CN110255041A - A kind of shuttle truck control device, method and shuttle - Google Patents
A kind of shuttle truck control device, method and shuttle Download PDFInfo
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- CN110255041A CN110255041A CN201910662355.XA CN201910662355A CN110255041A CN 110255041 A CN110255041 A CN 110255041A CN 201910662355 A CN201910662355 A CN 201910662355A CN 110255041 A CN110255041 A CN 110255041A
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- master chip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Programmable Controllers (AREA)
Abstract
It includes wireless module, switching value module, embedded master chip, ADC module, DAC module, encoder and memory that the present invention, which discloses a kind of shuttle truck control device, method and shuttle, the shuttle truck control device,.The present invention uses embedded technology, and embedded master chip and functional module chip are integrated in one, hardware function can be voluntarily increased and decreased or reserve, and optimizes convenient for product up-gradation；Encounter in use individual product compatibility it is unstable when, functional module underlying programs and can all modify according to the actual situation with layer program, increase the approach for solving the problems, such as this by program optimization.The present invention is while realizing PLC identical function, it reduces costs, and improve the independence of product function collocation, change, optimization, no longer only depend on PLC scheme, and it is convenient for later maintenance, problematic functional module can be quickly determined according to phenomenon, and can be suitable for promoting and applying with self-changeable and test.
Description
Technical field
The present invention relates to smart three-dimensional warehouse field more particularly to a kind of shuttle truck control devices, method and shuttle.
Background technique
Under the leading in electric business field, more and more industries use smart three-dimensional warehouse, and wherein shuttle is three-dimensional
Important equipment in warehouse primarily serves the effect of transport, improves the conevying efficiency of enterprise.Currently, traditional in the market wear
Shuttle car is using external PLC technology, but it is following insufficient to use the shuttle of PLC technology to exist: in domestic motor and servo
Driver maturation develop while, to realize cooperate with it generally require according to different model and function selection Three-Part protocol turn
Connection module, tracing it to its cause be the function of different model PLC main body is fixed, if controlling motor movement using I/O port before,
Later period controls motor action to replacement bus mastering mode (such as RS485, CAN, EtherCAT), and supporting in PLC main body should
Additional increase companion module is needed when function, then needs replacing PLC type number when PLC main body does not support the function；PLC can only base
It programs and uses in application layer, often will appear the unstable situation of communication when matching individual drive and motor, in nothing
When method modifies bottom program, replacement brand or model can only be selected.The above problem has seriously affected product function upgrading and performance
The flexibility of optimization.Meanwhile the price of either PLC or companion module is relatively high, increases enterprise's input cost.
Summary of the invention
It is an object of the invention to by a kind of shuttle truck control device, method and shuttle, to solve background above skill
The problem of art part is mentioned.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of shuttle truck control device, the device include wireless module, switching value module, embedded master chip, ADC mould
Block, DAC module, encoder and memory；The wireless module is for dispatching system and the communication of embedded master chip, the tune
Degree system sends control instruction to embedded master chip；The embedded master chip receives instruction and carries out packet parsing after, assists
Corresponding functional module is adjusted to carry out action response, embedded master chip transmission movement completion message is to scheduling after the completion of movement
System；The switching value module is attracted or is disconnected by control relay to realize motor commutation for acquiring sensor signal
And power supply switching；The embedded master chip and switching value module are communicated by RS485；The embedded master chip, which is sent, to be read
Sensor states message gives switching value module, and after switching value module analytic message, loopback sensor information message gives embedded master
Chip；The embedded master chip sends control actuating of relay message and gives switching value module, after switching value module analytic message,
The identical message of loopback gives embedded master chip, while being attracted or disconnecting relay, realizes direction of motor rotation control；The ADC
Module is monitored for shuttle supply voltage, and the battery voltage value and capacitance voltage value of analog quantity are converted to embedding by ADC module
The digital quantity of operation can be handled by entering formula master chip, realize supply voltage monitoring；The DAC module is for the vehicle motor rotation speed that shuttles
Degree control, DC motor speed and its voltage have fixed correspondence, and embedded master chip passes through the rotating speed of target of digital quantity
DAC module is converted into the voltage value of corresponding analog quantity, is output to motor, realizes motor speed control；The encoder is used for
The detection of shuttle moving displacement, one circle output fixed number pulse of encoder rotation, embedded master chip open tally function, note
Lower umber of pulse is recorded, is converted into being displaced, realizes the detection of shuttle moving displacement；For storing data, every is shuttled the memory
Related data is written into memory before vehicle operation, and when operation, embedded master chip read the related data from memory.
