Object handling apparatus, control method, control device, and readable storage medium

Abstract

The application provides an object carrying device and a control method, a control device and a readable storage medium thereof, wherein the object carrying device comprises: an object table; a bracket arranged on the object table and capable of extending and retracting relative to the object table and used for supporting an object; a first sensor arranged on the object table and used for acquiring object information of a target object; and a second sensor arranged on the object table and used for acquiring a distance value between the bracket and the object table, so that the bracket loads the target object according to the object information and the distance value. The application can avoid the situation that goods are pushed away from a goods shelf to cause falling, thereby effectively reducing the risk of goods falling and guaranteeing the working safety and reliability of a carrying device such as a stacking machine.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, and more specifically, to an object handling device and its control method, control device, and readable storage medium. Background Technology

[0002] In related technologies, during the operation of a stacker crane, the forks extend and insert into the holes on the cargo pallet, raising and supporting the cargo, thereby moving the cargo from point A to point B, thus realizing cargo handling.

[0003] In actual operation, there may be situations where the forks are not aligned with the holes, or the cargo pallet is deformed and the holes are blocked. In such cases, if the stacker crane operates according to normal working logic, the forks may push the cargo off the shelf, causing the cargo to fall and creating an accident risk. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] Therefore, a first aspect of the present invention provides an object handling device.

[0006] A second aspect of the present invention provides a control method for an object handling device.

[0007] A third aspect of the present invention provides a control device for an object handling device.

[0008] A fourth aspect of the present invention provides a control device for an object handling device.

[0009] A fifth aspect of the present invention provides a readable storage medium.

[0010] The sixth aspect of the present invention provides an object handling device.

[0011] In view of this, a first aspect of the present invention provides an object handling device, comprising: a platform; a bracket disposed on the platform and extendable relative to the platform for supporting an object; a first sensor disposed on the platform for acquiring object information of a target object; and a second sensor disposed on the platform for acquiring a distance value between the bracket and the platform, so that the bracket can load the target object according to the object information and the distance value.

[0012] In this technical solution, the object handling equipment includes stacker cranes, etc. Specifically, the object handling equipment includes a platform, a bracket, a first sensor, and a second sensor. The platform supports the bracket, the first sensor, and the second sensor. The bracket can extend or retract relative to the platform, thereby enabling loading and unloading operations for goods.

[0013] The platform can be connected to movable structures such as tracks, gantry cranes, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods transportation. Upon reaching the target location, the carrier unloads the target object into a predetermined position, thus realizing the object transportation operation.

[0014] The first sensor is used to collect object information, specifically cargo information, to determine whether cargo is placed at a predetermined location, such as on a shelf. Understandably, when the first sensor collects object information, it determines that cargo is present at the predetermined location, and the tray can be controlled to load the cargo. If object information cannot be collected, it determines that there is no cargo at the predetermined location, and an alarm is sent to the control panel, such as reporting missing cargo.

[0015] The second sensor is used to obtain the distance between the tray and the goods, i.e., the target object. Specifically, the tray extends outward and inserts into the hole on the goods pallet. During this process, the goods themselves do not move. Therefore, the distance between the target object and the tray should decrease to a certain range and then remain constant within a certain range.

[0016] If, during this process, the distance between the goods and the pallet increases, specifically exceeding a certain range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving. In this case, there is a risk of pushing the goods off the shelf, causing them to fall.

[0017] Therefore, based on the distance between the target object and the bracket, it is possible to accurately determine the situation where the bracket is pushing the goods, and control the bracket to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0018] In addition, the object handling device in the above-mentioned technical solution provided by the present invention may also have the following additional technical features:

[0019] In the above technical solution, the object handling equipment also includes: a controller, which is connected to the platform, the bracket, the first sensor and the second sensor, and is used to send an enable signal to the bracket when object information is obtained and the distance value meets the preset conditions, so that the bracket can extend to load the object.

[0020] In this technical solution, the controller can specifically be a PLC (Programmable Logic Controller). The first and second sensors are connected to the digital input module of the PLC controller via digital signal cables, thereby sending the collected object information and distance values ​​to the PLC controller.

