Control method, device and equipment of stacking machine and medium

Abstract

The invention discloses a control method, device and equipment of a stacking machine and a medium. The method comprises the steps of determining a current operation mode according to mode information selected by a user, and obtaining a to-be-executed task issued by a corresponding task issuing object according to the current operation mode; performing analysis processing on the to-be-executed task to obtain corresponding control parameters and movement information; and according to the control parameters and the movement information, the stacker is controlled to run until the to-be-executed task is completed. By means of the method, the problem that in the prior art, a stacking machine cannot operate efficiently can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated control, and in particular to a control method, device, equipment and medium for a stacker. Background Art

[0002] With the booming development of the automation industry, aisle stackers have gradually become an important part of modern warehousing systems due to their efficient and precise cargo handling capabilities. This transformation not only improves warehousing efficiency, but also reduces labor costs. However, with the widespread application of stackers in warehousing systems, the complexity of their control systems has become increasingly prominent. Traditional control systems often seem to be unable to cope with large-scale, high-efficiency warehousing needs. Especially when faced with abnormalities in the stacker, the control system cannot flexibly control the stacker, making the control logic of the stacker in the prior art unclear when in use and unable to operate efficiently. Summary of the invention

[0003] The embodiments of the present invention provide a control method, device, equipment and medium for a stacker, aiming to solve the problem that the stacker in the prior art cannot operate efficiently.

[0004] In the first aspect, an embodiment of the present invention provides a control method for a stacker, which includes: determining a current operating mode based on mode information selected by a user, and obtaining a to-be-executed task issued by a corresponding task issuing object based on the current operating mode; parsing the to-be-executed task to obtain corresponding control parameters and movement information; and controlling the stacker to operate according to the control parameters and the movement information until the to-be-executed task is completed.

[0005] In the second aspect, an embodiment of the present invention further provides a control device for a stacker, comprising: an acquisition unit, used to determine a current operating mode according to mode information selected by a user, and to acquire a to-be-executed task issued by a corresponding task issuing object according to the current operating mode; a parsing unit, used to parse the to-be-executed task and acquire corresponding control parameters and movement information; and a control unit, used to control the stacker to operate according to the control parameters and the movement information until the to-be-executed task is completed.

[0006] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0007] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the program instructions can implement the above method when executed by a processor.

[0008] The embodiment of the present invention provides a control method, device, equipment and medium for a stacker. The method includes: determining the current operation mode according to the mode information selected by the user, obtaining the tasks to be executed issued by the corresponding task issuing object according to the current operation mode; parsing the tasks to be executed to obtain the corresponding control parameters and movement information; controlling the stacker to run until the tasks to be executed are completed according to the control parameters and the movement information. The embodiment of the present invention determines the current operation mode according to the user's selection. At this time, the system will only execute the actions in the current mode, achieve independent control through different control modes, obtain the tasks to be executed in the current mode, and generate corresponding control parameters and movement information according to the tasks to be executed, so as to control the stacker to execute the tasks. By executing the tasks in the current mode, the control logic of each task is clearer, so that the stacker can be efficiently controlled to execute the corresponding tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0010] Figure 1 A schematic flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0012] Figure 3 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0013] Figure 4 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0014] Figure 5 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0015] Figure 6 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0016] Figure 7 A schematic diagram of a sub-flow chart of a control method for a stacker provided in an embodiment of the present invention;

[0017] Figure 8 A schematic block diagram of a control device for a stacker provided in an embodiment of the present invention;

[0018] Fig. 9 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0021] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0022] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0023] See also Figure 1 , Figure 1 A flow chart of a control method for a stacker provided in an embodiment of the present invention. The control method for a stacker in this embodiment can be applied to the control of a lane stacker, wherein the stacker includes a local system, an automatic positioning block, and a driver, wherein the local system receives the task to be executed and generates corresponding parameters and transmits them to the automatic positioning block, and the automatic positioning block controls the corresponding axle through the driver to run according to the generated parameters to complete the task to be executed. By adopting the method of the present invention, the control logic of each task can be made clearer, so that the stacker can be efficiently controlled to perform the corresponding task.

[0024] Figure 1 1 is a flow chart of a control method for a stacker provided by an embodiment of the present invention. As shown in the figure, the method includes the following steps S110-S130.

[0025] S110. Determine the current operation mode according to the mode information selected by the user, and obtain the to-be-executed tasks issued by the corresponding task issuing object according to the current operation mode.