Particularly, the shuttle truck control device further includes CAN module, and the CAN module is for servo motor mainstream
CAN bus motion control.
Particularly, the embedded master chip is also used to read lithium battery and super-capacitor voltage in real time, if power electric is not
Foot, embedded master chip by switching value module control external power supply relay be attracted charge to lithium battery and super capacitor or
Control lithium battery relay is attracted powers to super capacitor.
Particularly, the related data includes but is not limited to IP address, number, operating parameter.
Particularly, the embedded master chip uses but is not limited to programmable logic controller (PLC) (MCU).
Particularly, the memory uses but is not limited to SD card.
Based on above-mentioned shuttle truck control device, the present invention also provides a kind of shuttle control methods, this method comprises:
Shuttle IP address, number, operational parameter data are written into memory by configuration software；
After the completion of configuration, program brings into operation, and embedded master chip first reads the data in memory；According to the shuttle
Vehicle IP address opens webpage, under manual mode, controls shuttle straight trip movement by button icon on webpage and telescopic fork is transported
It is dynamic, while sensor states in display switch amount module, lithium battery voltage and super-capacitor voltage and announcement in power-supply system
Alert information；
Under auto state, the failure of webpage motion control function, display function is normal, dispatches system starts simultaneously at this time
Send straight straight trip movement, telescopic fork does exercises instruction to embedded master chip, embedded master chip is according to displacement of targets, operation
Parameter is calculated, dynamical output motor control voltage, final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity,
Moderating process reaches target position；
Embedded master chip obtains the information of voltage of sensor states and battery, capacitor in real time, in straight trip movement, stretches
Pitch in motion process, sensor states are abnormal, electric voltage exception when, embedded master chip judges and records alarm status, and stops
Only straight trip movement, telescopic fork movement；
Scheduling system and webpage timing transmit messages text to obtain alarm status, and in the report for receiving embedded master chip loopback
It is parsed after text, display alarm information.
Particularly, the embedded master chip is calculated according to displacement of targets, operating parameter, dynamical output motor control
Voltage, it is final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity, moderating process reach target position, specifically include:
Embedded master chip brings displacement of targets, operating parameter into pid algorithm operation, and dynamical output motor control voltage is final to realize
Straight trip movement, telescopic fork movement, experience accelerate, at the uniform velocity, moderating process reach target position；Wherein, the operating parameter includes
But it is not limited to acceleration, deceleration, encoder correction factor.
Particularly, the memory uses but is not limited to SD card；The embedded master chip uses but is not limited to may be programmed
Logic controller (MCU).
The present invention further discloses a kind of shuttle, which uses above-mentioned shuttle truck control device.
