Shuttle vehicle control method and device, shuttle vehicle, and storage medium

Abstract

The present disclosure provides a shuttle control method and apparatus, a shuttle, and a storage medium, the method including the steps of controlling a first distance measuring device and a second distance measuring device to measure a first distance and a second distance from a transported object, respectively, and determining whether or not product processing can be performed based on results of separately performing a first comparison process for the first distance and the second distance using a target normal distance threshold, and when it is determined that product processing cannot be performed, performing a second comparison process for the first distance and the second distance using a deviation correction distance threshold, separately, and determining whether or not to control the shuttle to perform a deviation correction process based on results of the second comparison process.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure is based on and claims priority to Chinese Patent Application No. CN202110032382.0, filed on January 12, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to the technical field of logistics, and in particular to a shuttle vehicle control method and device, a shuttle vehicle, and a storage medium. [Background technology]

[0003] In modern automated logistics warehouses, items are usually picked and placed on shelves using reciprocating rail shuttle vehicles. Shuttle vehicles include fixed-distance shuttle vehicles, variable-distance shuttle vehicles, etc., where fixed-distance shuttle vehicles refer to shuttle vehicles with a fixed-width pick-and-place mechanism, and variable-distance shuttle vehicles refer to shuttle vehicles with a pick-and-place mechanism that is adjustable within a certain range. The items picked and placed by the shuttle vehicles may be bins (in which goods are placed), etc., or may be goods with complete packages. The shuttle vehicles are controlled to place bins in storage locations on the shelves, the locations of the storage locations are recorded in the system, and when an item needs to be picked, the shuttle vehicles are controlled to move to the corresponding storage locations to pick the bins from the storage locations on the shelves. Summary of the Invention [Means for solving the problem]

[0004] According to a first aspect of the present disclosure, there is provided a shuttle vehicle control method, the method including the steps of controlling a shuttle vehicle to reach a specified position and controlling a first distance measuring device and a second distance measuring device to measure a first distance and a second distance, respectively, from an object to be transported, where the first distance measuring device and the second distance measuring device are mounted on a first fork mechanism and a second fork mechanism, respectively, arranged in parallel on the shuttle vehicle; performing a first comparison process using a target normal distance threshold for the first distance and the second distance, respectively, and determining based on a result of the first comparison process whether the first fork mechanism and the second fork mechanism can be controlled to perform product processing; and, when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to perform product processing, performing a second comparison process using a deviation correction distance threshold for the first distance and the second distance, respectively, and determining based on the result of the second comparison process whether to control the shuttle vehicle to perform deviation correction processing.

[0005] In some embodiments, the step of determining whether the first fork mechanism and the second fork mechanism can be controlled to process the product based on the result of the first comparison process includes determining that the first fork mechanism and the second fork mechanism can be controlled to process the product if the first distance is greater than a target normal distance threshold and the second distance is greater than a target normal distance threshold.

[0006] In some embodiments, controlling the first fork mechanism and the second fork mechanism to process the item includes controlling the first fork mechanism and the second fork mechanism to each extend a first fork length, where the first fork length is equal to the target normal distance threshold.

[0007] In some embodiments, the step of determining whether to control the shuttle vehicle to perform the deviation correction processing based on the result of the second comparison processing includes the step of determining that the shuttle vehicle cannot be controlled to perform the deviation correction processing if the first distance is less than a deviation correction distance threshold or if the second distance is less than a deviation correction distance threshold.

[0008] In some embodiments, when it is determined that the shuttle vehicle cannot be controlled to perform the deviation correction process, abnormality information regarding the placement of the transported object is reported.

[0009] In some embodiments, the step of controlling the shuttle vehicle to perform the misalignment correction process includes controlling the first fork mechanism and the second fork mechanism to each extend a second fork length based on the first distance and the second distance, and controlling the shuttle vehicle to move forward or backward.

[0010] In some embodiments, controlling the first fork mechanism and the second fork mechanism to extend by a second fork length based on the first distance and the second distance includes selecting a shorter distance from the first distance and the second distance, and considering a difference between the shorter distance and a measurement error threshold as the second fork length.

[0011] In some embodiments, controlling the shuttle vehicle to move forward and backward includes controlling the shuttle vehicle to move forward and backward at least once based on a forward distance set value and a reverse distance set value until a first distance is greater than a target normal distance threshold and a second distance is greater than a target normal distance threshold.

