A positioning control method, device, equipment and medium for a stacker fork

Abstract

The application discloses a kind of positioning control method, device, equipment and medium of stacker fork.It is obtained by the controller of stacker to call visual component the goods state on loading platform, while fork is corrected to initial position, when it receives the goods shelf number issued by host computer, drive stacker to move to target position, and obtain the goods shelf image corresponding to target position, based on the position of beam and corbel in image, the position of stacker is corrected, after calling detection component to detect the position of positioning hole, whether fork meets action execution condition based on position detection result is judged, if meet, then based on goods state in actual position drive fork to execute control action.Thereby the real-time position condition of fork, goods shelf and goods etc.can be detected, avoid fork misaction, and stacker position can be corrected in real time, to ensure accurate positioning of goods shelf, reduce safety risk.

Description

Technical Field

[0001] This invention relates to the field of fork control technology, and in particular to a method, device, equipment and medium for positioning control of stacker crane forks. Background Technology

[0002] Stacker cranes are widely used in agriculture, industry, mining, and transportation to transport various solid block and powder materials or packaged goods. Stacker cranes offer continuous and efficient transportation, and are safe to operate, easy to use, easy to maintain, and inexpensive. They also shorten transportation distances, reduce project costs, and save manpower and resources.

[0003] In modern warehousing and logistics warehouses, stacker cranes mostly use diffuse reflection photoelectric sensors to detect the position of goods. However, this method has many drawbacks: photoelectric vibration can cause malfunctions in the stacker crane forks, and track and rack settlement can lead to inaccurate photoelectric detection. This method is difficult to overcome technically and cannot guarantee accurate positioning of the stacker crane every time, posing a significant safety hazard. Summary of the Invention

[0004] This invention provides a method, device, equipment, and medium for positioning and controlling the forks of a stacker crane, which solves the technical problem that existing stacker crane fork control cannot guarantee accurate positioning every time, posing a huge safety hazard.

[0005] The first aspect of this invention provides a positioning control method for a stacker crane fork, the method being applied to a controller corresponding to the stacker crane, the stacker crane including forks, a loading platform, a vision component, and a detection component, wherein the forks, the vision component, and the detection component are located within the loading platform and are communicatively connected to the controller, the method comprising:

[0006] The vision component is invoked to obtain the status of the goods on the loading platform, and the forks are corrected to their initial positions.

[0007] When the stacker receives the shelf number from the host computer, it drives the stacker to move to the target position corresponding to the shelf number at a preset moving speed;

[0008] The vision component is invoked to obtain the shelf image corresponding to the target location, and the stacker crane is corrected from the target location to the actual location based on the shelf image;

[0009] The detection component is invoked to detect the position of the positioning hole at the actual position, and the fork is determined to meet the action execution conditions based on the position detection result.

[0010] If the action execution conditions are met, the forks are driven to perform control actions based on the cargo status.

[0011] Optionally, the method further includes a laser ranging component and a built-in frequency converter, wherein the laser ranging component is disposed at both ends of the moving path of the stacker crane, and the method further includes:

[0012] The laser ranging component transmits the current distance information between itself and the stacker crane to the frequency converter.

[0013] The current distance information is read from the frequency converter and uploaded to the host computer so that the host computer can monitor the real-time position of the stacker crane.

[0014] Optionally, the step of driving the stacker crane to move to the target position corresponding to the shelf number at a preset speed when the shelf number is received from the host computer includes:

[0015] When a shelf number is received from the host computer, the target distance information between the shelf number and the shelf to which the shelf number belongs is obtained through the laser ranging component.

[0016] Calculate the distance difference between the target distance information and the current distance information;

[0017] The stacker crane is driven to move at a preset speed according to the distance difference until the host computer detects that the real-time position overlaps with the target position corresponding to the shelf number.

[0018] Optionally, the step of calling the vision component to obtain the shelf image corresponding to the target location, and correcting the stacker crane from the target location to the actual location based on the shelf image, includes:

[0019] The vision component is invoked to obtain the shelf image corresponding to the target location;

[0020] Identify the actual intersection points between shelf beams and shelf brackets from the shelf image;

[0021] Calculate the offset between the actual intersection point and the preset standard point;

[0022] If the offset exceeds a preset offset threshold, the actual error between the offset and the offset threshold is obtained;

[0023] The number of encoder rotations inside the stacker is corrected according to the actual error until the stacker is corrected from the target position to the actual position.