[0021] Meanwhile, the PLC controller is also used to generate enable signals for controlling the movement of the platform and carriage based on the signals of the goods being transported, thereby controlling the carriage to perform telescopic movements to load or unload goods, or controlling the platform to move, thereby transporting goods from point A to point B.

[0022] In some implementations, the bracket is driven by a motor connected to a frequency converter and operates based on the drive signal output by the frequency converter. Upon determining the presence of cargo and that the distance between the target object and the bracket meets a preset distance range, the PLC controller sends an enable signal to the frequency converter, thereby controlling the frequency converter to output a drive signal to the motor, driving the motor to rotate and extend the bracket to load the target object.

[0023] After the platform moves to the target position, the PLC controller sends an enable signal again, driving the motor to rotate and retract the bracket, and unload the target object at the target position.

[0024] In any of the above technical solutions, the bracket includes: a first support member; and a second support member, which is arranged side by side with the first support member.

[0025] In this technical solution, the pallet specifically includes two supporting components, namely a first supporting component and a second supporting component. Correspondingly, the target object, i.e., the pallet of goods, has holes corresponding to the first and second supporting components. During the loading process, the first and second supporting components extend synchronously and insert into the holes on the goods pallet. Then, the loading platform drives the pallet to rise, thereby loading the goods onto the loading platform and moving with the loading platform.

[0026] After the platform moves to the target location, it lowers its height and makes the pallet of the goods contact the rack, bottom surface, or the loading platform of the transport vehicle or ship. After the goods are placed stably, the first and second support components are controlled to retract synchronously, thereby completing the unloading of the goods.

[0027] By setting up two support components to support and load goods, the balance and stability of the goods can be guaranteed during transportation, thereby improving the safety and reliability of object handling.

[0028] In any of the above technical solutions, the bracket further includes: a first driving member, connected to the first support member and the second support member, for driving the first support member and the second support member to extend and retract.

[0029] In this technical solution, a first driving component is provided on the bracket, which may specifically be a DC motor.

[0030] Specifically, both the first and second support components are two-section structures. One section is fixedly connected to the platform and is referred to as the fixed section structure. The other section is fitted onto the fixed section structure and is referred to as the movable section structure. The movable section structure is connected to the output end of the first drive component. When the first drive component drives the movable section structure in a first direction, the movable section structure moves away from the fixed section structure. At this time, the bracket extends to load and support the goods.

[0031] When the first driving member drives the movable section structure in the second direction, the movable section structure moves in the direction closer to the fixed section structure, at which point the bracket retracts to unload the goods.

[0032] It is understood that in some implementations, the number of first driving members can be one, and one driving member can simultaneously drive the first support and the second support to perform telescopic movements.

[0033] In other embodiments, there may be two first driving members, which respectively drive the first support and the second support to perform telescopic movements.

[0034] In any of the above technical solutions, the bracket further includes: a second driving member, connected to the first support member and the second support member, for driving the first support member and / or the second support member to move, so as to change the distance between the first support member and the second support member.

[0035] In this technical solution, a second driving component is provided on the bracket, which may specifically be a DC motor.

[0036] Specifically, due to differences in the size, shape, or form of goods, the spacing between holes on the pallet may also vary. To ensure the balance and stability of goods during handling, loading, and support, the spacing between the first and second support members can be increased or decreased. When the volume of goods is large, the spacing between the first and second support members increases, and when the volume of goods is small, the spacing between the first and second support members decreases.

[0037] The second driving member is used to drive at least one of the first support member and the second support member to move relative to the other, thereby changing the distance between the first support member and the second support member.

[0038] It is understood that in some embodiments, the driving end of the second driving member is connected to the first support member. When the second driving member is driven in the first direction, the first support member moves away from the second support member, at which time the distance between the first support member and the second support member increases. When the second driving member is driven in the second direction, the first support member moves towards the second support member, at which time the distance between the first support member and the second support member decreases.

[0039] In other embodiments, the driving end of the second driving member is connected to the second support member. When the second driving member is driven in the first direction, the second support member moves away from the first support member, at which time the distance between the first support member and the second support member increases. When the second driving member is driven in the second direction, the second support member moves closer to the first support member, at which time the distance between the first support member and the second support member decreases.

