A warehouse truck control method and device, electronic equipment, medium and product

Abstract

The application discloses a warehouse carrying vehicle control method and device, electronic equipment, medium and product. The method comprises the following steps: acquiring the positioning type of a warehouse carrying vehicle; determining a calibration value matched with the positioning type; calibrating a first distance according to the calibration value to obtain a second distance; wherein the first distance is a running distance accumulated and calculated by an encoder with the starting position of the warehouse carrying vehicle as a reference; and controlling the warehouse carrying vehicle according to the second distance. The technical scheme greatly reduces the amount of two-dimensional code layout, improves the system maintenance convenience while meeting the positioning accuracy requirement, and effectively improves the operation reliability of the whole warehouse positioning system.

Description

Technical Field

[0001] This invention relates to the field of warehouse handling vehicle control technology, and particularly to a warehouse handling vehicle control method, device, electronic equipment, medium, and product. Background Technology

[0002] QR code positioning technology is now widely used in the field of location positioning. QR codes can store their own location encoding information and, by scanning, obtain the X and Y axis offsets relative to the QR code origin, outputting high-precision planar position data. Existing four-way shuttle warehouse positioning solutions generally adopt a layout of vehicle-mounted barcode readers and QR codes laid at various positioning points on the shelves. The QR codes pre-store the corresponding layer and coordinate information of the cargo location. Combined with the relative offset data collected by the reader, the vehicle is accurately positioned. Then, relying on motion control algorithms, the four-way shuttle can quickly, smoothly, and accurately stop at the target cargo location.

[0003] However, after long-term on-site application, this traditional QR code fixed-point deployment solution has exposed several technical shortcomings: First, the QR code pasting has strict constraints on the accuracy of installation location and orientation, the on-site construction process is cumbersome and the work efficiency is low, and misalignment is very likely to occur; Second, full-point full-coverage QR code pasting results in a huge amount of QR code consumables, and the project construction material cost is high; Third, the solution has poor environmental adaptability, and pollutants such as dust and liquid drips in the storage site can easily damage the QR codes, causing scanning failure and abnormal equipment positioning; Fourth, the QR code is bound to the storage location one by one, and if the code is damaged, it cannot be quickly replaced on-site, and it is necessary to contact the manufacturer to customize the replacement code, which takes a long time for fault maintenance and affects continuous storage operations. Summary of the Invention

[0004] This invention provides a warehouse handling vehicle control method, device, electronic equipment, medium, and product, which significantly reduces the amount of QR code deployment, improves system maintenance convenience while meeting positioning accuracy requirements, and effectively enhances the operational reliability of the entire warehouse positioning system.

[0005] According to one aspect of the present invention, a method for controlling a warehouse handling vehicle is provided, wherein the warehouse handling vehicle is positioned using a QR code on the main track and using photoelectric reflection positioning on the sub-track; the method includes: Obtain the location type of the warehouse handling vehicle; Determine the calibration value that matches the positioning type; The first distance is calibrated based on the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder with the starting position of the warehouse handling vehicle as the reference. The warehouse handling vehicle is controlled according to the second distance.

[0006] According to another aspect of the present invention, a warehouse handling vehicle control device is provided, wherein the warehouse handling vehicle is positioned using a QR code on the main warehouse track and using photoelectric reflection positioning on the sub-track; the device includes: The location type acquisition module is used to obtain the location type of the warehouse handling vehicle; A calibration value determination module is used to determine a calibration value that matches the positioning type; The second distance acquisition module is used to calibrate the first distance based on the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder with the starting position of the warehouse handling vehicle as a reference; A control module is used to control the warehouse handling vehicle based on the second distance.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a warehouse handling vehicle control method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a warehouse handling vehicle control method according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements a warehouse handling vehicle control method according to any embodiment of the present invention.

[0010] The technical solution of this invention involves obtaining the positioning type of a warehouse handling vehicle; determining a calibration value matching the positioning type; calibrating a first distance based on the calibration value to obtain a second distance; and controlling the warehouse handling vehicle based on the second distance. This technical solution significantly reduces the amount of QR code deployment, improves system maintenance convenience while meeting positioning accuracy requirements, and effectively enhances the operational reliability of the entire warehouse positioning system.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] 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.