[0024] Optionally, the method further includes:

[0025] If none of the offsets exceed the preset offset threshold, the stacker crane will be held at the target position.

[0026] Optionally, the step of calling the detection component to perform position detection on the positioning hole at the actual position, and determining whether the fork meets the action execution conditions based on the position detection result, includes:

[0027] The detection component is invoked to detect the position of the positioning hole at the actual location, and a position detection result is generated.

[0028] If the position detection result indicates that a positioning hole has been detected at the actual position, then the fork is determined to meet the action execution conditions.

[0029] If the position detection result indicates that no positioning hole is detected at the actual position, it is determined that the fork does not meet the action execution conditions, and an alarm message is output.

[0030] Optionally, the cargo status includes cargo storage status and cargo stacking posture, and the control actions include picking actions and stacking actions; the step of driving the forks to perform control actions based on the cargo status if the action execution conditions are met includes:

[0031] If the action execution conditions are met and the goods are stored in an empty state, then the forks are driven to perform a picking action on the shelf to which the shelf image belongs;

[0032] If the action execution conditions are met and the goods storage status is not empty, then the forks are driven to place the goods on the loading platform into the shelf to which the shelf image belongs, according to the goods stacking posture.

[0033] A second aspect of the present invention provides a positioning control device for a stacker crane fork. The device is applied to a controller corresponding to the stacker crane, which includes forks, a loading platform, a vision component, and a detection component. The forks, the vision component, and the detection component are located within the loading platform and are communicatively connected to the controller. The device includes:

[0034] The status acquisition and correction module is used to call the vision component to acquire the status of the goods on the loading platform and correct the forks to the initial position.

[0035] The stacker crane moving module is used to drive the stacker crane to move to the target position corresponding to the shelf number at a preset moving speed when it receives the shelf number from the host computer.

[0036] The stacker crane correction module is used to call the vision component to obtain the shelf image corresponding to the target position, and correct the stacker crane from the target position to the actual position based on the shelf image;

[0037] The action execution judgment module is used to call the detection component to perform position detection on the positioning hole at the actual position, and determine whether the fork meets the action execution conditions based on the position detection result.

[0038] The control action execution module is used to drive the forks to perform control actions based on the cargo state if the action execution conditions are met.

[0039] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the stacker crane fork positioning control method as described in any one of the first aspects of the present invention.

[0040] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the stacker crane fork positioning control method as described in any of the first aspects of the present invention.

[0041] As can be seen from the above technical solutions, the present invention has the following advantages:

[0042] This invention uses a controller to call a vision component to acquire the status of goods on the loading platform, determining the current stacking posture of the goods. Simultaneously, it corrects the forks to their initial positions. When a shelf number is received from the host computer, the stacker crane is driven to move from its current position to the target position corresponding to the shelf number at a preset speed. The vision component then acquires an image of the shelf corresponding to the target position. Based on the positions of the crossbeams and brackets within the shelf image, the stacker crane's position is further corrected. A detection component detects the position of the positioning holes at the actual location. Based on the position detection results, it determines whether the forks meet the action execution conditions. If the conditions are met, the forks are driven to perform control actions based on the goods' status at the actual position. Thus, through the setup of the vision and detection components, real-time detection of the forks, shelves, and goods can be achieved, preventing fork malfunctions. Simultaneously, real-time monitoring of the actual positions of the goods and the stacker crane's loading platform corrects the stacker crane's position, ensuring accurate shelf positioning and reducing safety risks. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1This is a flowchart illustrating the steps of a stacker crane fork positioning control method provided in Embodiment 1 of the present invention.

[0045] Figure 2 This is a flowchart illustrating the steps of a stacker crane fork positioning control method provided in Embodiment 2 of the present invention.

[0046] Figure 3 This is a schematic diagram of the structure of a stacker crane provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram showing the positions of the shelf beams and shelf brackets in an embodiment of the present invention.

[0048] Figure 5 This is a structural block diagram of a stacker crane fork positioning control device provided in Embodiment 3 of the present invention. Detailed Implementation

[0049] This invention provides a method, device, equipment, and medium for positioning and controlling the forks of a stacker crane, which solves the technical problem that existing stacker crane fork control cannot guarantee accurate positioning every time, posing a significant safety hazard.