[0012] In some embodiments, the transported object comprises a cargo box, and the first distance measuring device and the second distance measuring device comprise laser distance measuring devices.

[0013] According to a second aspect of the present disclosure, there is provided a shuttle vehicle control device comprising: a distance detection module configured to control a shuttle vehicle to reach a specified position and to control a first distance measuring device and a second distance measuring device to measure a first distance and a second distance, respectively, from an object to be transported, where the first distance measuring device and the second distance measuring device are mounted on a first fork mechanism and a second fork mechanism arranged in parallel on the shuttle vehicle, respectively; a product processing module configured to perform a first comparison process using a target normal distance threshold for the first distance and the second distance, respectively, and determine, based on a result of the first comparison process, whether the first fork mechanism and the second fork mechanism can be controlled to perform product processing; and a deviation correction processing module configured, when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to perform product processing, to perform a second comparison process using a deviation correction distance threshold for the first distance and the second distance, respectively, and determine, based on the result of the second comparison process, whether to control the shuttle vehicle to perform deviation correction processing.

[0014] In some embodiments, the item processing module includes an item picking determination unit configured to determine that the first fork mechanism and the second fork mechanism can be controlled to process the item when the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold.

[0015] In some embodiments, the product processing module comprises a double pass processing unit configured to control the first fork mechanism and the second fork mechanism to each extend a first fork length, the first fork length being equal to the target normal distance threshold.

[0016] In some embodiments, the misalignment correction processing module comprises a misalignment correction determination unit configured to determine that the shuttle vehicle cannot be controlled to perform the misalignment correction processing if the first distance is less than a misalignment correction distance threshold or if the second distance is less than a misalignment correction distance threshold.

[0017] In some embodiments, the deviation correction processing module includes an abnormality reporting unit configured to report abnormality information of the placement of the transported object when it determines that it is not possible to control the shuttle vehicle to perform deviation correction processing.

[0018] In some embodiments, the misalignment correction processing module includes a mechanism control unit configured to control the first fork mechanism and the second fork mechanism to extend by a second fork length, respectively, based on the first distance and the second distance, and to control the shuttle vehicle to move forward or backward.

[0019] In some embodiments, the mechanism control unit is configured to select a shorter distance from the first distance and the second distance, and consider a difference between the shorter distance and a measurement error threshold as the second forking length.

[0020] In some embodiments, the mechanism control unit is configured to control the shuttle vehicle to move forward and backward at least once based on the forward distance set value and the reverse distance set value until the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold.

[0021] In some embodiments, the transported object comprises a cargo box, and the first distance measuring device and the second distance measuring device comprise laser distance measuring devices.

[0022] According to a third aspect of the present disclosure, there is provided a shuttle vehicle control device comprising: a memory; and a processor coupled to the memory, the processor configured to perform the above-mentioned method based on instructions stored in the memory.

[0023] According to a fourth aspect of the present disclosure, there is provided a shuttle vehicle including the above-mentioned shuttle vehicle control device.

[0024] According to a fifth aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the method set out above.

[0025] According to a sixth aspect of the present disclosure, there is provided a product misalignment correction control method for a shuttle vehicle, the method including the steps of controlling the shuttle vehicle to reach a specified position, controlling the first fork mechanism and the second fork mechanism to each extend by a second fork length, and controlling the shuttle vehicle to move back and forth so as to perform a misalignment correction process on the product.

[0026] In some embodiments, the step of controlling the first fork mechanism and the second fork mechanism to be extended by the second fork length includes the steps of controlling the first distance measuring device and the second distance measuring device to measure a first distance and a second distance, respectively, from the object to be transported, where the first distance measuring device and the second distance measuring device are mounted on the first fork mechanism and the second fork mechanism, respectively, arranged in parallel on the shuttle vehicle; performing a first comparison process using a target normal distance threshold for the first distance and the second distance, respectively, and determining based on a result of the first comparison process whether the first fork mechanism and the second fork mechanism can be controlled to process the product; and, when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to process the product, performing a second comparison process using a deviation-corrected distance threshold for the first distance and the second distance, respectively, and determining based on a result of the second comparison process whether to control the first fork mechanism and the second fork mechanism to be extended by the second fork length, respectively.

[0027] In some embodiments, it is determined that if the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold, the first fork mechanism and the second fork mechanism can each be controlled to extend by a second fork length.