[0013] Figure 1 This is a flowchart of a warehouse handling vehicle control method provided in Embodiment 1 of the present invention; Figure 2 The test site layout provided in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the photoelectric cooperation between the sub-rail side hole and the four-way vehicle positioning provided in Embodiment 1 of this application; Figure 4 This is a schematic diagram of the QR code and reader working together as provided in Embodiment 1 of this application; Figure 5 This is a schematic diagram of a warehouse handling vehicle control process provided in Embodiment 2 of the present invention; Figure 6 A schematic diagram of a warehouse handling vehicle control method using a combination of QR code and side hole positioning, provided in Embodiment 2 of this application; Figure 7 This is a schematic diagram of the structure of a warehouse handling vehicle control device provided in Embodiment 3 of the present invention; Figure 8 This is a schematic diagram of the structure of an electronic device that implements a warehouse handling vehicle control method according to an embodiment of the present invention. Detailed Implementation

[0014] 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 should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] Example 1 Figure 1 This is a flowchart illustrating a warehouse handling vehicle control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations involving the control of warehouse handling vehicles. The method can be executed by a warehouse handling vehicle control device, which can be implemented in hardware and / or software and can be configured within an equipment. For example, the equipment can be a backend server or other device with communication and computing capabilities. Figure 1 As shown, the method includes: S110, Obtain the location type of the warehouse handling vehicle.

[0017] Among them, warehouse handling vehicles are specialized industrial vehicles used in warehouses, production plants, logistics distribution parks, and other sites for short-distance loading, unloading, stacking, and transfer of palletized unitized goods within the warehouse. These vehicles primarily transport goods loaded on standardized pallets and are core equipment for achieving intensive goods turnover in modern warehousing and logistics. Typical categories include pedestrian-operated fully electric pallet trucks, four-way shuttle trucks for automated warehouses, and reach trucks. Preferably, warehouse handling vehicles are four-way vehicles.

[0018] In this solution, the four-way vehicle uses QR code positioning on the main storage track and photoelectric reflection positioning on the sub-track.

[0019] Among them, photoelectric reflection positioning relies on onboard photoelectric sensors to pick up the reflected on / off signals of reflective markings on the side holes or side walls of the track, combined with servo encoders to achieve relative distance measurement and point calibration of the four-way vehicle on the sub-track. Side hole positioning is one implementation of photoelectric reflection positioning.

[0020] Specifically, the main track is the main access track in the storage area, serving as a public artery for four-way vehicles to transfer goods across aisles, connect entrances and exits, and change tracks and directions. It uses QR code absolute positioning. The sub-tracks are branch aisle tracks extending from the main track and into the shelving locations. These are short tracks for four-way vehicles to access pallets. Positioning side holes are provided on the side walls of these tracks, or reflective markings are affixed, using photoelectric reflection positioning.

[0021] In this solution, based on the working condition analysis of the four-way vehicle storage system, the four-way vehicle reversing action is concentrated on the main track. Insufficient positioning accuracy of the main track can easily cause derailment during reversing. Therefore, the main track retains QR code positioning to meet the high-precision positioning requirements. The sub-tracks only need to ensure reliable pallet storage and retrieval, and the overall positioning can be achieved by using track side holes.

[0022] To ensure accurate positioning and smooth, rapid start-stop when vehicles arrive at the main rail parking position, QR code markers are added to the ends of each subrail near the main rail. When the four-way vehicle enters or passes the QR code on the subrail, position calibration is completed based on the absolute positioning characteristics of the QR code, optimizing the motion control accuracy during the subrail's journey towards the main rail. When the four-way vehicle moves from the subrail to the main rail parking point, this configuration enables the vehicle to park quickly, smoothly, and accurately at the main rail station. Each cargo station along the subrail utilizes pre-set positioning side holes on the rail sidewall to achieve vehicle positioning within the subrail section.

[0023] This solution significantly reduces the number of QR codes required, with particularly noticeable reductions in QR code usage within a four-way shuttle warehouse system comprised of large, densely packed shelving. While maintaining the vehicle's positioning accuracy across all operating conditions, it effectively reduces on-site maintenance workload and improves system maintainability. Simultaneous deployment of QR codes and sidewall positioning holes in the subrail's connection area with the main rail creates dual redundancy for point verification, providing double insurance for positioning and further enhancing the stability and reliability of the warehouse system.