[0050] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0051] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of a stacker crane fork positioning control method provided in Embodiment 1 of the present invention.

[0052] This invention provides a positioning control method for the forks of a stacker crane. The method is applied to a controller corresponding to the stacker crane, which includes forks, a loading platform, a vision component, and a detection component. The forks, vision component, and detection component are located within the loading platform and are communicatively connected to the controller. The method includes:

[0053] Step 101: Call the vision component to obtain the status of the goods on the loading platform and correct the forks to the initial position;

[0054] The cargo status refers to the cargo information on the loading platform, including but not limited to cargo storage information and cargo stacking posture. The cargo storage information indicates whether there is cargo on the loading platform, and the cargo stacking posture refers to the stacking posture of the cargo on the loading platform.

[0055] The vision component is fixedly installed on the stacker crane to acquire images of the rack in the direction of the stacker crane fork extension or to acquire images of the status of goods on the loading platform, so as to detect whether there are goods on the loading platform and the position status of the goods. It includes, but is not limited to, cameras, or lidar, etc. This embodiment does not limit the specific type.

[0056] The controller can be a PLC (Programmable Logic Controller), a digital electronic system designed for industrial applications. It uses a programmable memory to store programs and execute user-oriented instructions such as logic operations, sequential control, timing, counting, and arithmetic operations. It controls various types of machinery or production processes through digital or analog inputs / outputs. The PLC and its related external devices are designed for easy integration into industrial control systems and easy expansion of their functionality. The vision and detection components are located within the loading platform and communicate with the controller via a PROFINET bus.

[0057] In this embodiment of the invention, the controller calls the vision component set on the stacker crane to obtain the status of the goods on the loading platform, and at the same time, the stacker crane's forks are corrected to the initial position.

[0058] It should be noted that the forks of the stacker crane may be in different positions due to the needs of the previous storage and retrieval, making it inconvenient to perform the current storage and retrieval operation. In this case, the position of the forks can be corrected and reset by the controller to adjust them to the initial position, and wait for the host computer to issue the storage and retrieval task.

[0059] Step 102: When the rack number is received from the host computer, drive the stacker crane to move to the target position corresponding to the rack number at a preset moving speed.

[0060] The host computer refers to the WCS system, or warehouse control system, which is mainly used in automated warehouses. It is used to obtain operational tasks from the WMS (warehouse management system) and issue detailed operation instructions to the automated equipment.

[0061] Shelf number refers to the number corresponding to the shelf in the warehouse, such as the connecting station, storage location or task station, and is used to indicate the specific location of the shelf.

[0062] After adjusting and calibrating the position of the forks, if a rack number is received from the host computer, the stacker crane can be driven to move to the target position corresponding to the rack number at its preset moving speed, and wait for the next step of calibrating the stacker crane.

[0063] In addition, after receiving the rack number, laser ranging can be used to determine the current position of the stacker crane, and the information can be transmitted to a controller such as a PLC via the PROFINET bus. Based on the current position and the target position corresponding to the rack number, the stacker crane can be driven to move.

[0064] Step 103: Call the vision component to obtain the shelf image corresponding to the target location, and correct the stacker crane from the target location to the actual location based on the shelf image;

[0065] In this embodiment, after the stacker crane is detected to have moved to the target position, the controller can continue to call the vision component to obtain the shelf image of the shelf at the target position. Based on the position information of specific objects in the shelf image, the stacker crane is corrected from the initial position to the actual position.

[0066] The specific objects can be the beams and brackets of the shelf, and the correction method can be achieved by adjusting the data and number of revolutions of the encoder inside the stacker crane.

[0067] Step 104: Call the detection component to perform position detection on the positioning hole at the actual position, and determine whether the fork meets the action execution conditions based on the position detection result;

[0068] The detection component refers to a sensing component capable of position detection, such as a background suppression photoelectric sensor. As a sensor that detects objects of different colors within a certain distance while shielding the background, it can distinguish between reflections from objects within the effective detection range and background light outside the detection range, thereby avoiding interference from strong background light outside the detection range that could lead to malfunctions.

[0069] The positioning hole is located on the shelf and has a diameter of 10mm. It is used to cooperate with the background suppression photoelectric sensor to detect and determine the position of the forks.