[0028] In some embodiments, a shorter distance is selected from the first distance and the second distance, and the difference between the shorter distance and the measurement error threshold is considered as the second fork length.

[0029] In some embodiments, controlling the shuttle vehicle to move forward and backward includes controlling the shuttle vehicle to move forward and backward at least once based on a forward distance set value and a reverse distance set value until a first distance is greater than a target normal distance threshold and a second distance is greater than a target normal distance threshold.

[0030] According to a seventh aspect of the present disclosure, there is provided a product deviation correction control device for a shuttle vehicle, the device comprising: a memory; and a processor coupled to the memory, the processor configured to perform the above-mentioned method based on instructions stored in the memory.

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, drawings that need to be used in the description of the embodiments or related technologies are briefly described below, but the drawings in the following description are only some embodiments of the present disclosure, and it is obvious that a person skilled in the art may obtain other drawings according to the drawings without exerting creative efforts. [Brief description of the drawings]

[0032] [Figure 1] 1 is a schematic flow diagram of some embodiments of a shuttle vehicle control method according to the present disclosure. [Diagram 2] FIG. 1 is a schematic diagram of a shuttle vehicle picking goods. [Figure 3A] FIG. 2 is a schematic diagram of the fork mechanism of the shuttle vehicle. [Figure 3B] FIG. 2 is a schematic diagram of the fork mechanism of the shuttle vehicle. [Figure 4A] FIG. 1 is a schematic diagram of a shuttle vehicle that performs deviation correction processing. [Figure 4B] FIG. 1 is a schematic diagram of a shuttle vehicle that performs deviation correction processing. [Diagram 5] FIG. 11 is a schematic flow diagram of steps for controlling a shuttle vehicle to provide misalignment correction in some embodiments of a shuttle vehicle control method according to the present disclosure. [Figure 6] 1 is a schematic modular diagram of some embodiments of a shuttle vehicle control device according to the present disclosure. [Figure 7] 2 is a schematic module diagram of a product processing module in some embodiments of a shuttle vehicle control system according to the present disclosure. FIG. [Figure 8]FIG. 13 is a schematic module diagram of a deviation correction processing module in some embodiments of a shuttle vehicle control device according to the present disclosure. [Figure 9] FIG. 13 is a schematic module diagram of another embodiment of a shuttle vehicle control device according to the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] A more comprehensive description of the present disclosure is given below with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. The technical solutions in the embodiments of the present disclosure are clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure, and it is clear that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments that can be obtained by those skilled in the art based on the embodiments of the present disclosure without any creative effort shall be included in the scope of protection of the present disclosure. The technical solutions of the present disclosure are variously described below in conjunction with various drawings and embodiments.

[0034] "First", "second", etc. are used hereinafter only for explanatory distinction and have no other special meaning.

[0035] In the related art known to the present inventors, in practical application, due to mechanical vibration or other factors, the boxes on the shelf will generate position movements and angle deviations on the shelf, and if the shuttle vehicle still picks the bins according to the positions recorded in the system, the shuttle vehicle may collide with the bins in the process of picking the bins, resulting in the abnormality of failing to pick the bins and requiring manual processing.

[0036] Taking this into consideration, the technical problem that the present disclosure aims to solve is to provide a shuttle vehicle control method and apparatus, a shuttle vehicle, and a storage medium that can detect the inclination of an object to be transported and perform a position correction process on the object to be transported, thereby enabling the shuttle vehicle to stably pick bins, thereby reducing the failure rate of transporting the object to be transported, improving the safety and reliability of logistics, and improving the customer's user experience.

[0037] FIG. 1 is a schematic flow diagram of some embodiments of a shuttle vehicle control method according to the present disclosure. As shown in FIG. 1:

[0038] In step 101, controlling a shuttle vehicle to reach a specified position and controlling a first distance measuring device and a second distance measuring device to measure a first distance and a second distance, respectively, from a transported object.

[0039] In some embodiments, the designated location may be a location of a storage location corresponding to the transported object. The transported object may include a cargo box, a bin, etc., and the first distance measuring device and the second distance measuring device may be a laser distance measuring device, etc. The first distance measuring device and the second distance measuring device are mounted on a first fork mechanism (the fork mechanism may vary and may be a single pass or double pass mechanism) and a second fork mechanism, respectively, arranged in parallel on the shuttle vehicle.