[0024] In this embodiment, Figure 2 The test site layout provided in Embodiment 1 of this application is as follows: Figure 2 As shown, verification tests were conducted within a single-layer shelving area. QR codes were placed at the two positioning points marked in red. Reflective markings were installed on the sidewalls of each sub-rail positioning position, working in conjunction with the mirror-reflective photoelectric sensors mounted on the four-way vehicle to achieve positioning. The original test site equipment was a full QR code positioning configuration, with QR codes at all positioning points on the shelving and no positioning holes on the sidewalls of the rails. To verify this solution, targeted modifications to the site were necessary. The green test path shown in the diagram (position 2 → position 1 → position 3) was selected for the experiment: the original positioning QR codes on the sub-rails outside the red frame within this path were masked and disabled. Reflective stickers were added to the corresponding sub-rail sidewalls, directly opposite the onboard mirror photoelectric sensors. Simultaneously, two mirror-reflective positioning photoelectric sensors were installed on the four-way vehicle.

[0025] Furthermore, Figure 3This is a schematic diagram of the cooperation between the sub-rail side hole and the four-way vehicle positioning photoelectric sensor provided in Embodiment 1 of this application. In this solution, the reflective sticker is equivalent to the positioning hole on the rail side wall. The cooperation structure between the reflective sticker and the positioning photoelectric sensor is as follows: Figure 3 As shown in the attached diagram, the two circles represent two positioning photoelectric sensors installed on the four-way vehicle body. The center distance between the two photoelectric sensors is d, and the size of the track side hole is D×H. The purpose of setting up dual photoelectric sensors is to suppress instantaneous false triggering interference caused by stray reflections from the track sidewall. The positioning signal is determined to be valid only when both photoelectric sensors detect the side hole signal simultaneously. When the four-way vehicle travels along the subrail, the effective positioning detection range is Dd. Figure 3 The working condition is that the two photoelectric sensors are aligned with the center of the side hole, which is also the theoretical calibration position for parking the side hole of the subrail. The actual parking position of the equipment should be as close as possible to this theoretical position.

[0026] In this plan, Figure 4 This is a schematic diagram of the QR code and reader interaction provided in Embodiment 1 of this application, as shown below. Figure 4 As shown, the QR code is a square with side length W, and the circle in the middle is the QR code reader. To ensure reliable operation, when the four-way vehicle stops at the QR code positioning location, the center point of the QR code reader needs to be located at... Figure 4 Inside a square frame with side length w. Figure 4 The location shown can be considered the theoretical location when parking using QR code positioning.

[0027] Among them, the positioning types of four-way vehicles are divided into QR code positioning and photoelectric reflection positioning.

[0028] Furthermore, the current positioning type of the four-way vehicle is determined in two ways: First, by sensor signal discrimination, the on-board controller collects the output signals of the barcode scanning camera and the lateral photoelectric sensor in real time, and automatically distinguishes between QR code positioning and photoelectric reflection positioning based on whether valid QR code coordinates are parsed and whether photoelectric point trigger signals are received; Second, by track area matching discrimination, the control system pre-stores the positioning method parameters corresponding to each track segment, combines the real-time coordinates of the four-way vehicle to match the track zone, and determines the corresponding positioning type through the preset track configuration.

[0029] S120. Determine a calibration value that matches the positioning type.

[0030] In this scheme, to make the motion control of the four-way vehicle more reliable and efficient, the current position of the four-way vehicle can be calibrated when it passes through positioning positions. The positioning position where the four-way vehicle was located before receiving the command and starting to drive is defined as the starting point, with a position value of 0. The distance between the driving target position specified by the command and the starting position is the total distance to be traveled, which is equal to the sum of the distances between all adjacent positions along the route. When passing through each positioning position, the current position of the four-way vehicle (i.e., the distance already traveled) is the distance between the currently passing positioning position and the starting position, which can be accurately calculated from the sum of the distances between all adjacent positions from the starting position to the current passing position. Using this value to calibrate the current position calculated based on motion control can eliminate accumulated errors and improve the accuracy of motion control.