[0026] In this embodiment, the task issuing object is the object to which the stacker local system issues tasks, for example, a preset host computer or an operator are all task issuing objects. The operation mode is the current operation state of the stacker, wherein the operation mode is determined according to the mode information selected by the user, and specifically, the user can select a specific mode of system operation through an interactive method such as a graphical user interface, a command line interface or a mode switching button. For example, the user selects the mode through the mode switching button. If the user selects the online mode through the mode switching button, the local system will receive mode information 1, that is, determine that the current operation mode is the online mode, and if mode information 2 is received, determine that the current operation mode is the local mode. Among them, the specific mode information is not limited, and it is sufficient to determine the current operation mode. Receive the task to be executed issued by the task issuing object corresponding to the current operation mode, wherein the information carried in the task to be executed is different according to the different operation modes. For example, if the current operation mode is the online mode, the task to be executed issued by the host computer is received, and the information carried in the task to be executed at this time is the information that needs to be parsed by the local system. By determining the current operating mode according to the mode information selected by the user and receiving the tasks to be executed in the current operating mode, the system only executes the actions in the current mode, thereby achieving independent control through different control modes.

[0027] In one embodiment, if Figure 2 As shown, the step S110 also includes steps S1101-S1102 before the step S110.

[0028] S1101, performing safety detection on sensor information and drive information of the stacker;

[0029] S1102: If all pass the safety test, the current operation mode can be determined according to the mode information selected by the user.

[0030] In this embodiment, the sensor information is the information of the sensor used in the operation of the stacker, wherein the stacker is equipped with a variety of sensors, such as position sensors, weight sensors, obstacle detection sensors, etc. These sensors are responsible for real-time monitoring of the status of the stacker and the information of the surrounding environment. Specifically, the sensor information includes but is not limited to the distance sensor information and the sensor button information. The drive information is the status information of the driver in the stacker. The sensor information and drive information of the stacker are safety tested, for example, to detect whether the sensor information is information that remains unchanged for a long time. If the distance sensor information feedback distance is 0 for a long time, it means that the distance sensor information is abnormal, and the distance sensor may fail or be blocked. At the same time, it is determined whether the status information of the motor, reducer, brake, etc. in the drive system of the stacker is in a normal state. Among them, the specific sensor information and drive information can be determined according to the specific information such as the type of stacker, and this is not limited. If one of the sensor information and the drive information fails the safety test, an alarm will be issued immediately and the corresponding error message will be displayed on the touch screen. After the abnormal problem is handled according to the error message, click reset to make the system meet the operating conditions, and the stacker system can start and run normally. If both pass the safety test, the current operating mode can be determined according to the mode information selected by the user. By performing safety tests on the sensor information and drive information of the stacker, it can be ensured that the stacker operates in a safe and reliable state, and flexible operating modes can be provided according to user needs.

[0031] In one embodiment, if Figure 3 As shown, the step S110 also includes steps S111-S112.

[0032] S111, if the current operation mode is the online mode, obtaining the online tasks to be executed issued by the preset host computer through the information receiving module;

[0033] S112: If the current operation mode is the local mode, obtain the local tasks to be executed issued by the operator through the preset information setting page.

[0034] In this embodiment, the online mode refers to the operating state in which the system communicates and exchanges data in real time with other devices or systems (such as a host computer) through a network. At this time, the host software / host computer issues specific tasks to be executed, and the local system obtains the online tasks to be executed issued by the preset host computer through the information receiving module, wherein the information receiving module is not limited and can be a network communication component for monitoring the tasks issued by the preset host computer. The online tasks to be executed refer to those tasks that need to be received from the host computer through the network and executed on the current system. The local mode refers to the operating state in which the system does not rely on network connection and only receives tasks or execution commands issued by humans through local input (such as keyboard, mouse, touch screen, etc.) or preset information setting page. For example, the operator can enter task information or select preset task options to issue tasks through the user interface or configuration page. By receiving tasks to be executed issued by different task publishers according to the current different operating modes, the stacker local system can flexibly adjust its task acquisition method according to the current operating environment and needs, thereby improving the availability and adaptability of the system.

[0035] In one embodiment, if Figure 4 As shown, the step S110 also includes steps S1103-S1104.

[0036] S1103, if the current operation mode is the maintenance mode, receiving a local operation instruction issued by the operator;

[0037] S1104. Control the operation of the stacker according to the single-axis control parameters in the local operation instruction.