Shuttle truck control device, method and shuttle proposed by the present invention are by embedded master chip and functional module chip collection
In one, bottom and application layer program self-developing improve the side of product function upgrading while realizing PLC identical function
Just the flexibility that property, performance optimize, and it is at low cost, it is suitable for promoting and applying.It is fixed relative to every kind of model hardware capability of PLC,
Product up-gradation optimization needs third party's interconnecting device from hardware or reselects model, and the present invention uses embedded technology,
In terms of the overall dimension of product: shape and size can be adjusted according to self-demand, can be made of one formula can also be seperated
Formula separates partial function module, passes through bus data interaction；In terms of hardware capability: according to future products demand and development
Trend can voluntarily increase and decrease or reserve hardware function, optimize convenient for product up-gradation；In software aspects: traditional PLC technology is only
It can be based on being used with layer programming, the present invention is being used using embedded technology since bottom and application layer program are voluntarily write
Encounter in the process individual product compatibility it is unstable when, functional module underlying programs and with layer program all can be according to the actual situation
It modifies, increases the approach for solving the problems, such as this by program optimization.The present invention is realizing PLC identical function in summary
Meanwhile reducing costs, and improve the independence of product function collocation, change, optimization, PLC scheme is no longer only depended on,
And it is convenient for later maintenance, problematic functional module can quickly be determined according to phenomenon, and can be with self-changeable and test.
Detailed description of the invention
Fig. 1 is shuttle controling device structure diagram provided in an embodiment of the present invention；
Fig. 2 is shuttle control method flow diagram provided in an embodiment of the present invention.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is makes to the more thorough of the disclosure understanding
Comprehensively.It should be noted that it can be directly to another when an element is considered as " connection " another element
Element may be simultaneously present centering elements.Unless otherwise defined, all technical and scientific terms used herein with
It is identical to belong to the normally understood meaning of those skilled in the art of the invention.Made in the description of the invention herein
Term, which is only for the purpose of describing specific embodiments, is not intended to limit the present invention.Term as used herein
" and/or " it include any and all combinations of one or more related listed items.
Embodiment one
Shuttle truck control device specifically includes wireless module, switching value module, embedded master chip, ADC in the present embodiment
Module, DAC module, encoder and memory.
Specifically, the wireless module is for dispatching system and the communication of embedded master chip, the tune in the present embodiment
Degree system sends control instruction to embedded master chip；The embedded master chip receives instruction and carries out packet parsing after, assists
Corresponding functional module is adjusted to carry out action response, embedded master chip transmission movement completion message is to scheduling after the completion of movement
System.
Specifically, the switching value module is inhaled for acquiring sensor signal by control relay in the present embodiment
It closes or disconnects to realize motor commutation and power supply switching；The embedded master chip and switching value module are communicated by RS485；
The embedded master chip, which is sent, to be read sensor states message and gives switching value module, after switching value module analytic message, loopback
Sensor information message gives embedded master chip；The embedded master chip sends control actuating of relay message and gives switching value mould
Block, after switching value module analytic message, the identical message of loopback gives embedded master chip, while being attracted or disconnecting relay, realizes
Direction of motor rotation control.
Specifically, the ADC module is monitored for shuttle supply voltage in the present embodiment, the cell voltage of analog quantity
Value and capacitance voltage value, which are converted to embedded master chip by ADC module, can handle the digital quantity of operation, realize supply voltage prison
It surveys.ADC module and switching value module participate in power-supply system (external power supply, lithium battery, super capacitor) management.Shuttle power electric
It being provided by super capacitor, embedded master chip reads lithium battery and super-capacitor voltage in real time, if power electric is insufficient, embedded master
Chip controls external power supply relay by switching value module and is attracted to lithium battery and super capacitor charging or control lithium battery
Relay is attracted powers to super capacitor.
Specifically, the DAC module is controlled for shuttle motor rotation speed in the present embodiment, DC motor speed
There is fixed correspondence with its voltage, the rotating speed of target of digital quantity is converted into corresponding by embedded master chip by DAC module
The voltage value of analog quantity is output to motor, realizes motor speed control.The encoder is detected for shuttle moving displacement,
One circle output fixed number pulse of encoder rotation, embedded master chip open tally function, record umber of pulse, be converted into position
It moves, realizes the detection of shuttle moving displacement.
Specifically, for storing data, every shuttle operation is preceding into memory for the memory in the present embodiment
Related data is written, when operation, embedded master chip read the related data from memory.The phase in the present embodiment
Closing data includes but is not limited to IP address, number, operating parameter.