[0031] In this embodiment, the four-way vehicle's journey through the positioning points constitutes a travel distance: when passing the QR code positioning points, Figure 4 The scanning head marked by the middle circle can read QR codes within the width W range; when passing the side hole points, the two sets of positioning photoelectric sensors will only output valid signals synchronously when the center distance d of the two photoelectric sensors falls within the opening size D range. Therefore, performing position calibration at different times will directly change the calibration accuracy, thus affecting the overall vehicle parking efficiency.

[0032] In the four-way automatic mode, along Figure 2 During the round trip between positions 1 and 3, the measured changes in the travel speed curve and the travel servo current curve can be observed. The system uses S-curve speed regulation to suppress start-stop shock and vehicle vibration. When the travel speed and servo current synchronously return to zero, the travel motor stops running. Before the mid-stage stop occurs, the servo current pulsates slightly near zero, and the travel speed approaches zero; this interval is the low-speed parking section. Low-speed travel can avoid high-speed inertial overshoot and ensure parking accuracy, but an excessively long low-speed interval will reduce operating efficiency. Therefore, improving the position calibration accuracy of the points along the route and optimizing the real-time performance and accuracy of motion control are key to shortening the low-speed parking interval and improving the overall vehicle operating efficiency.

[0033] Specifically, when the positioning type is QR code positioning, the calibration value is calculated based on the driving distance collected during the execution of driving instructions by the warehouse handling vehicle and the position offset of the QR code reader set on the warehouse handling vehicle relative to the QR code reference point.

[0034] In this scheme, when the positioning type is photoelectric reflection positioning, the calibration value is calculated based on the travel distance collected during the execution of the driving command by the warehouse handling vehicle and the effective photoelectric detection range of the warehouse handling vehicle along the sub-track.

[0035] S130. The first distance is calibrated according to the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder based on the starting position of the warehouse handling vehicle.

[0036] In this scheme, when the current state of the four-way vehicle is automatic, the starting position of the four-way vehicle is obtained in the following way: the positioning position of the vehicle at the moment of receiving the driving command is the starting position of the trip. The position number is preferentially taken from the position number parsed from the QR code of the route; if there is no nearby QR code, the previously verified stored position number is used.

[0037] In this embodiment, the first distance is calculated cumulatively based on the starting position.

[0038] Specifically, the calibration value is added to the first distance to obtain the second distance.

[0039] S140. Control the warehouse handling vehicle according to the second distance.

[0040] Specifically, the four-way vehicle is controlled to travel at a constant or decelerated speed based on the second distance, so that the vehicle stops after reaching the parking position or parking range.

[0041] Optionally, controlling the warehouse handling vehicle based on the second distance includes: Based on the second distance, a fourth distance is determined; wherein, the fourth distance is the remaining travel distance corresponding to the execution of the driving command by the warehouse handling vehicle; If the fourth distance is less than or equal to the preset parking distance, the warehouse transport vehicle is controlled to decelerate from the first driving speed to the second driving speed; wherein, the first driving speed is the real-time driving speed of the warehouse transport vehicle; and the second driving speed is the preset speed. When the warehouse handling vehicle travels to the pre-set parking area, control the warehouse handling vehicle to stop.

[0042] In this scheme, the remaining driving distance is obtained by subtracting the second distance from the total driving distance, and is denoted as the fourth distance. The total driving distance is obtained by summing the distances between each adjacent positioning point between the starting position and the target position.

[0043] The first driving speed is the real-time driving speed of the four-way vehicle; the second driving speed is a preset speed. The second driving speed is less than the first driving speed.

[0044] Specifically, the system determines whether the fourth distance is less than or equal to a preset parking distance. If so, it controls the four-way vehicle to decelerate from the first driving speed to the second driving speed; otherwise, it controls the vehicle to maintain its original operating conditions and continue moving forward. The parking distance is a fixed parameter pre-stored in the control system.