[0040] In some other embodiments, the driving end of the second driving member is connected to both the first and second supports. When the second driving member is driven in a first direction, the first support moves away from the second support, and the second support moves away from the first support, thus increasing the distance between the first and second supports. When the second driving member is driven in a second direction, the first support moves closer to the second support, and the second support moves closer to the first support, thus decreasing the distance between the first and second supports.

[0041] In any of the above technical solutions, the bracket includes a power supply module connected to the first sensor and the second sensor.

[0042] In this technical solution, both the first and second sensors are photoelectric sensors and are powered by a power supply module. In some embodiments, the power supply module supplies a 24V DC power signal to both the first and second sensors.

[0043] It is understood that the first and second sensors can share a power module with the PLC controller. Alternatively, the first and second sensors can be powered by independent power modules; this embodiment does not impose any limitations on this.

[0044] A second aspect of the present invention provides a control method for an object handling device, used to control the object handling device provided in any of the above technical solutions. The control method includes: upon receiving a handling signal, acquiring object information of the target object corresponding to the handling signal and a distance value between the bracket and the object; and controlling the bracket to load the target object based on the object information and the distance value.

[0045] In this technical solution, the object handling equipment includes stacker cranes, etc. Specifically, the object handling equipment includes a platform, a bracket, a first sensor, and a second sensor. The platform supports the bracket, the first sensor, and the second sensor. The bracket can extend or retract relative to the platform, thereby enabling loading and unloading operations for goods.

[0046] The platform can be connected to movable structures such as tracks, gantry cranes, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods transportation. Upon reaching the target location, the carrier unloads the target object into a predetermined position, thus realizing the object transportation operation.

[0047] The first sensor is used to collect object information of the target object, that is, to collect cargo information. This cargo information is specifically used to determine whether there is cargo placed at a predetermined location, such as on a shelf. The second sensor is used to obtain the distance between the tray and the cargo, that is, the target object.

[0048] Specifically, the transport signal is used to control the object transport equipment to move a target object from point A to point B. Upon receiving the transport signal, the object transport equipment collects object information of the target object through a first sensor. When the first sensor collects object information, it determines that there is goods at the predetermined location, and can then control the pallet to load the goods. If object information cannot be collected, it determines that there are no goods at the predetermined location, and at this time, an alarm is sent to the control console, such as reporting missing goods.

[0049] After detecting the object information, the distance information between the tray and the target object is further collected by the second sensor. Specifically, when the tray extends outward to insert into the hole on the cargo pallet, the cargo itself does not move during this process. Therefore, the distance between the target object and the tray should decrease to a certain range and then remain constant within a certain range.

[0050] If, during this process, the distance between the goods and the pallet increases, specifically exceeding a certain range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving. In this case, there is a risk of pushing the goods off the shelf, causing them to fall.

[0051] Therefore, based on the distance between the target object and the bracket, it is possible to accurately determine the situation where the bracket is pushing the goods, and control the bracket to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0052] In the above technical solution, controlling the bracket to load the target object based on object information and distance value includes: when object information is obtained, controlling the bracket to load the target object based on the comparison result of the distance value and the preset distance range; when object information is not obtained, generating a first warning message.

[0053] In this technical solution, if the first sensor collects object information, it determines that there is cargo at the predetermined position. Then, the second sensor further collects the distance information between the tray and the target object, and based on the distance value, controls the tray to load cargo.

[0054] If object information cannot be collected, it is determined that there is no goods at the predetermined location. At this time, it can be judged that the goods are missing or the goods position information indicated by the handling signal is incorrect. In this case, the PLC controller generates a first warning message and alarms the control console according to the first warning message, such as reporting missing goods or incorrect goods position, thereby ensuring the reliability and safety of goods handling.

[0055] In any of the above technical solutions, controlling the bracket to load the target object based on the comparison result between the distance value and the preset distance range includes: when the distance value is within the preset distance range, controlling the bracket to extend to load the target object; when the distance value is outside the preset distance range, generating a second warning message.