[0040] As shown in Figure 2, the shuttle vehicle is controlled to place bins 01, 02, 03 at storage locations on the shelf, and the locations of the storage locations are recorded. When bins 01, 02 or 03 need to be removed from their storage locations, the shuttle vehicle is controlled to move to the corresponding storage location (designated location), and the bin is removed from the shelf storage location by extending the first fork mechanism 04 and the second fork mechanism 05 to clamp the bin. The shortest state of the fork mechanisms is shown in Figure 3A, and the extended state of the fork mechanisms is shown in Figure 3B.

[0041] In step 102, a first comparison process is performed on the first distance and the second distance using a target normal distance threshold, and based on a result of the first comparison process, it is determined whether the first fork mechanism and the second fork mechanism can be controlled to perform a product processing. The product processing can be various, such as a product picking process, a product transfer process, a product inspection process, etc.

[0042] In step 103, when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to process the product, a second comparison process is performed on the first distance and the second distance using a deviation correction distance threshold value, and based on the result of the second comparison process, it is determined whether to control the shuttle vehicle to perform a deviation correction process.

[0043] In some embodiments, if the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold, it is determined that the first fork mechanism and the second fork mechanism can be controlled to process the item. The first fork mechanism and the second fork mechanism are each controlled to extend by a first fork length, the first fork length being equal to the target normal distance threshold. If the fork mechanism is a double pass fork mechanism, the fork length is the double pass fork length.

[0044] If the first distance is less than the target normal distance threshold or the second distance is less than the target normal distance threshold, it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to perform product processing. If the first distance is less than the deviation correction distance threshold or the second distance is less than the deviation correction distance threshold, it is determined that the shuttle vehicle cannot be controlled to perform deviation correction processing. When it is determined that the shuttle vehicle cannot be controlled to perform deviation correction processing, abnormality information of the arrangement of the transported object is reported.

[0045] According to the shuttle vehicle control method disclosed herein, the inclination of the object to be transported can be detected and correction processing can be performed on the object to be transported, thereby enabling the shuttle vehicle to pick bins stably, and as a result, the failure rate of transporting the object to be transported is reduced.

[0046] As shown in Figure 4A and Figure 4B, the movable plate No. 2 and the fixed plate No. 3 are a fork mechanism. When the movable plate No. 2 cannot move back and forth, the shuttle vehicle is of fixed distance type, and when the movable plate No. 2 can move back and forth, the shuttle vehicle is of variable distance type. The movable plate No. 2 and the fixed plate No. 3 can be in a link mode or an individual control mode, where the link mode refers to controlling the plates No. 2 and No. 3 to extend simultaneously, and the individual control mode refers to controlling the plates No. 2 and No. 3 to extend respectively, and the distances of extending the plates No. 2 and No. 3 can be different.

[0047] The shuttle vehicle generally uses a link mechanism, which can save one servo system. The fork can be lifted up and down. When the cargo box is picked up successfully, the control is carried out according to the current control mode, that is, first lift the fork to extend the fork mechanism, then lower the fork to retreat the fork mechanism, and in the process of retreating the fork mechanism, the fork hooks the cargo box and puts the cargo box back on the shuttle vehicle.

[0048] The first distance measuring device and the second distance measuring device are laser sensor No. 1 and laser sensor No. 2 respectively, and by using the laser ranging sensor, the distance of the object to the sensor in the laser direction can be detected, and the light beams of laser sensor No. 1 and laser sensor No. 2 are parallel to movable plate No. 2 and fixed plate No. 3 respectively, and are as close as possible to the inside of movable plate No. 2 and fixed plate No. 3 (the inside refers to the side closer to the bin).

[0049] L0 refers to the distance to the left end of the bin of the laser sensor. L0 is the target normal distance threshold, and the length of L0 can be set in advance according to experiments. To determine whether the fork mechanism can be directly extended to pick up the case, when the distance LA (the first distance) measured by the laser sensor No. 1 > L0 and the distance LB (the second distance) measured by the laser sensor No. 2 > L0, it can be determined that the movable plate No. 2 and the fixed plate No. 3 are directly extended to pick up the bin.

[0050] To determine whether deviation correction can be performed, when LA < LC or LB < LC, deviation correction processing cannot be performed. LC is an empirical value and the deviation correction distance threshold, and the length of LC can be set in advance according to experiments. When the bin is tilted to a certain extent, it is considered that the deviation correction operation cannot be performed. Therefore, the shuttle vehicle reports an abnormality via the network and is processed manually. When deviation correction can be performed, the shuttle vehicle is controlled to enter the deviation correction process.