The shuttle truck control device further includes CAN module in the present embodiment, and the CAN module is used for servo motor master
The CAN bus motion control of stream.
Specifically, as shown in Figure 1, in the present embodiment embedded master chip in above-mentioned shuttle truck control device use but
It is not limited to programmable logic controller (PLC) (MCU), memory uses but is not limited to SD card；In addition, ADC refers to above-mentioned ADC mould in figure
Block, DAC refer to above-mentioned DAC module, and CAN refers to above-mentioned CAN module.
Embodiment two
As shown in Fig. 2, being based on above-mentioned shuttle truck control device, a kind of shuttle control method is present embodiments provided, it should
Method includes:
Before program operation, shuttle IP address is written into the memory of shuttle truck control device by configuration software, compiles
Number, operational parameter data；
After the completion of configuration, program brings into operation, and embedded master chip first reads the data in memory；According to the shuttle
Vehicle IP address opens webpage, under manual mode, controls shuttle straight trip movement by button icon on webpage and telescopic fork is transported
It is dynamic, while sensor states in display switch amount module, lithium battery voltage and super-capacitor voltage and announcement in power-supply system
Alert information；
Under auto state, the failure of webpage motion control function, display function is normal, dispatches system starts simultaneously at this time
Send straight straight trip movement, telescopic fork does exercises instruction to embedded master chip, embedded master chip is according to displacement of targets, operation
Parameter is calculated, dynamical output motor control voltage, final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity,
Moderating process reaches target position.Wherein, the embedded master chip is calculated according to displacement of targets, operating parameter, dynamic
Output motor controls voltage, final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity, moderating process reach target position
Set, specifically include: embedded master chip brings displacement of targets, operating parameter into pid algorithm operation, dynamical output motor control electricity
Pressure, it is final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity, moderating process reach target position；Wherein, operation ginseng
Number includes but is not limited to acceleration, deceleration, encoder correction factor.
Embedded master chip obtains the information of voltage of sensor states and battery, capacitor in real time, in straight trip movement, stretches
Pitch in motion process, sensor states are abnormal, electric voltage exception when, embedded master chip judges and records alarm status, and stops
Only straight trip movement, telescopic fork movement；
Scheduling system and webpage timing transmit messages text to obtain alarm status, and in the report for receiving embedded master chip loopback
It is parsed after text, display alarm information.It should be noted that the memory uses but is not limited to SD in the present embodiment
Card；The embedded master chip uses but is not limited to programmable logic controller (PLC) (MCU).
Embodiment three
Present embodiment discloses a kind of shuttle for smart three-dimensional warehouse, which uses above-described embodiment one
In shuttle truck control device, the shuttle control method that specific control process is provided referring to above-described embodiment two, detailed process
Details are not described herein.
Embedded master chip and functional module chip are integrated in one by technical solution of the present invention, bottom and application layer program
Self-developing improves the convenience of product function upgrading, the flexibility of performance optimization while realizing PLC identical function,
And it is at low cost, it is suitable for promoting and applying.It is fixed relative to every kind of model hardware capability of PLC, product up-gradation optimization is needed from hardware
It wants third party's interconnecting device or reselects model, the present invention uses embedded technology, in the overall dimension side of product
Face: can adjust shape and size according to self-demand, and can be made of one formula split type can also separate partial function module,
Pass through bus data interaction；In terms of hardware capability: according to future products demand and development trend, voluntarily can increase and decrease or reserve
Hardware function optimizes convenient for product up-gradation；In software aspects: traditional PLC technology can only be based on using, originally with layer programming
Invention uses embedded technology, and since bottom and application layer program are voluntarily write, it is compatible to encounter individual product in use
Property it is unstable when, functional module underlying programs and can all modify according to the actual situation with layer program, increase and pass through journey
Sequence optimizes the approach for solving the problems, such as this.The present invention reduces costs while realizing PLC identical function in summary, and
The independence for improving product function collocation, change, optimization no longer only depends on PLC scheme, and is convenient for later maintenance, root
Problematic functional module can be quickly determined according to phenomenon, and can be with self-changeable and test.