[0070] After the actual position of the forks is corrected, a background suppression photoelectric sensor and a positioning hole in the actual position can be used to achieve secondary error prevention. The background suppression photoelectric sensor emits a light beam to the positioning hole. If the light beam returned from the positioning hole can be received, it indicates that the detection component can detect the position of the positioning hole and determine that the forks meet the action execution conditions. Otherwise, it is determined that the forks cannot meet the action execution conditions, and an alarm message can be output to inform the staff to carry out maintenance.

[0071] It should be noted that there is a certain allowable error in the position detection of the positioning hole. Within this allowable error range, it is determined that the detection component can detect the position of the positioning hole. The allowable error can be set to 5mm.

[0072] Step 105: If the action execution conditions are met, then drive the forks to execute control actions based on the cargo status.

[0073] If the forks meet the action execution conditions, it means that the forks can perform an extension operation. The controller can drive the fork motor at the actual position based on the status of the goods, such as whether they are stored or retrieved, and the stacking posture of the goods, so that the forks can perform control actions.

[0074] In this embodiment of the invention, the controller invokes a vision component to acquire the status of the goods on the loading platform to determine the current stacking posture of the goods. Simultaneously, the forks are corrected to their initial positions. When a shelf number is received from the host computer, the stacker crane is driven to move from its current position to the target position corresponding to the shelf number at a preset speed. The vision component is then invoked to acquire an image of the shelf corresponding to the target position. Based on the positions of the crossbeams and brackets within the shelf image, the stacker crane's position is further corrected. A detection component detects the position of the positioning holes at the actual position. Based on the position detection results, it is determined whether the forks meet the action execution conditions. If the conditions are met, the forks are driven to execute control actions at the actual position based on the goods' status. Thus, through the setup of the vision and detection components, real-time detection of the forks, shelves, and goods can be achieved, preventing fork malfunctions. Simultaneously, real-time monitoring of the actual positions of the goods and the stacker crane's loading platform corrects the stacker crane's position, ensuring accurate shelf positioning and reducing safety risks.

[0075] Please see Figure 2 , Figure 2 This is a flowchart illustrating the steps of a stacker crane fork positioning control method provided in Embodiment 2 of the present invention.

[0076] This invention provides a positioning control method for the forks of a stacker crane. The method is applied to a controller corresponding to the stacker crane. The stacker crane includes forks, a loading platform, a vision component, and a detection component. The forks, vision component, and detection component are located within the loading platform and are communicatively connected to the controller. The method includes:

[0077] Step 201: Call the vision component to obtain the status of the goods on the loading platform and correct the forks to the initial position;

[0078] In this embodiment of the invention, the specific implementation process of step 201 is similar to that of step 101, and will not be repeated here.

[0079] Please see Figure 3 , Figure 3 This is a schematic diagram of a stacker crane provided in an embodiment of the present invention.

[0080] In this embodiment, the vision component 1 can be fixedly installed on the inner side of the top of the loading platform to obtain the status of the goods on the loading platform and the position of the forks 2 in real time, and can also obtain the shelf image. The detection component 3 is set below the forks 2 to detect the position of the positioning holes on the shelf, and its proximity to the position of the forks 2 allows for better judgment of the action execution conditions of the forks position.

[0081] Optionally, it also includes a laser ranging component and a built-in frequency converter, the laser ranging component being positioned at both ends of the stacker crane's movement path, and the method further includes:

[0082] The current distance information between the laser rangefinder and the stacker crane is transmitted to the frequency converter.

[0083] The current distance information is read from the frequency converter and uploaded to the host computer so that the host computer can monitor the real-time position of the stacker crane.

[0084] In this embodiment, the laser ranging component can be set at both ends of the stacker's movement path. The laser ranging component can measure the position of the stacker in real time to obtain the current distance information between the laser ranging component and the stacker and transmit it to the frequency converter in the stacker. The controller further reads the current distance information from the frequency converter and uploads the current distance information to the host computer so that the host computer can monitor the real-time position of the stacker.

[0085] It should be noted that the laser ranging component can transmit current distance information using the SSI protocol, while the controller can read the current distance information from the frequency converter using the PN protocol. The real-time position of the stacker crane can be represented by the current distance information. For example, a coordinate system can be constructed with the beginning of the movement path as the origin and the movement path of the stacker crane as the coordinates. The real-time position of the stacker crane can then be determined by locating its coordinates according to the current distance information.