[0038] In this embodiment, the local mode includes a maintenance mode, wherein it can be determined whether the stacker is currently in maintenance mode according to the mode information selected by the user. The maintenance mode means that the stacker is currently in a special state for maintenance, testing or repair. At this time, the stacker receives a local operation instruction issued by an operator, wherein the local operation instruction includes a single-axis control parameter, which is a parameter for controlling the operation of a single motion axis of the stacker, for example, horizontal movement of the X axis. The stacker is controlled to operate according to the single-axis control parameter in the local operation instruction. Specifically, if the local operation instruction is received, the single-axis control parameter is sent to the driver, and the driver continuously outputs a signal to the motor to control the low-speed operation of the X axis, thereby controlling the operation of the stacker. It should be noted that when in maintenance mode, the operator will continue to issue corresponding operation instructions, for example, the operator can continuously click the corresponding electric button on the touch screen, so when the continuous operation instruction disappears, the motor is controlled to stop running, and the stacker stops running at this time. By receiving the local operation instruction in the maintenance mode and controlling the operation of the stacker according to the local operation instruction, it is convenient to quickly maintain and inspect the stacker.

[0039] S120: Analyze the task to be executed to obtain corresponding control parameters and movement information.

[0040] In this embodiment, the task to be executed is a task that needs to be executed by the stacker and is issued by the host computer or the operator. When the task to be executed is received, the task needs to be parsed and processed. For example, if the online task to be executed "Move the goods from shelf A to shelf B" is received in the online mode, the task description of the online task to be executed is analyzed at this time, and the coordinates are matched in the preset address library according to the task description, and the control parameters such as the running speed, acceleration and driver operation mode applied when the stacker runs to shelves A and B are generated, wherein the control parameters are the parameters required to control the stacker to move, and the moving target position and moving route and other moving information are generated according to the coordinates of shelves A and B, wherein the specific method of generating control parameters and moving information is not limited, for example, the corresponding control parameters and moving information can be generated according to the task to be executed through the trained large model or the constructed program module. By parsing and processing the task to be executed and obtaining the corresponding control parameters and moving information, the system is allowed to flexibly adjust its behavior according to the task description and ensure that the task can be executed correctly and efficiently.

[0041] In one embodiment, if Figure 5 As shown, the step S120 includes steps S1201-S1202.

[0042] S1201, if the current operation mode is the online mode, obtaining task data in the online task to be executed;

[0043] S1202. Determine whether there is an actual operation route according to the task data, and generate an alarm message if there is no actual operation route.

[0044] In this embodiment, the task data is the necessary information required to execute the online task to be executed, such as task type, starting position coordinates, destination position coordinates and other data. It should be noted that only the online task to be executed when it is in the online mode needs to be judged, because this task is issued by the corresponding host computer or host program, and the correctness of the task needs to be verified. Specifically, according to the task data, it is judged whether there is an actual operation route, the task number, container number, task type, starting position coordinates, destination position coordinates and other data in the task data are combined, and combined with the current operating environment, it is judged whether there is an actual operation route for executing the online task to be executed. For example, if the starting position coordinates in the task data are empty, there is no actual operation route for executing the task, or the task type is a warehousing task, but the starting position is not the warehousing port or the destination position is not the shelf storage location, there is no actual operation route. If there is no actual operation route, an alarm message is generated, for example, an alarm message is displayed on the touch screen of the stacker and an alarm sound is emitted to notify the operator, system administrator or other relevant parties, informing them that there is an unexecutable task and its reason. By judging whether there is an actual running line according to the task data in the online pending tasks, it is determined whether the received pending tasks can be realized. If they cannot be realized, an alarm message is generated to modify the tasks in time.

[0045] In one embodiment, if Figure 6 As shown, the step S120 includes steps S121-S122.

[0046] S121, matching the online task to be executed with a preset task type to determine a corresponding target task type;

[0047] S122, performing parameter analysis and path planning according to the target task type and the task data, and obtaining control parameters and movement information for executing the online task to be executed.

[0048] In this embodiment, the preset task type is a series of task classifications defined in the stacker system, and each classification corresponds to specific execution logic and parameter requirements. The preset task types include: inbound tasks, outbound tasks, transfer tasks, mobile tasks, cross-dock tasks, etc. The online tasks to be executed are matched with the preset task types. For example, if the online tasks to be executed show that object A is moved to the target position of 1 row, 2 columns and 5 layers, task matching is performed to determine that the corresponding target task type is a mobile task. Parameter parsing and path planning are performed according to the target task type and the task data. Specifically, if it is a mobile task, the object to be moved and the target position of the movement are obtained from the task data. The position of object A can be matched in the preset data storage library, and the appropriate control parameters such as moving speed, acceleration, mode, etc. are determined according to the size, weight and complexity of the path of object A, and the mobile information such as the starting position, target position and moving path of the movement is generated. Among them, there is no limitation on the specific parameter parsing and path planning method, and it is sufficient to obtain the accurate control parameters and mobile information of the current task to be executed. By matching the online tasks to be executed with the preset task types and parsing the task data accordingly to obtain the control parameters and movement information required for execution, the correct and efficient execution of the tasks can be ensured.