[0051] FIG. 5 is a schematic flowchart of steps for controlling a shuttle vehicle to perform deviation correction in some embodiments of the shuttle vehicle control method according to the present disclosure. As shown in FIG. 5:

[0052] In step 501, based on the first distance and the second distance, control the first fork mechanism and the second fork mechanism to extend by the second fork length respectively.

[0053] For example, the shorter distance is selected from the first distance and the second distance, and the difference between the shorter distance and the measurement error threshold is regarded as the second fork length. After the first fork mechanism and the second fork mechanism are controlled to extend by the second fork length respectively, the shuttle vehicle is controlled to move back and forth.

[0054] In step 502, control the shuttle vehicle to move back and forth at least once based on the forward distance set value and the backward distance set value until the first distance becomes greater than the target normal distance threshold and the second distance becomes greater than the target normal distance threshold.

[0055] In some embodiments, for the calculation of the second fork length (distance) for extending the first fork mechanism and the second fork mechanism respectively, when LA > LB, the extended second fork length is LD = LB - LE, where LE is the measurement error threshold, that is, the measurement error of the laser emission point in the laser direction, and the distance length of LE can be set in advance according to the experiment. The distance value of LD can extend the fork mechanism as much as possible without colliding with the bin. When LA < LB, LD = LA - LE.

[0056] The shuttle vehicle is controlled to slowly move forward by a distance S1 (forward distance set value), where S1 can be an empirical value obtained according to the experiment or calculated by a preset functional relationship, and S1 can be the maximum value that the shuttle vehicle can move. The shuttle vehicle moves in the reverse direction, and the backward distance set value is S2. S2 is an empirical value obtained through experiments, and S2 can be the minimum distance for avoiding the light beam of the laser sensor. In the process of the shuttle vehicle moving by S1, since there is one fork mechanism for the bin, after moving in the reverse direction by S2, the bin avoids occlusion. When the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold, it is determined that the deviation correction operation is completed.

[0057] The misalignment correction operation for the bin may not be completed in one go. For example, in the first misalignment correction operation, the shuttle vehicle is controlled to move forward first, and in the second misalignment correction operation, the shuttle vehicle is controlled to move backward first. If the coordinate of the shuttle vehicle when parking is X0, the distance the shuttle vehicle can move for misalignment correction is S3 according to the needs of the actual scene. In the first misalignment correction, S1=S3, the coordinate of the shuttle vehicle after moving is X1=X0+S1, and the coordinate of the shuttle vehicle after moving in the reverse direction is X2=X0+S1-S2; in the second misalignment correction, the coordinate of the shuttle vehicle after the first move is X3=X0-S3, and the coordinate of the shuttle vehicle after moving in the reverse direction is X4=X3+S2. Similarly, for the Nth deviation correction (N=1, 3, 5, 7...), the coordinate of the shuttle vehicle after the first movement is Xn=X0+S3, and the coordinate of the shuttle vehicle after moving in the reverse direction is Xn+1=X0+S3-S2, and for the Mth deviation correction (N=2, 4, 6, 8...), the coordinate of the shuttle vehicle after the first movement is Xm=X0-S3, and the coordinate of the shuttle vehicle after moving in the reverse direction is Xm+1=X0-S3+S2.If the fork mechanism is not in link mode and LA>L0, the distance LA by which the fork mechanism is extended is L0, and if LB>L0, the distance LB by which the fork mechanism is extended is L0.

[0058] In some embodiments, as shown in Fig. 6, the present disclosure provides a shuttle vehicle control device 60 including a distance detection module 61, a product processing module 62, and a deviation correction processing module 63. The distance detection module 61 controls the shuttle vehicle to reach a specified position, and controls a first distance measuring device and a second distance measuring device to measure a first distance and a second distance from a transport object, respectively, and the first distance measuring device and the second distance measuring device are mounted on a first fork mechanism and a second fork, respectively, arranged in parallel on the shuttle vehicle.

[0059] The product processing module 62 performs a first comparison process using a target normal distance threshold value for the first distance and the second distance, and determines whether or not the first fork mechanism and the second fork mechanism can be controlled to perform product processing based on the first comparison process result. In a state where it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to perform product processing, the deviation correction processing module 63 performs a second comparison process using a deviation correction distance threshold value for the first distance and the second distance, and determines whether or not to control the shuttle vehicle to perform deviation correction processing based on the second comparison process result.