Those of ordinary skill in the art will appreciate that realizing that all or part in above-described embodiment is can to pass through calculating
Machine program is completed to instruct relevant hardware, and the program can be stored in a computer-readable storage medium, the journey
Sequence is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk, CD,
Read-only memory or random access memory etc..
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of shuttle truck control device, which is characterized in that including wireless module, switching value module, embedded master chip, ADC
Module, DAC module, encoder and memory；The wireless module is described for dispatching system and the communication of embedded master chip
Scheduling system sends control instruction to embedded master chip；The embedded master chip receives instruction and carries out packet parsing after,
Coordinate corresponding functional module and carry out action response, embedded master chip transmission movement completion message is to scheduling after the completion of movement
System；The switching value module is attracted or is disconnected by control relay to realize motor commutation for acquiring sensor signal
And power supply switching；The embedded master chip and switching value module are communicated by RS485；The embedded master chip, which is sent, to be read
Sensor states message gives switching value module, and after switching value module analytic message, loopback sensor information message gives embedded master
Chip；The embedded master chip sends control actuating of relay message and gives switching value module, after switching value module analytic message,
The identical message of loopback gives embedded master chip, while being attracted or disconnecting relay, realizes direction of motor rotation control；The ADC
Module is monitored for shuttle supply voltage, and the battery voltage value and capacitance voltage value of analog quantity are converted to embedding by ADC module
The digital quantity of operation can be handled by entering formula master chip, realize supply voltage monitoring；The DAC module is for the vehicle motor rotation speed that shuttles
Degree control, DC motor speed and its voltage have fixed correspondence, and embedded master chip passes through the rotating speed of target of digital quantity
DAC module is converted into the voltage value of corresponding analog quantity, is output to motor, realizes motor speed control；The encoder is used for
The detection of shuttle moving displacement, one circle output fixed number pulse of encoder rotation, embedded master chip open tally function, note
Lower umber of pulse is recorded, is converted into being displaced, realizes the detection of shuttle moving displacement；For storing data, every is shuttled the memory
Related data is written into memory before vehicle operation, and when operation, embedded master chip read the related data from memory.
2. shuttle truck control device according to claim 1, which is characterized in that it further include CAN module, the CAN module
CAN bus motion control for servo motor mainstream.
3. shuttle truck control device according to claim 1, which is characterized in that the embedded master chip is also used in real time
Lithium battery and super-capacitor voltage are read, if power electric is insufficient, embedded master chip controls external power supply by switching value module
Relay, which is attracted, to be attracted and powers to super capacitor to lithium battery and super capacitor charging or control lithium battery relay.
4. shuttle truck control device according to claim 1, which is characterized in that the related data includes but is not limited to IP
Address, number, operating parameter.
5. shuttle truck control device according to claim 1, which is characterized in that the embedded master chip uses but unlimited
In programmable logic controller (PLC).
6. shuttle truck control device according to one of claims 1 to 5, which is characterized in that the memory uses but not
It is limited to SD card.
7. a kind of shuttle control method, which is characterized in that this method specifically includes:
Be written by configuration software into the memory of shuttle truck control device described in claim 1 shuttle IP address, number,
Operational parameter data；
After the completion of configuration, program brings into operation, and embedded master chip first reads the data in memory；According to the shuttle IP
Webpage is opened in address, under manual mode, controls shuttle straight trip movement by button icon on webpage and telescopic fork moves, together
When display switch amount module in sensor states, lithium battery voltage and super-capacitor voltage and alarm letter in power-supply system
Breath；
Under auto state, the failure of webpage motion control function, display function is normal, dispatches system starts at this time and sends
Straight trip movement, telescopic fork do exercises instruction to embedded master chip, and embedded master chip is according to displacement of targets, operating parameter
Calculated, dynamical output motor control voltage, it is final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity, slow down
Process reaches target position；
Embedded master chip obtains the information of voltage of sensor states and battery, capacitor in real time, in straight trip movement, telescopic fork fortune
During dynamic, sensor states are abnormal, electric voltage exception when, embedded master chip judges and records alarm status, and stops straight
Row movement, telescopic fork movement；
Scheduling system and webpage timing transmit messages text to obtain alarm status, and after the message for receiving embedded master chip loopback
It is parsed, display alarm information.