[0056] In this technical solution, when the presence of an object signal is determined, it is determined that there is cargo at the cargo location specified by the handling signal. At this time, the distance value between the cargo and the pallet is collected, and the pallet extends outward to insert into the hole on the cargo pallet. During this process, the cargo itself does not move. Therefore, the distance between the target object and the pallet should be reduced to a certain range and then maintained within a certain range.

[0057] If the distance value is within the preset distance range, it means that the bracket, specifically the first support and the second support, extends synchronously and successfully inserts into the hole on the cargo pallet. At this time, the loading platform can be controlled to lift the bracket, thereby loading the cargo onto the loading platform and moving with the loading platform to complete the cargo handling work.

[0058] If the distance value is not within the preset range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving, posing a risk of pushing the goods off the shelf and causing them to fall. In this case, the pallet can be stopped from extending, a second warning message can be generated, and an alarm can be sent to the control panel based on the second warning message, such as reporting the risk of goods falling, thereby ensuring the reliability and safety of goods handling.

[0059] In any of the above technical solutions, the control method further includes: determining the target position based on the transport signal; after the control bracket loads the target object, the control method further includes: controlling the platform to move to the target position.

[0060] In this technical solution, when the object handling equipment is working, upon receiving a handling signal, the location of the goods and the target location are determined based on the handling signal. Specifically, the object handling equipment is used to move goods from point A to point B, where point A is the location of the goods and point B is the target location.

[0061] When the platform moves to point A, which is the location of the goods, it first determines whether there are goods at point A based on the object information collected by the first sensor. If it is determined that the object information has been collected, it further determines whether there is a risk of the object falling based on the distance value between the target object and the bracket collected by the second sensor.

[0062] After confirming there is no risk of falling, control the tray to load the target object. At this point, control the platform to rise and move to the target position, completing the transport operation from point A to point B.

[0063] In any of the above technical solutions, after controlling the stage to move to the target position, the control method further includes: controlling the bracket to retract to unload the target object.

[0064] In this technical solution, the platform can be connected to movable structures such as tracks, gantry frames, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods handling.

[0065] Upon reaching the target location, the bracket retracts, thereby unloading the target object into the predetermined position and completing the object handling operation.

[0066] A third aspect of the present invention provides a control device for an object handling device, used to control the object handling device provided in any of the above technical solutions. The control device includes: an acquisition module, used to acquire object information of the target object corresponding to the handling signal and the distance value between the bracket and the object when a handling signal is received; and a control module, used to control the bracket to load the target object according to the object information and the distance value.

[0067] In this technical solution, the object handling equipment includes stacker cranes, etc. Specifically, the object handling equipment includes a platform, a bracket, a first sensor, and a second sensor. The platform supports the bracket, the first sensor, and the second sensor. The bracket can extend or retract relative to the platform, thereby enabling loading and unloading operations for goods.

[0068] The platform can be connected to movable structures such as tracks, gantry cranes, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods transportation. Upon reaching the target location, the carrier unloads the target object into a predetermined position, thus realizing the object transportation operation.

[0069] The first sensor is used to collect object information of the target object, that is, to collect cargo information. This cargo information is specifically used to determine whether there is cargo placed at a predetermined location, such as on a shelf. The second sensor is used to obtain the distance between the tray and the cargo, that is, the target object.

[0070] Specifically, the transport signal is used to control the object transport equipment to move a target object from point A to point B. Upon receiving the transport signal, the object transport equipment collects object information of the target object through a first sensor. When the first sensor collects object information, it determines that there is goods at the predetermined location, and can then control the pallet to load the goods. If object information cannot be collected, it determines that there are no goods at the predetermined location, and at this time, an alarm is sent to the control console, such as reporting missing goods.

[0071] After detecting the object information, the distance information between the tray and the target object is further collected by the second sensor. Specifically, when the tray extends outward to insert into the hole on the cargo pallet, the cargo itself does not move during this process. Therefore, the distance between the target object and the tray should decrease to a certain range and then remain constant within a certain range.