[0045] In this embodiment, acceleration and deceleration are executed according to preset parameters. That is, during acceleration and deceleration, the four-way vehicle uses a smooth speed curve to complete the speed transition. Commonly used speed curves include the Sigmoid curve, the TANH curve, and cubic, quartic, and quintic polynomial curves. The selection of the curve is based on the smoothness of speed and acceleration: the Sigmoid curve allows for continuous changes in jerk, effectively avoiding mechanical shock; the TANH curve has excellent transition characteristics, with smoother acceleration changes; higher-order polynomial curves can adapt to complex speed planning scenarios, but the algorithm computational complexity is relatively higher. In summary, the Sigmoid curve and the TANH curve combine control stability and ease of engineering implementation, making them more suitable for the operation control scenarios of four-way vehicles.

[0046] Furthermore, when the four-way vehicle travels to the pre-set parking area, the four-way vehicle is controlled to stop.

[0047] The fourth distance, representing the remaining distance, is obtained by calculating the total travel distance and the second distance. Based on the comparison between the fourth distance and the preset parking distance, graded speed control is achieved. The real-time first driving speed is reduced to the preset second low speed, and then the vehicle is parked after entering the designated parking range. The system can eliminate mileage accumulation error by relying on positioning point calibration. Combined with graded deceleration, it effectively reduces the inertial impact of the vehicle. This avoids the problem of high-speed overshoot and ensures parking positioning accuracy. It can also reasonably compress the low-speed crawling section, improve the efficiency of vehicle transfer operations, and enhance the stability and control reliability of the four-way vehicle in automatic and non-automatic switching conditions.

[0048] Optionally, when the warehouse handling vehicle travels to a pre-set parking area, controlling the warehouse handling vehicle to stop includes: If the positioning type is QR code positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to stop.

[0049] Specifically, when the positioning type is QR code positioning, the vehicle-mounted scanning device can parse the absolute coordinates and ranking number built into the landmark within the effective reading width W of the QR code, and the entire range of this interval belongs to the effective parking range.

[0050] The four-way vehicle can park immediately once it enters any parking area corresponding to the QR code. This not only ensures parking accuracy but also relaxes parking location constraints, shortens low-speed driving time, and improves operational efficiency.

[0051] Optionally, when the warehouse handling vehicle travels to a pre-set parking area, controlling the warehouse handling vehicle to stop further includes: If the positioning type is photoelectric reflection positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to travel to the pre-set parking position according to the first travel time, and the warehouse handling vehicle is controlled to stop; wherein, the first travel time is determined based on the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track.

[0052] Specifically, when the positioning type is photoelectric reflection positioning, the point calibration is achieved by synchronously collecting the track side hole trigger signal by dual-side positioning photoelectric sensors. Accurate positioning can only be completed when both photoelectric sensors fall into the effective range D of the hole at the same time and meet the effective judgment condition that d is within the range of the hole. Therefore, it is necessary to control the four-way vehicle to drive to the calibrated parking position before performing the parking action.

[0053] The first travel time is calculated based on the effective detection range of the sub-rail photoelectric sensor, using the following formula: This duration, combined with the vehicle speed, limits the low-speed coasting distance of the vehicle. It is used to match the effective window of photoelectric sensors, counteract vehicle inertia, and prevent positioning deviation caused by premature or delayed stopping.

[0054] In photoelectric reflection positioning mode, the first travel time is calculated using the effective detection range of photoelectric sensors. Based on this time, the vehicle's low-speed movement is controlled, allowing the vehicle to smoothly glide from the parking range to the precise parking position before parking. Due to the limitation that photoelectric sensors only generate fixed-point trigger signals within the effective range of the side holes and cannot obtain absolute coordinates in real time, this timed speed control method can counteract the vehicle's inertia and avoid parking deviations caused by premature parking or inertial overshooting. This effectively ensures the parking accuracy of the sub-track cargo position. Combined with graded deceleration control, the low-speed travel is optimized within a controllable range, balancing positioning reliability and equipment operating efficiency.

[0055] The technical solution of this invention involves obtaining the positioning type of a warehouse handling vehicle; determining a calibration value matching the positioning type; calibrating a first distance based on the calibration value to obtain a second distance; and controlling the warehouse handling vehicle based on the second distance. By implementing this technical solution, the amount of QR code deployment is significantly reduced, the system maintenance convenience is improved while meeting positioning accuracy requirements, and the overall reliability of the warehouse positioning system is effectively enhanced.