[0086] SSI is an abbreviation for Synchronous Serial Interface, a widely used serial interface between position detection components and a controller. SSI is a unidirectional serial protocol over RS-422. The unidirectional clock is generated by the master frequency and specified from 80kHz to 2MHz. Data reception is also unidirectional; SSI does not support propagation delay compensation.

[0087] PN protocol refers to Profinet, an industrial bus standard designed to collect and transmit data in industrial systems, and can achieve real-time data transmission and reception (1ms or less).

[0088] Step 202: When the rack number is received from the host computer, drive the stacker crane to move to the target position corresponding to the rack number at a preset moving speed;

[0089] Optionally, step 202 may include the following sub-steps:

[0090] When a shelf number is received from the host computer, the target distance information between the shelf number and the shelf to which the shelf number belongs is obtained through the laser ranging component;

[0091] Calculate the distance difference between the target distance information and the current distance information;

[0092] The stacker crane is driven to move at a preset speed according to the distance difference until the host computer monitors that the real-time position overlaps with the target position corresponding to the rack number.

[0093] In this embodiment, when the controller receives the shelf number from the host computer, it can call the laser ranging component to detect and obtain the target distance information between the shelves to which the shelf number belongs, and calculate the distance difference between the target distance information and the current distance information. Furthermore, the stacker crane is driven to move at a preset speed according to the distance difference until the host computer monitors that the real-time position overlaps with the target position corresponding to the shelf number, indicating that the stacker crane has moved to the target position corresponding to the shelf number.

[0094] In practice, after obtaining the target distance information, it can be converted to the same coordinate system as the stacker crane to determine the horizontal and vertical coordinates of the distance difference. Then, the horizontal movement motor of the stacker crane is driven according to the horizontal coordinate, and the vertical movement motor corresponding to the rack is driven according to the vertical coordinate, so that the stacker crane moves at a preset speed until the host computer monitors that the real-time position and the target position corresponding to the rack number overlap, indicating that the stacker crane has moved to the target position corresponding to the rack number.

[0095] Step 203: Call the vision component to obtain the shelf image corresponding to the target location;

[0096] Step 204: Identify the actual intersection points between the shelf beams and the shelf brackets from the shelf image;

[0097] Step 205: Calculate the offset between the actual intersection point and the preset standard point;

[0098] In this embodiment of the invention, after the stacker crane moves to the target position corresponding to the shelf number, the controller can call the vision component to obtain the shelf image corresponding to the target position, perform image recognition on the shelf image to determine the actual intersection point between the shelf beam and the shelf bracket, and calculate the difference between the actual intersection point and the preset standard point to determine the offset.

[0099] It should be noted that the standard positions of beams, brackets, shelf beams, and shelf brackets can be represented by two-dimensional coordinates, and their offsets can be calculated using two-dimensional coordinates.

[0100] For example, images of beams and brackets are acquired using a vision component and compared with standard images of the beams and brackets to determine the offset. Specifically, the acquired images of the beams and brackets are placed in a coordinate system to determine the coordinates of the intersection point of the beams and brackets, i.e., the actual intersection point. This is then compared with the coordinates of the intersection point of the beams and brackets in the standard image, i.e., the preset standard point, to determine the offset of the actual intersection point coordinates in the X and Y axes, in order to determine whether subsequent adjustments to the stacker crane position are needed.

[0101] Please see Figure 4 , Figure 4 This is a schematic diagram showing the positions of the shelf beams and shelf brackets in an embodiment of the present invention.

[0102] In this embodiment, goods within the shelf are placed on pallet 6. The controller can obtain the positions of the shelf beams 4 and the cantilever legs 5 by calling the vision component. After the stacker crane moves to the target position, due to the positional margin between the forks 2 and the pallet 6, in order for the forks 2 to accurately insert into the cavity under the pallet 6 to perform the picking action, the positions of the shelf beams and cantilever legs can be detected. Based on the offset between their actual positions and the standard positions set by the stacker crane, the position of the stacker crane is further corrected.

[0103] Step 206: If the offset exceeds the preset offset threshold, then obtain the actual error between the offset and the offset threshold.

[0104] In this embodiment of the invention, the offset may include offsets in the X-axis direction and the Y-axis direction. If either offset exceeds a preset offset threshold, it indicates that the stacker crane has not yet moved to a position where control actions can be performed. The actual error between the offset and the offset threshold can be calculated. The controller can obtain the actual error through the PROFINET bus to provide the data basis for subsequent stacker crane position correction.