[0072] If, during this process, the distance between the goods and the pallet increases, specifically exceeding a certain range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving. In this case, there is a risk of pushing the goods off the shelf, causing them to fall.

[0073] Therefore, based on the distance between the target object and the bracket, it is possible to accurately determine the situation where the bracket is pushing the goods, and control the bracket to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0074] A fourth aspect of the present invention provides a control device for an object handling equipment, comprising: a memory for storing programs or instructions; and a processor for executing the programs or instructions to implement the steps of the control method provided in any of the above technical solutions. Therefore, the control device for the object handling equipment also includes all the beneficial effects of the control method provided in any of the above technical solutions, and will not be repeated here to avoid repetition.

[0075] The fifth aspect of the present invention provides a readable storage medium having a program or instructions stored thereon. When the program or instructions are executed by a processor, they implement the steps of the control method provided in any of the above-described technical solutions. Therefore, the readable storage medium also includes all the beneficial effects of the control method provided in any of the above-described technical solutions. To avoid repetition, these effects will not be repeated here.

[0076] The sixth aspect of the present invention provides an object handling device, comprising: a control device as provided in any of the above technical solutions; and / or a readable storage medium as provided in any of the above technical solutions. Therefore, the object handling device also includes all the beneficial effects of the control device as provided in any of the above technical solutions and / or the readable storage medium as provided in any of the above technical solutions. To avoid repetition, these will not be repeated here. Attached Figure Description

[0077] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0078] Figure 1 A schematic diagram of the structure of an object handling device according to an embodiment of the present invention is shown;

[0079] Figure 2 A schematic diagram of the controller according to an embodiment of the present invention is shown;

[0080] Figure 3 A schematic diagram of sensor wiring according to an embodiment of the present invention is shown;

[0081] Figure 4 One of the flowcharts of the control method according to an embodiment of the present invention is shown;

[0082] Figure 5 A second flowchart of a control method according to an embodiment of the present invention is shown;

[0083] Figure 6 A structural block diagram of a control device according to an embodiment of the present invention is shown.

[0084] Figure label:

[0085] 100 Object handling equipment, 102 Platform, 104 Bracket, 1042 First support component, 1044 Second support component, 106 First sensor, 108 Second sensor, 110 Controller, 112 First drive component, 114 Second drive component, 116 Power supply module. Detailed Implementation

[0086] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0087] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0088] The following reference Figures 1 to 6 This invention describes an object handling device and its control method, control apparatus, and readable storage medium according to some embodiments of the present invention.

[0089] Example 1

[0090] In some embodiments of the present invention, an object handling device is provided. Figure 1 A schematic diagram of the structure of an object handling device according to an embodiment of the present invention is shown, such as... Figure 1 As shown, the object handling device 100 includes:

[0091] A platform 102; a bracket 104, mounted on the platform 102, extendable relative to the platform 102, used to support objects; a first sensor 106, mounted on the platform 102, used to acquire object information of the target object; and a second sensor 108, mounted on the platform 102, used to acquire the distance value between the bracket 104 and the platform 102, so that the bracket 104 can load the target object according to the object information and the distance value.

[0092] In this embodiment of the invention, the object handling equipment 100 includes a stacker crane, etc. Specifically, the object handling equipment 100 includes a platform 102, a bracket 104, a first sensor 106, and a second sensor 108. The platform 102 supports the bracket 104, the first sensor 106, and the second sensor 108. The bracket 104 can extend or retract relative to the platform 102, thereby enabling loading and unloading operations for goods.

[0093] The platform 102 can be connected to movable structures such as tracks, gantry frames, and vehicles, enabling it to move in space and transport the bracket 104 to the location of the goods, i.e., the target object. After the target object is loaded onto the bracket 104, the platform 102 can move further to the target location for goods transportation. Upon reaching the target location, the bracket 104 unloads the target object onto a predetermined position, thereby realizing the object transportation operation.

[0094] The first sensor 106 is used to collect object information of the target object, that is, to collect cargo information. This cargo information is specifically used to determine whether cargo is placed at a predetermined location, such as on a shelf. It is understood that when the first sensor 106 collects object information, it determines that cargo is present at the predetermined location, and the tray 104 can be controlled to load the cargo. If object information cannot be collected, it determines that there is no cargo at the predetermined location, and an alarm is sent to the control console, such as reporting missing cargo.