[0056] Example 2 Figure 5 This is a schematic diagram of a warehouse handling vehicle control process provided in Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiments is a detailed description of the calibration value determination process. Figure 5 As shown, the method includes: S510, Obtain the location type of the warehouse handling vehicle.

[0057] In this scheme, when the four-way vehicle positioning type is QR code positioning, S520-S530 is executed to determine the calibration value; when the four-way vehicle positioning type is photoelectric reflection positioning, S540-S550 is executed to determine the calibration value.

[0058] S520. When the positioning type is QR code positioning, obtain the third distance and the first offset; wherein, the third distance is the driving distance collected during the execution of the driving command by the warehouse handling vehicle; the first offset is the position offset of the QR code reader set on the warehouse handling vehicle relative to the QR code reference point.

[0059] In this embodiment, the third distance This refers to the travel distance collected during the execution of driving commands by the four-way vehicle. The distance between the current point and the starting point is calculated by summing the distances between all adjacent positioning points from the starting position to the current point passed through; this is the third distance. .

[0060] In this scheme, the first offset is the positional offset of the QR code reader mounted on the four-way vehicle relative to the QR code reference point. The first offset is collected and output in real time according to a preset sampling frequency.

[0061] The first offset is a signed value, and the positive or negative sign of the offset is used to characterize the offset direction of the reader relative to the center of the QR code.

[0062] S530. Calculate the calibration value based on the third distance and the first offset.

[0063] Specifically, by combining the actual travel direction of the four-way vehicle with the positive and negative signs of the first offset, addition and subtraction operations are used to compensate for the third distance, generating a calibration value after deviation correction. This compensates for the lateral position error of the barcode scanner relative to the center of the QR code, thereby improving the accuracy of mileage calculation.

[0064] For example, when the four-way vehicle is moving forward, the first offset is positive, indicating that the reader is biased towards the forward direction. During calibration calculation, the calibration value = third distance + first offset. When the four-way vehicle is moving forward, the first offset is negative, indicating that the reader is biased towards the opposite direction of travel. The calibration value = third distance + first offset (equivalent to subtracting the absolute value of the offset). When the four-way vehicle is moving in the opposite direction, the calculation logic is reversed, and the first offset is added or subtracted in the opposite direction according to the offset sign to complete the distance correction.

[0065] S540. When the positioning type is photoelectric reflection positioning, a third distance and a first range are obtained; wherein, the third distance is the travel distance collected during the execution of the driving command by the warehouse handling vehicle; and the first range is the photoelectric effective detection range of the warehouse handling vehicle traveling along the sub-track.

[0066] In this embodiment, the third distance This refers to the travel distance collected during the execution of driving commands by the four-way vehicle. The distance between the current point and the starting point is calculated by summing the distances between all adjacent positioning points from the starting position to the current point passed through; this is the third distance. .

[0067] In this scheme, the first range is the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track, that is, the first range is Dd.

[0068] S550. Calculate the calibration value based on the third distance and the first range.

[0069] Specifically, when the vehicle passes the side hole positioning point and the two sets of side hole photoelectric sensors synchronously trigger the initial signal, the actual distance traveled by the four-way vehicle is compared to the theoretical distance from the starting positioning point to the current positioning point. ,exist The travel difference; therefore, the following is adopted. As a calibration value, it replaces the original mileage calculation value to complete the distance correction.

[0070] S560. The first distance is calibrated according to the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder based on the starting position of the warehouse handling vehicle.

[0071] S570, Control the warehouse handling vehicle according to the second distance.