[0105] Step 207: Correct the number of revolutions of the encoder inside the stacker crane according to the actual error, so as to correct the stacker crane from the target position to the actual position.

[0106] Optionally, the method further includes:

[0107] If the offset does not exceed the preset offset threshold, the stacker crane will be kept in the target position.

[0108] In another example of the present invention, if the offset does not exceed the preset offset threshold, the stacker can be kept at the current target position by the controller, waiting for the subsequent fork to perform further actions to determine the conditions.

[0109] The encoder type can be an absolute encoder.

[0110] Step 208: Call the detection component to perform position detection on the positioning hole at the actual position, and determine whether the fork meets the action execution conditions based on the position detection result;

[0111] Furthermore, step 208 may include the following sub-steps:

[0112] The detection component is invoked to detect the position of the positioning hole at the actual location and generate the position detection result.

[0113] If the position detection result shows that the positioning hole is detected at the actual position, then the forks are determined to meet the action execution conditions.

[0114] If the position detection result is that no positioning hole is detected at the actual position, it is determined that the fork does not meet the action execution conditions, and an alarm message is output.

[0115] In this embodiment of the invention, after the stacker crane moves to the actual position or stays at the target position, in order to achieve secondary error prevention for the stacker crane, the controller can call the detection component to emit a beam to detect the position of the positioning hole. If the beam can detect the positioning hole, it is determined that the fork meets the action execution conditions.

[0116] If the detection component fails to detect the positioning hole at the actual position, it is determined that the fork does not meet the action execution conditions, and an alarm message is output to notify the technicians to carry out maintenance.

[0117] The detection component can preferably be a background suppression type photoelectric sensor.

[0118] Step 209: If the action execution conditions are met, then drive the forks to execute control actions based on the cargo status.

[0119] Optionally, the cargo status includes cargo storage status and cargo stacking posture, and the control actions include picking actions and stacking actions. Step 209 may include the following sub-steps:

[0120] If the action execution conditions are met and the goods are empty, the forks will be driven to perform a picking action on the shelf to which the shelf image belongs.

[0121] If the action execution conditions are met and the goods storage status is not empty, the drive forks will place the goods on the loading platform into the shelf to which the shelf image belongs, according to the goods stacking posture.

[0122] In this embodiment, if the forks meet the action execution conditions, the system can further determine the need to perform a picking action based on the goods' status. For example, if the goods are empty, the controller can drive the motor corresponding to the forks to perform the picking action on the shelf to which the shelf image belongs. If the goods are not empty, the controller can drive the forks to place the goods on the loading platform onto the shelf to which the shelf image belongs, according to the goods stacking posture.

[0123] Optionally, if the goods storage status is not empty, the quantity of goods stored can be further detected. If the quantity of goods stored does not exceed the predetermined quantity threshold, it indicates that the picking can continue. At this time, the forks can continue to be driven to perform the picking action on the shelf to which the shelf image belongs.

[0124] In this embodiment of the invention, the controller invokes a vision component to acquire the status of the goods on the loading platform to determine the current stacking posture of the goods. Simultaneously, the forks are corrected to their initial positions. When a shelf number is received from the host computer, the stacker crane is driven to move from its current position to the target position corresponding to the shelf number at a preset speed. The vision component is then invoked to acquire an image of the shelf corresponding to the target position. Based on the positions of the crossbeams and brackets within the shelf image, the stacker crane's position is further corrected. A detection component detects the position of the positioning holes at the actual position. Based on the position detection results, it is determined whether the forks meet the action execution conditions. If the conditions are met, the forks are driven to execute control actions at the actual position based on the goods' status. Thus, through the setup of the vision and detection components, real-time detection of the forks, shelves, and goods can be achieved, preventing fork malfunctions. Simultaneously, real-time monitoring of the actual positions of the goods and the stacker crane's loading platform corrects the stacker crane's position, ensuring accurate shelf positioning and reducing safety risks.

[0125] Please see Figure 5 , Figure 5 This is a structural block diagram of a stacker crane fork positioning control device provided in Embodiment 3 of the present invention.

