of the RGV rail-guided vehicle and the expected RGV rail-guided vehicle operation planning data, the control commands are optimized using a genetic algorithm, including: Initialize the population: Based on the deviation between the actual operating status of the RGV rail-guided vehicle and the expected plan, set the initial population of the genetic algorithm. In the population, each individual represents a set of control command parameters, including acceleration, deceleration, and velocity curve; encode the control command parameters into genotype form. Define a fitness function, which is used to evaluate the quality of each individual, i.e., each set of control command parameters. The fitness function is calculated based on the deviation between the actual operating state of the RGV rail-guided vehicle and the expected plan. The smaller the deviation, the higher the fitness of the individual. The selection operation involves choosing individuals with higher fitness as parents based on the results of the fitness assessment. Crossover operation: Perform a crossover operation on selected parent individuals to generate new child individuals; Mutation operations are performed on offspring individuals, merging the resulting offspring individuals with the parent individuals to form a new population, and then conducting the next round of fitness assessment, selection, crossover, and mutation operations. Through iterative updates, individuals in the population are optimized so that each set of control commands meets the expected planning requirements, and the optimal set of control commands is obtained. Each set of control commands is then decoded to convert it back into control command parameters.

10. A complex track linear velocity control system for RGV track-guided vehicles, employing the complex track linear velocity control method for RGV track-guided vehicles as described in claims 1-9, characterized in that... include: The RGV track-guided vehicle operation control system establishes communication connections with the track path scheduling system, the servo motor control system, and the laser photoelectric digital aperture positioning device. The track routing system transmits the planned route information to the RGV (Rail Guided Vehicle) operation control system via wireless communication. Based on the track type, speed limit instructions from the routing system, and positioning information provided by the laser photoelectric aperture counting device, the RGV operation control system calculates and sends speed commands to the servo motor control system. Upon receiving the speed commands, the servo motor control system executes them and feeds back the real-time speed to the RGV operation control system. The laser photoelectric aperture counting device provides aperture counting for the RGV's positioning and sends the real-time aperture positioning information to the RGV operation control system.

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