[0072] In this plan, Figure 6 This is a schematic diagram of a warehouse handling vehicle control method using a combination of QR code and side hole positioning, as provided in Embodiment 2 of this application. Figure 6 As shown, the four-way vehicle receives driving commands in automatic mode standby and starts operation after verification. During the vehicle's movement, it continuously checks whether it has entered the positioning range and whether the marker is in the reset state. If the conditions are met, the marker position is adjusted to avoid repeated calibration of a single point, and the path count is incremented. The distance J between the current point and the starting position is obtained by accumulating the distances between each adjacent point along the path. Subsequently, mileage calibration is performed according to the positioning type: if it is QR code positioning, the offset P of the reader with the symbol is collected and the calibration mileage is obtained by addition or subtraction according to the vehicle's direction of travel J; if it is photoelectric side hole positioning, then... As a calibration value, the corresponding servo encoder value P is recorded simultaneously. During subsequent vehicle operation, the difference between the real-time encoder reading and P is used to calculate the mileage, which is then superimposed with the aforementioned calibration value to obtain the real-time driving distance. The remaining driving distance is then calculated by subtracting the real-time driving distance from the total driving distance. If the remaining driving distance is greater than the deceleration and stopping distance, the vehicle continues to move; otherwise, it decelerates according to a preset parameter curve, reaching a low speed V before uniformly seeking positioning. The positioning type is identified again. In QR code positioning mode, the vehicle parks directly upon entering the preset parking range. In photoelectric side-hole positioning mode, the vehicle presses the button after entering the positioning area. The vehicle continues at low speed until it reaches the theoretical parking point, then stops, and finally completes the task and returns to standby mode.

[0073] The technical solution of this invention involves obtaining the positioning type of a warehouse handling vehicle; when the positioning type is QR code positioning, obtaining a third distance and a first offset; calculating a calibration value based on the third distance and the first offset. When the positioning type is photoelectric reflection positioning, obtaining a third distance and a first range; calculating a calibration value based on the third distance and the first range; calibrating the first distance based on the calibration value to obtain a second distance; and controlling the warehouse handling vehicle based on the second distance. By implementing this technical solution, the mileage is calibrated differently based on the characteristics of the two different positioning methods, QR code positioning and photoelectric reflection positioning. QR code positioning corrects the third distance using the first offset collected in real time, while photoelectric reflection positioning completes distance compensation based on the first range of effective photoelectric detection. The first distance obtained based on the starting position is uniformly corrected with the calibrated value to generate the second distance, and the vehicle's movement is then controlled based on the second distance. This specifically compensates for the hardware differences between QR code positioning, which can collect offsets, and photoelectric positioning, which does not provide offset feedback. It effectively eliminates mileage accumulation errors, takes into account the parking accuracy of both positioning modes, and improves the accuracy of position calculation and parking stability of the four-way vehicle track.

[0074] Example 3 Figure 7 This is a schematic diagram of a warehouse handling vehicle control device provided in Embodiment 3 of the present invention. The warehouse handling vehicle uses QR code positioning on the main track and photoelectric reflection positioning on the sub-tracks; as shown... Figure 7 As shown, the device includes: The location type acquisition module 710 is used to acquire the location type of the warehouse handling vehicle; The calibration value determination module 720 is used to determine a calibration value that matches the positioning type; The second distance acquisition module 730 is used to calibrate the first distance based on the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder with the starting position of the warehouse handling vehicle as a reference; The control module 740 is used to control the warehouse handling vehicle according to the second distance.

[0075] Optionally, the calibration value determination module 720 is specifically used for: When the positioning type is QR code positioning, a third distance and a first offset are obtained; wherein, the third distance is the driving distance collected during the execution of the driving command by the warehouse handling vehicle; and the first offset is the position offset of the QR code reader set on the warehouse handling vehicle relative to the QR code reference point. The calibration value is calculated based on the third distance and the first offset.

[0076] Optionally, the calibration value determination module 720 is also used for: When the positioning type is photoelectric reflection positioning, a third distance and a first range are obtained; wherein, the third distance is the travel distance collected during the execution of the driving command by the warehouse handling vehicle; the first range is the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track; The calibration value is calculated based on the third distance and the first range.

[0077] Optional, the control module 740 includes: The fourth distance determination submodule is used to determine a fourth distance based on the second distance; wherein, the fourth distance is the remaining travel distance corresponding to the execution of the driving command by the warehouse handling vehicle; The deceleration control submodule is used to control the warehouse transport vehicle to decelerate from a first driving speed to a second driving speed if the fourth distance is less than or equal to a preset parking distance; wherein, the first driving speed is the real-time driving speed of the warehouse transport vehicle; and the second driving speed is a preset speed. The control submodule is used to control the warehouse handling vehicle to stop when it travels to a pre-set parking range.