[0126] This invention provides a positioning control device for a stacker crane fork. The device is applied to a controller corresponding to the stacker crane. The stacker crane includes forks, a loading platform, a vision component, and a detection component. The forks, vision component, and detection component are located within the loading platform and are communicatively connected to the controller. The device includes:

[0127] The status acquisition and correction module 501 is used to call the vision component to acquire the status of the goods on the loading platform and correct the forks to the initial position.

[0128] The stacker crane moving module 502 is used to drive the stacker crane to move to the target position corresponding to the shelf number at a preset moving speed when it receives the shelf number from the host computer.

[0129] The stacker crane correction module 503 is used to call the vision component to obtain the shelf image corresponding to the target position, and correct the stacker crane from the target position to the actual position based on the shelf image;

[0130] The action execution judgment module 504 is used to call the detection component to perform position detection on the positioning hole at the actual position, and to determine whether the fork meets the action execution conditions based on the position detection result.

[0131] The control action execution module 505 is used to drive the forks to execute control actions based on the cargo status if the action execution conditions are met.

[0132] Optionally, it also includes a laser ranging component and a built-in frequency converter. The laser ranging component is located at both ends of the stacker crane's movement path. The device also includes:

[0133] The distance information transmission module is used to transmit the current distance information between the stacker crane and the frequency converter through the laser ranging component;

[0134] The distance information upload module is used to read the current distance information from the frequency converter and upload the current distance information to the host computer so that the host computer can monitor the real-time position of the stacker crane.

[0135] Optionally, the stacker crane moving module 502 is specifically used for:

[0136] When a shelf number is received from the host computer, the target distance information between the shelf number and the shelf to which the shelf number belongs is obtained through the laser ranging component;

[0137] Calculate the distance difference between the target distance information and the current distance information;

[0138] The stacker crane is driven to move at a preset speed according to the distance difference until the host computer monitors that the real-time position overlaps with the target position corresponding to the rack number.

[0139] Optionally, the stacker crane correction module 503 is specifically used for:

[0140] Call the vision component to obtain the shelf image corresponding to the target location;

[0141] Identify the actual intersection points between shelf beams and shelf brackets from shelf images;

[0142] Calculate the offset between the actual intersection point and the preset standard point;

[0143] If the offset exceeds the preset offset threshold, the actual error between the offset and the offset threshold is obtained;

[0144] The number of encoder rotations inside the stacker crane is corrected according to the actual error until the stacker crane is corrected from the target position to the actual position.

[0145] Optionally, the stacker crane correction module 503 is also specifically used for:

[0146] If the offset does not exceed the preset offset threshold, the stacker crane will be kept in the target position.

[0147] Optionally, the action execution judgment module 504 is specifically used for:

[0148] The detection component is invoked to detect the position of the positioning hole at the actual location and generate the position detection result.

[0149] If the position detection result shows that the positioning hole is detected at the actual position, then the forks are determined to meet the action execution conditions.

[0150] If the position detection result is that no positioning hole is detected at the actual position, it is determined that the fork does not meet the action execution conditions, and an alarm message is output.

[0151] Optionally, the cargo status includes cargo storage status and cargo stacking posture, and the control actions include picking actions and stacking actions; the control action execution module 505 is specifically used for:

[0152] If the action execution conditions are met and the goods are empty, the forks will be driven to perform a picking action on the shelf to which the shelf image belongs.

[0153] If the action execution conditions are met and the goods storage status is not empty, the drive forks will place the goods on the loading platform into the shelf to which the shelf image belongs, according to the goods stacking posture.

[0154] This invention provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the stacker crane fork positioning control method as described in any embodiment of this invention.

[0155] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed, implements the stacker crane fork positioning control method as described in any embodiment of this invention.

[0156] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0157] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0158] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0159] Furthermore, 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0160] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0161] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning and controlling the forks of a stacker crane, characterized in that, The method is applied to a controller corresponding to a stacker crane, the stacker crane including forks, a loading platform, a vision component, and a detection component, wherein the forks, the vision component, and the detection component are located within the loading platform and are communicatively connected to the controller, the method comprising: The vision component is invoked to obtain the status of the goods on the loading platform, and the forks are corrected to their initial positions. When the stacker receives the shelf number from the host computer, it drives the stacker to move to the target position corresponding to the shelf number at a preset moving speed; The vision component is invoked to obtain the shelf image corresponding to the target position, and the number of encoder rotations in the stacker crane is corrected based on the offset between the actual intersection point in the shelf image and the preset standard point until the stacker crane is corrected from the target position to the actual position. The detection component is invoked to detect the position of the positioning hole at the actual position, and the fork is determined to meet the action execution conditions based on the position detection result. If the action execution conditions are met, the forks are driven to perform control actions based on the cargo status.