[0049] In one embodiment, if Figure 7 As shown, step S120 includes steps S123-S124.

[0050] S123: If the current operation mode is the semi-automatic mode, obtaining the task type and movement information carried in the local task to be executed;

[0051] S124. Generate corresponding control parameters according to the task data and the movement information.

[0052] In this embodiment, the local mode includes a semi-automatic mode, wherein the semi-automatic mode is a mode in which an operator issues tasks and executes tasks, that is, a mode in which the operation of the stacker is controlled by an operator. If the current operation mode is the semi-automatic mode, the task type and movement information (such as the starting source position, the target position, the task path, etc.) are extracted from the local tasks to be executed. The local system automatically generates control parameters for controlling the movement of each axis according to the movement information and the task type, wherein the specific generation method is not limited. When receiving a movement instruction in the semi-automatic mode, the user may send a movement instruction to the system in some way (such as button clicks, handle operations, voice commands, etc.), and execute the local tasks to be executed according to the control parameters and the movement information. For example, if the local task to be executed inputs the target position as 1 row, 2 columns and 5 layers, the local system will convert the target position to obtain the task type and movement information, generate the corresponding control parameters, and transmit them to the corresponding axis. After receiving the coordinate position and other control data and the start operation command issued by the operator, the driver starts to control the motor to start rotating. The three axes move to the target position respectively until they reach the destination position 1 row, 2 columns and 5 layers, then stop running and report the completion of positioning. The system behavior can be adjusted through the tasks issued by the user, so as to achieve more flexible and accurate task execution.

[0053] S130, controlling the stacker to run until the task to be performed is completed according to the control parameters and the movement information.

[0054] In this embodiment, the control parameters are parameters for controlling the movement of the stacker, such as acceleration, driver mode and other information, and the movement information controls the information of the moving direction of the stacker, such as target position, running task path and other information. According to the control parameters and the movement information, the stacker is controlled to run until the task to be executed is completed. Specifically, the stacker local system sends the control parameters and the movement information to the automatic positioning block, and the automatic positioning block performs a drive self-check to determine whether there is a drive abnormality. If there is no abnormality, the control parameters and the movement information are written to the driver, thereby controlling the motor to start rotating, so that the currently controlled axis moves to the target position, until it reaches the target position, stops running and reports the completion of positioning. If the target position is not reached, the control parameters and the movement information need to be rewritten to the driver. By controlling the stacker to run until the task to be executed is completed according to the control parameters and the movement information, the stacker is controlled to complete its corresponding tasks in different modes, and different control modes are independently controlled, so that the control logic of the stacker is clearer.

[0055] Figure 8 2 is a schematic block diagram of a control device 200 for a stacker provided in an embodiment of the present invention. Figure 8 As shown, corresponding to the above stacker control method, the present invention also provides a stacker control device. The stacker control device includes a unit for executing the above stacker control method, and the device can be configured in a desktop computer, a tablet computer, a laptop computer, etc. Specifically, please refer to Figure 8 The control device of the stacker includes an acquisition unit 210 , a parsing unit 220 and a control unit 230 .

[0056] The acquisition unit 210 is used to determine the current operation mode according to the mode information selected by the user, and acquire the to-be-executed tasks issued by the corresponding task issuing object according to the current operation mode.

[0057] In one embodiment, the acquisition unit 210 includes a detection unit and a determination unit.

[0058] A detection unit, used for performing safety detection on sensor information and drive information of the stacker;

[0059] The determination unit is used to determine the current operation mode according to the mode information selected by the user if all pass the safety detection.

[0060] In one embodiment, the acquisition unit 210 includes a first acquisition subunit and a second acquisition subunit.

[0061] A first acquisition subunit is used for acquiring the online to-be-executed tasks issued by the preset host computer through the information receiving module if the current operation mode is the online mode;

[0062] The second acquisition subunit is used to acquire the local to-be-executed tasks issued by the operator through the preset information setting page if the current operation mode is the local mode.

[0063] In one embodiment, the acquisition unit 210 includes a maintenance unit and an operation unit.

[0064] A maintenance unit, configured to receive a local operation instruction issued by the operator if the current operation mode is the maintenance mode;

[0065] An operation unit is used to control the operation of the stacker according to the single-axis control parameters in the local operation instruction.

[0066] The parsing unit 220 is used to parse the task to be executed and obtain corresponding control parameters and movement information.

[0067] In one embodiment, the analyzing unit 220 includes a data acquiring unit and a determining unit.