[0060] In some embodiments, the present disclosure provides a method for controlling a product misalignment correction of a shuttle vehicle, in which the shuttle vehicle is controlled to reach a designated position, the first fork mechanism and the second fork mechanism are controlled to extend by a second fork length, and the shuttle vehicle is controlled to move forward and backward to perform a misalignment correction process on the product.

[0061] The shuttle vehicle may be controlled to move forward and backward in various ways, for example, the shuttle vehicle is controlled to move forward and backward at least once based on a forward distance set value and a reverse distance set value until a first distance is greater than a target normal distance threshold and a second distance is greater than a target normal distance threshold.

[0062] The first distance measuring device and the second distance measuring device are controlled to measure a first distance and a second distance, respectively, from the object to be transported, the first distance measuring device and the second distance measuring device are mounted on a first fork mechanism and a second fork mechanism, respectively, arranged in parallel on a shuttle vehicle, a first comparison process is performed on the first distance and the second distance, respectively, using a target normal distance threshold value, and based on the result of the first comparison process, it is determined whether the first fork mechanism and the second fork mechanism can be controlled to process the goods.

[0063] When it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to process the product, a second comparison process is performed on the first distance and the second distance using a deviation correction distance threshold value, and based on the result of the second comparison process, it is determined whether to control the first fork mechanism and the second fork mechanism to be extended by the second fork length, respectively.

[0064] If the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold, it is determined that the first fork mechanism and the second fork mechanism can each be controlled to extend by a second fork length. A shorter distance is selected from the first distance and the second distance, and a difference between the shorter distance and the measurement error threshold is regarded as the second fork length.

[0065] In some embodiments, as shown in Fig. 7, the product processing module 62 includes a product picking determination unit 621 and a double pass processing unit 622. If the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold, the product picking determination unit 621 determines that the first fork mechanism and the second fork mechanism can be controlled to perform product processing. The double pass processing unit 622 controls the first fork mechanism and the second fork mechanism to extend by a first fork length, respectively, and the first fork length is equal to the target normal distance threshold.

[0066] In some embodiments, as shown in FIG. 8, the deviation correction processing module 63 includes a deviation correction determination unit 631, an abnormality reporting unit 632, and a mechanism control unit 633. When the first distance is less than the deviation correction distance threshold or when the second distance is less than the deviation correction distance threshold, the deviation correction determination unit 631 determines that the shuttle vehicle cannot be controlled to perform deviation correction processing. The abnormality reporting unit 632 reports abnormality information of the arrangement of the transport object when it is determined that the shuttle vehicle cannot be controlled to perform deviation correction processing. The mechanism control unit 633 controls the first fork mechanism and the second fork mechanism to extend by the second fork length, respectively, based on the first distance and the second distance, and the shuttle vehicle is controlled to move forward and backward.

[0067] For example, the mechanism control unit 633 selects a shorter distance from the first distance and the second distance, and regards a difference between the shorter distance and the measurement error threshold as the second fork length. The mechanism control unit 633 controls the shuttle vehicle to move forward and backward at least once based on the forward distance setting value and the reverse distance setting value until the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold.

[0068] 9 is a schematic module diagram of another embodiment of a shuttle vehicle control device according to the present disclosure. As shown in FIG. 9, the device may include a memory 91, a processor 92, a communication interface 93, and a bus 94. The memory 91 is used for storing instructions, and the processor 92 is coupled to the memory 91, and the processor 92 is configured to execute the above shuttle vehicle control method based on the instructions stored in the memory 91.

[0069] The memory 91 may be a high-speed RAM memory, a non-volatile memory, etc., or the memory 91 may be a memory array. The memory 91 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The processor 92 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the shuttle vehicle control method of the present disclosure.

[0070] In some embodiments, the present disclosure provides a shuttle vehicle comprising the shuttle vehicle control device of any of the above embodiments.

[0071] In some embodiments, the present disclosure provides a merchandise misalignment correction control device for a shuttle vehicle, comprising a memory, a processor, a communication interface, and a bus, wherein the memory is used for storing instructions, and the processor is coupled to the memory and configured to execute the above-mentioned merchandise misalignment correction control method for a shuttle vehicle based on the instructions stored in the memory.