2. The method according to claim 1, characterized in that, It also includes a laser ranging component and a built-in frequency converter. The laser ranging component is disposed at both ends of the moving path of the stacker crane. The method further includes: The laser ranging component transmits the current distance information between itself and the stacker crane to the frequency converter. The current distance information is read from the frequency converter and uploaded to the host computer so that the host computer can monitor the real-time position of the stacker crane.

3. The method according to claim 2, characterized in that, The step of driving the stacker crane to move to the target position corresponding to the shelf number at a preset speed when the shelf number is received from the host computer includes: When a shelf number is received from the host computer, the target distance information between the shelf number and the shelf to which the shelf number belongs is obtained through the laser ranging component. Calculate the distance difference between the target distance information and the current distance information; The stacker crane is driven to move at a preset speed according to the distance difference until the host computer detects that the real-time position overlaps with the target position corresponding to the shelf number.

4. The method according to claim 1, characterized in that, The step of calling the vision component to obtain the shelf image corresponding to the target position, and correcting the number of encoder rotations in the stacker crane based on the offset between the actual intersection point and the preset standard point in the shelf image, until the stacker crane is corrected from the target position to the actual position, includes: The vision component is invoked to obtain the shelf image corresponding to the target location; Identify the actual intersection points between shelf beams and shelf brackets from the shelf image; Calculate the offset between the actual intersection point and the preset standard point; If the offset exceeds a preset offset threshold, the actual error between the offset and the offset threshold is obtained; The number of encoder rotations inside the stacker is corrected according to the actual error until the stacker is corrected from the target position to the actual position.

5. The method according to claim 4, characterized in that, The method further includes: If none of the offsets exceed the preset offset threshold, the stacker crane will be held at the target position.

6. The method according to claim 1, characterized in that, The step of calling the detection component to detect the position of the positioning hole at the actual position, and determining whether the fork meets the action execution conditions based on the position detection result, includes: The detection component is invoked to detect the position of the positioning hole at the actual location, and a position detection result is generated. If the position detection result indicates that a positioning hole has been detected at the actual position, then the fork is determined to meet the action execution conditions. If the position detection result indicates that no positioning hole is detected at the actual position, it is determined that the fork does not meet the action execution conditions, and an alarm message is output.

7. The method according to claim 1, characterized in that, The cargo status includes cargo storage status and cargo stacking posture; the control actions include picking actions and stacking actions; the step of driving the forks to perform control actions based on the cargo status if the action execution conditions are met includes: If the action execution conditions are met and the goods are stored in an empty state, then the forks are driven to perform a picking action on the shelf to which the shelf image belongs; If the action execution conditions are met and the goods storage status is not empty, then the forks are driven to place the goods on the loading platform into the shelf to which the shelf image belongs, according to the goods stacking posture.

8. A positioning control device for stacker crane forks, characterized in that, The device is applied to a controller corresponding to a stacker crane. The stacker crane includes forks, a loading platform, a vision component, and a detection component. The forks, the vision component, and the detection component are located within the loading platform and are communicatively connected to the controller. The device includes: The status acquisition and correction module is used to call the vision component to acquire the status of the goods on the loading platform and correct the forks to the initial position. The stacker crane moving module is used to drive the stacker crane to move to the target position corresponding to the shelf number at a preset moving speed when it receives the shelf number from the host computer. The stacker crane calibration module is used to call the vision component to obtain the shelf image corresponding to the target position, and based on the offset between the actual intersection point in the shelf image and the preset standard point, to calibrate the number of revolutions of the encoder in the stacker crane until the stacker crane is calibrated from the target position to the actual position. The action execution judgment module is used to call the detection component to perform position detection on the positioning hole at the actual position, and determine whether the fork meets the action execution conditions based on the position detection result. The control action execution module is used to drive the forks to perform control actions based on the cargo state if the action execution conditions are met.

9. An electronic device, characterized in that, The system includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the stacker crane fork positioning control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the stacker crane fork positioning control method as described in any one of claims 1-7.

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