[0068] A data acquisition unit, configured to acquire task data in the online task to be executed if the current operation mode is the online mode;

[0069] The judging unit is used to judge whether there is an actual operation route according to the task data, and generate alarm information if there is no actual operation route.

[0070] In one embodiment, the parsing unit 220 includes a matching unit and a planning unit.

[0071] A matching unit, used for matching the online to-be-executed task with a preset task type to determine a corresponding target task type;

[0072] The planning unit is used to perform parameter analysis and path planning according to the target task type and the task data, and obtain control parameters and movement information for executing the online task to be executed.

[0073] In one embodiment, the parsing unit 220 includes an information acquiring unit and a generating unit.

[0074] an information acquisition unit, configured to acquire the task type and movement information carried in the local task to be executed if the current operation mode is the semi-automatic mode;

[0075] A generating unit is used to generate corresponding control parameters according to the task data and the movement information.

[0076] The control unit 230 is used to control the stacker to run until the task to be performed is completed according to the control parameters and the movement information.

[0077] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the control device 200 and each unit of the above-mentioned stacker can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0078] The control device of the stacker can be implemented in the form of a computer program. Fig. 9 Runs on the computer device shown.

[0079] See also Fig. 9 , Fig. 9 5 is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device 500 may be a terminal or a server, wherein the terminal may be an electronic device with communication functions such as a smart phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of multiple servers.

[0080] See also Fig. 9 The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0081] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, and when the program instructions are executed, the processor 502 can execute a control method for a stacker.

[0082] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0083] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a control method for a stacker.

[0084] The network interface 505 is used to communicate with other devices over the network. Fig. 9 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 500 to which the solution of the present application is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] The processor 502 is used to run a computer program 5032 stored in the memory to implement the steps of the above method.

[0086] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0087] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0088] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the steps of the above method.

[0089] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0090] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0091] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0092] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0094] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for a stacker, characterized in that: include: Determine the current operation mode according to the mode information selected by the user, and obtain the tasks to be executed issued by the corresponding task issuing object according to the current operation mode; Analyze the tasks to be executed to obtain corresponding control parameters and movement information; The stacker is controlled to run according to the control parameters and the movement information until the task to be performed is completed.

2. The method according to claim 1, characterized in that Before the step of determining the current operation mode according to the mode information selected by the user, the method includes: Performing safety detection on sensor information and drive information of the stacker; If all pass the safety test, the current operating mode can be determined based on the mode information selected by the user.

3. The method according to claim 1, characterized in that The operation mode includes an online mode and a local mode. The step of obtaining the to-be-executed tasks issued by the corresponding task issuing object according to the current operation mode includes: If the current operation mode is the online mode, the online tasks to be executed issued by the preset host computer are obtained through the information receiving module; If the current operation mode is the local mode, the local tasks to be executed issued by the operator are obtained through the preset information setting page.

4. The method according to claim 3, characterized in that Before the step of parsing the task to be executed and obtaining the corresponding control parameters and movement information, the method further includes: If the current operation mode is the online mode, then obtaining the task data in the online task to be executed; It is determined whether there is an actual operation route according to the task data, and an alarm message is generated if the actual operation route does not exist.

5. The method according to claim 4, characterized in that The step of parsing the task to be executed to obtain corresponding control parameters and movement information also includes: Matching the online task to be executed with the preset task type to determine the corresponding target task type; Parameter parsing and path planning are performed according to the target task type and the task data to obtain control parameters and movement information for executing the online task to be executed.

6. The method according to claim 3, characterized in that The local mode includes a semi-automatic mode, and the step of parsing the task to be executed and obtaining corresponding control parameters and movement information also includes: If the current operation mode is the semi-automatic mode, obtaining the task type and movement information carried in the local task to be executed; Generate corresponding control parameters according to the task data and the movement information.

7. The method according to claim 3, characterized in that The local mode includes a maintenance mode. After the step of obtaining the to-be-executed tasks issued by the corresponding task issuing object according to the current operation mode, the following steps are included: If the current operation mode is the maintenance mode, receiving a local operation instruction issued by the operator; The stacker is controlled to operate according to the single-axis control parameters in the local operation instruction.

8. A control device for a stacker, characterized in that: include: An acquisition unit, used to determine the current operation mode according to the mode information selected by the user, and acquire the to-be-executed tasks issued by the corresponding task issuing object according to the current operation mode; A parsing unit, used for parsing the task to be executed to obtain corresponding control parameters and movement information; A control unit is used to control the stacker to run until the task to be performed is completed according to the control parameters and the movement information.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 7 can be implemented.

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