8. shuttle control method according to claim 7, which is characterized in that the embedded master chip is according to target position
Shifting, operating parameter are calculated, dynamical output motor control voltage, and final realization straight trip movement, telescopic fork move, and experience adds
Speed, at the uniform velocity, moderating process reach target position, specifically include: embedded master chip brings displacement of targets, operating parameter into PID
Algorithm operation, dynamical output motor control voltage is final to realize straight trip movement, telescopic fork movement, experience accelerates, at the uniform velocity, slow down
Process reaches target position；Wherein, the operating parameter includes but is not limited to acceleration, deceleration, encoder correction factor.
9. according to the described in any item shuttle control methods of claim 7 or 8, which is characterized in that the memory use but
It is not limited to SD card；The embedded master chip uses but is not limited to programmable logic controller (PLC) (MCU).
10. a kind of shuttle, which is characterized in that the shuttle uses shuttle truck control device described in claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910662355.XA CN110255041A (en) | 2019-07-22 | 2019-07-22 | A kind of shuttle truck control device, method and shuttle |
| CN202010707674.0A CN111620029A (en) | 2019-07-22 | 2020-07-21 | Shuttle vehicle control device and method and shuttle vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910662355.XA CN110255041A (en) | 2019-07-22 | 2019-07-22 | A kind of shuttle truck control device, method and shuttle |
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| CN110255041A true CN110255041A (en) | 2019-09-20 |
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| CN201910662355.XA Pending CN110255041A (en) | 2019-07-22 | 2019-07-22 | A kind of shuttle truck control device, method and shuttle |
| CN202010707674.0A Pending CN111620029A (en) | 2019-07-22 | 2020-07-21 | Shuttle vehicle control device and method and shuttle vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010707674.0A Pending CN111620029A (en) | 2019-07-22 | 2020-07-21 | Shuttle vehicle control device and method and shuttle vehicle |
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Cited By (5)
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| CN111240715A (en) * | 2019-12-31 | 2020-06-05 | 兰剑智能科技股份有限公司 | Device upgrading method and device, electronic device and computer readable medium |
| CN111268618A (en) * | 2020-01-22 | 2020-06-12 | 广州市方圆机械设备有限公司 | Liquid tank conveying method for preventing liquid from overflowing |
| CN111674795A (en) * | 2020-05-27 | 2020-09-18 | 浙江工业大学 | A task scheduling method for a cross-layer and cross-aisle shuttle vehicle storage system |
| CN112650096A (en) * | 2020-11-11 | 2021-04-13 | 南京音飞储存设备（集团）股份有限公司 | Four-way shuttle vehicle rescue remote controller and control method |
| CN118707952A (en) * | 2024-06-03 | 2024-09-27 | 北京伍强智能科技有限公司 | A shuttle vehicle remote control method and device, and electronic equipment |
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| CN105692021A (en) * | 2016-03-24 | 2016-06-22 | 合肥工业大学智能制造技术研究院 | STM-based intelligent control system for logistics storage rail guide vehicle and method thereof |
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| CN111268618B (en) * | 2020-01-22 | 2021-12-28 | 广州市方圆机械设备有限公司 | Liquid tank conveying method for preventing liquid from overflowing |
| CN111674795A (en) * | 2020-05-27 | 2020-09-18 | 浙江工业大学 | A task scheduling method for a cross-layer and cross-aisle shuttle vehicle storage system |
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