[0072] The memory may be a high-speed RAM memory, a non-volatile memory, etc., and the memory may be a memory array. The memory may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the product misalignment correction control method for a shuttle vehicle of the present disclosure.

[0073] In some embodiments, the present disclosure provides a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implements the shuttle vehicle control method of any of the above embodiments.

[0074] A computer-readable storage medium may take any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (non-exhaustive list) of readable storage media may include an electrical connection having one or more wires, a portable diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0075] According to the shuttle vehicle control method and apparatus, shuttle vehicle, and storage medium of the above embodiments, the inclination of the object to be transported can be detected and a position correction process can be performed on the object to be transported, thereby enabling the shuttle vehicle to stably pick up cases. As a result, the failure rate of the objects to be transported is reduced, the safety and reliability of logistics are improved, and the customer experience is improved.

[0076] Although the basic principles of the present disclosure have been described above in conjunction with specific embodiments, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are not limiting, but merely examples, and are not considered essential to various embodiments of the present disclosure. Those skilled in the art should understand that the embodiments of the present disclosure may be provided as a method, a system, or a computer program product. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer usable non-transitory storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.) having computer usable program code embodied therein.

[0077] The present disclosure is described with reference to flow diagrams and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block of the flow diagrams and / or block diagrams, and combinations of flows and / or blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine such that the instructions executed through the processor of the computer or other programmable data processing device create means for implementing the functions specified in one or more flows of the flow diagrams and / or one or more blocks of the block diagrams.

[0078] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture that includes instruction means that implement the functions specified in one or more flows of the flow diagrams and / or one or more blocks of the block diagrams.

[0079] The method and system of the present disclosure may be implemented in several ways. The method and system of the present disclosure may be implemented, for example, by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps of the method is merely exemplary, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specified. Furthermore, in some embodiments, the present disclosure may be further implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the method according to the present disclosure. Thus, the present disclosure further covers a recording medium storing a program for executing the method according to the present disclosure.

[0080] The description of the present disclosure is presented for the purpose of example and explanation, and is not intended to be exhaustive or to limit the present invention to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The selection and description of the embodiments are intended to better explain the principles and practical applications of the present disclosure, and to enable those skilled in the art to understand the present disclosure and therefore design various embodiments with various modifications suitable for specific purposes. [Explanation of symbols]

[0081] 60 Shuttle vehicle control device 61 Distance detection module 62 Product Processing Module 63 Misalignment correction processing module 621 Product Picking Judgment Unit 622 Double Pass Processing Unit 631 Misalignment correction judgment unit 632 Anomaly Reporting Unit 633 Mechanism Control Unit 91 Memory 92 processors 93 Communication Interface 94 Bus

Claims

1. 1. A shuttle vehicle control method, comprising: controlling the shuttle vehicle to reach the designated location and controlling a first distance measuring device and a second distance measuring device to measure a first distance and a second distance, respectively, from the transported object; the first distance measuring device and the second distance measuring device are mounted on a first fork mechanism and a second fork mechanism, respectively, arranged in parallel on the shuttle vehicle; Steps and performing a first comparison process for the first distance and the second distance using a target normal distance threshold, and determining whether the first fork mechanism and the second fork mechanism can be controlled to process the product based on a result of the first comparison process; performing a second comparison process for the first distance and the second distance using a deviation correction distance threshold value, and determining whether or not to control the shuttle vehicle to perform a deviation correction process based on a result of the second comparison process when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to process the product; A shuttle vehicle control method comprising:

2. the step of determining whether the first fork mechanism and the second fork mechanism can be controlled to process the product based on a result of the first comparison process, determining that the first fork mechanism and the second fork mechanism can be controlled to process an item if the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold; 2. The shuttle vehicle control method of claim 1, comprising:

3. said step of controlling said first fork mechanism and said second fork mechanism to process merchandise comprises: controlling the first fork mechanism and the second fork mechanism to each extend a first fork length, the first fork length being equal to the target normal distance threshold; 3. The shuttle vehicle control method of claim 2, comprising:

4. The step of determining whether to control the shuttle vehicle so as to perform a deviation correction process based on a result of the second comparison process, determining that the shuttle vehicle cannot be controlled to perform a deviation correction process if the first distance is less than the deviation correction distance threshold or the second distance is less than the deviation correction distance threshold; 2. The shuttle vehicle control method of claim 1, comprising:

5. reporting abnormality information regarding the placement of the transport object in the state in which it is determined that the shuttle vehicle cannot be controlled to perform deviation correction processing; 5. The shuttle vehicle control method of claim 4, further comprising:

6. The step of controlling the shuttle vehicle to perform a deviation correction process comprises: controlling the first fork mechanism and the second fork mechanism to extend by a second fork length based on the first distance and the second distance, and controlling the shuttle vehicle to move forward and backward; 3. The shuttle vehicle control method of claim 2, comprising:

7. the step of controlling the first fork mechanism and the second fork mechanism to be extended by a second fork length based on the first distance and the second distance, selecting a shorter distance from the first distance and the second distance; determining a difference between the shorter distance and a measurement error threshold as a second fork length; 7. A method of shuttle vehicle control as claimed in claim 6, comprising:

8. said step of controlling said shuttle vehicle to move forward and backward comprises: controlling the shuttle vehicle to move forward and backward at least once based on a forward distance setpoint and a reverse distance setpoint until the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold.

7. A method of shuttle vehicle control as claimed in claim 6, comprising:

9. the transport object comprises a cargo box, and the first distance measuring device and the second distance measuring device comprise laser distance measuring devices; A method for controlling a shuttle vehicle according to any one of claims 1 to 8.

10. a distance detection module configured to control a shuttle vehicle to reach a designated position and to control a first distance measuring device and a second distance measuring device to measure a first distance and a second distance from a transported object, respectively, the first distance measuring device and the second distance measuring device being mounted on a first fork mechanism and a second fork mechanism, respectively, arranged in parallel on the shuttle vehicle; a product processing module configured to perform a first comparison process on the first distance and the second distance using a target normal distance threshold, and to determine whether the first fork mechanism and the second fork mechanism can be controlled to process the product based on a result of the first comparison process; a deviation correction processing module configured to perform a second comparison process on the first distance and the second distance using a deviation correction distance threshold value, and to determine whether to control the shuttle vehicle to perform a deviation correction process based on a result of the second comparison process when it is determined that the first fork mechanism and the second fork mechanism cannot be controlled to process the product; A shuttle vehicle control device comprising:

11. The product processing module includes: a product picking determination unit configured to determine that the first fork mechanism and the second fork mechanism can be controlled to process a product if the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold. The shuttle vehicle control system of claim 10, comprising:

12. The product processing module includes: a double pass processing unit configured to control the first fork mechanism and the second fork mechanism to each extend a first fork length, the first fork length being equal to the target normal distance threshold; The shuttle vehicle control system of claim 11 , comprising:

13. The deviation correction processing module: a deviation correction determining unit configured to determine that the shuttle vehicle cannot be controlled to perform a deviation correction process if the first distance is less than the deviation correction distance threshold or the second distance is less than the deviation correction distance threshold. The shuttle vehicle control system of claim 10, comprising:

14. The deviation correction processing module: an abnormality reporting unit configured to report abnormality information of the arrangement of the transport object in the state where it is determined that the shuttle vehicle cannot be controlled to perform the deviation correction process; The shuttle vehicle control system of claim 13, comprising:

15. The deviation correction processing module: a mechanism control unit configured to control the first fork mechanism and the second fork mechanism to extend by a second fork length based on the first distance and the second distance, and to control the shuttle vehicle to move forward and backward. The shuttle vehicle control system of claim 11 , comprising:

16. 16. The shuttle vehicle control device of claim 15, wherein the mechanism control unit is configured to select a shorter distance from the first distance and the second distance, and consider a difference between the shorter distance and a measurement error threshold as the second fork length.

17. 16. The shuttle vehicle control device of claim 15, wherein the mechanism control unit is configured to control the shuttle vehicle to move forward and backward at least once based on a forward distance setpoint and a reverse distance setpoint until the first distance is greater than the target normal distance threshold and the second distance is greater than the target normal distance threshold.

18. 18. A shuttle vehicle control system according to claim 10, wherein the transported object comprises a cargo box, and the first distance measuring device and the second distance measuring device comprise laser distance measuring devices.

19. 10. A shuttle vehicle control device comprising: a memory; and a processor coupled to the memory, the processor configured to execute the method of any one of claims 1 to 9 based on instructions stored in the memory.

20. A shuttle vehicle control device according to any one of claims 10 to 19. A shuttle vehicle equipped with

21. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, perform the method of any one of claims 1 to 9.

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