[0078] Optional, control submodule, specifically used for: If the positioning type is QR code positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to stop.

[0079] Optionally, the control submodule is also used for: If the positioning type is photoelectric reflection positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to travel to the pre-set parking position according to the first travel time, and the warehouse handling vehicle is controlled to stop; wherein, the first travel time is determined based on the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track.

[0080] The warehouse handling vehicle control device provided in this embodiment of the invention can execute a warehouse handling vehicle control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0081] Example 4 Figure 8 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0082] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0083] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0084] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a warehouse handling vehicle control method.

[0085] In some embodiments, a warehouse handling vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the warehouse handling vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a warehouse handling vehicle control method by any other suitable means (e.g., by means of firmware).

[0086] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0087] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0088] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0089] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0090] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0091] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0092] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0093] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0094] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling a warehouse handling vehicle, characterized in that, The warehouse handling vehicle uses QR code positioning on the main warehouse track and photoelectric reflection positioning on the sub-track; the method includes: Obtain the location type of the warehouse handling vehicle; Determine the calibration value that matches the positioning type; The first distance is calibrated based on the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder with the starting position of the warehouse handling vehicle as the reference. The warehouse handling vehicle is controlled according to the second distance.

2. The method according to claim 1, characterized in that, Determining a calibration value that matches the positioning type includes: When the positioning type is QR code positioning, a third distance and a first offset are obtained; wherein, the third distance is the driving distance collected during the execution of the driving command by the warehouse handling vehicle; and the first offset is the position offset of the QR code reader set on the warehouse handling vehicle relative to the QR code reference point. The calibration value is calculated based on the third distance and the first offset.

3. The method according to claim 1, characterized in that, Determining a calibration value that matches the positioning type includes: When the positioning type is photoelectric reflection positioning, a third distance and a first range are obtained; wherein, the third distance is the travel distance collected during the execution of the driving command by the warehouse handling vehicle; the first range is the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track; The calibration value is calculated based on the third distance and the first range.

4. The method according to claim 1, characterized in that, Controlling the warehouse handling vehicle according to the second distance includes: Based on the second distance, a fourth distance is determined; wherein, the fourth distance is the remaining travel distance corresponding to the execution of the driving command by the warehouse handling vehicle; If the fourth distance is less than or equal to the preset parking distance, the warehouse transport vehicle is controlled to decelerate from the first driving speed to the second driving speed; wherein, the first driving speed is the real-time driving speed of the warehouse transport vehicle; and the second driving speed is the preset speed. When the warehouse handling vehicle travels to the pre-set parking area, control the warehouse handling vehicle to stop.

5. The method according to claim 4, characterized in that, When the warehouse handling vehicle travels to a pre-set parking area, controlling the warehouse handling vehicle to stop includes: If the positioning type is QR code positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to stop.

6. The method according to claim 4, characterized in that, When the warehouse handling vehicle travels to a pre-set parking area, controlling the warehouse handling vehicle to stop also includes: If the positioning type is photoelectric reflection positioning, then when the warehouse handling vehicle travels to the pre-set parking range, the warehouse handling vehicle is controlled to travel to the pre-set parking position according to the first travel time, and the warehouse handling vehicle is controlled to stop; wherein, the first travel time is determined based on the effective photoelectric detection range of the warehouse handling vehicle traveling along the sub-track.

7. A warehouse handling vehicle control device, characterized in that, The warehouse handling vehicle uses QR code positioning on the main warehouse track and photoelectric reflection positioning on the sub-track; the device includes: The location type acquisition module is used to obtain the location type of the warehouse handling vehicle; A calibration value determination module is used to determine a calibration value that matches the positioning type; The second distance acquisition module is used to calibrate the first distance based on the calibration value to obtain the second distance; wherein, the first distance is the cumulative travel distance calculated by the encoder with the starting position of the warehouse handling vehicle as a reference; A control module is used to control the warehouse handling vehicle based on the second distance.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a warehouse handling vehicle control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute and implement the warehouse handling vehicle control method according to any one of claims 1-6.

10. A computer program product comprising a computer program that, when executed by a processor, implements a warehouse handling vehicle control method according to any one of claims 1-6.

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