[0095] The second sensor 108 is used to obtain the distance between the tray 104 and the goods, i.e., the target object. Specifically, the tray 104 extends outward and inserts into the hole on the goods pallet. During this process, the goods themselves do not move. Therefore, the distance between the target object and the tray 104 should decrease to a certain range and then remain unchanged within a certain range.

[0096] If, during this process, the distance between the goods and the pallet 104 increases, specifically exceeding a certain distance range, it indicates that the pallet 104 is "pushing" the goods, that is, the target object is moving. At this time, there is a risk of pushing the goods off the shelf and causing the goods to fall.

[0097] Therefore, based on the distance between the target object and the bracket 104, it is possible to accurately determine the situation where the bracket 104 is pushing the goods, and control the bracket 104 to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0098] Based on any of the above embodiments, the object handling device further includes: a controller 110, which is connected to the platform 102, the bracket 104, the first sensor 106 and the second sensor 108, and is used to send an enable signal to the bracket 104 when object information is obtained and the distance value meets the preset conditions, so that the bracket 104 extends to load the object.

[0099] In this embodiment of the invention, the controller 110 may specifically be a PLC (Programmable Logic Controller). Figure 2 A schematic diagram of the controller 110 according to an embodiment of the present invention is shown. Figure 3 A schematic diagram of sensor wiring according to an embodiment of the present invention is shown, such as... Figure 2 and Figure 3 As shown, the first sensor 106 and the second sensor 108 are connected to the digital input module of the PLC controller 110 via digital signal cables, thereby sending the collected object information and distance values ​​to the PLC controller 110.

[0100] Meanwhile, the PLC controller 110 is also used to generate an enable signal for controlling the movement of the platform 102 and the bracket 104 based on the signal of the goods being transported, thereby controlling the bracket 104 to perform telescopic movement to load or unload goods, or controlling the platform 102 to move, thereby transporting goods from point A to point B.

[0101] In some embodiments, the bracket 104 is driven by a motor connected to a frequency converter and operates based on the drive signal output by the frequency converter. When a cargo signal is detected and the distance between the target object and the bracket 104 is determined to meet a preset distance range, the PLC controller 110 sends an enable signal to the frequency converter, thereby controlling the frequency converter to output a drive signal to the motor, driving the motor to rotate and causing the bracket 104 to extend and load the target object.

[0102] After the stage 102 moves to the target position, the PLC controller 110 sends an enable signal again, driving the motor to rotate so that the bracket 104 retracts and unloads the target object at the target position.

[0103] Based on any of the above embodiments, such as Figure 1 As shown, the bracket 104 includes: a first support member 1042; and a second support member 1044, which is arranged side by side with the first support member 1042.

[0104] In this embodiment of the invention, the tray 104 specifically includes two supporting members, namely a first supporting member 1042 and a second supporting member 1044. Correspondingly, the target object, i.e., the pallet of goods, has holes corresponding to the first supporting member 1042 and the second supporting member 1044. During the loading process, after the first supporting member 1042 and the second supporting member 1044 extend and insert into the holes on the goods pallet simultaneously, the loading platform 102 drives the tray 104 to rise, thereby loading the goods onto the loading platform 102 and moving with the loading platform 102.

[0105] After the platform 102 moves to the target location, the platform 102 lowers its height and makes the pallet of the goods contact the rack, bottom surface, or the loading platform of the transport vehicle, transport ship, etc. After the goods are placed stably, the first support 1042 and the second support 1044 are controlled to retract synchronously, thereby completing the unloading of the goods.

[0106] By setting up two support components to support and load goods, the balance and stability of the goods can be guaranteed during transportation, thereby improving the safety and reliability of object handling.

[0107] Based on any of the above embodiments, such as Figure 1As shown, the bracket 104 further includes a first driving member 112, which is connected to the first support member 1042 and the second support member 1044, and is used to drive the first support member 1042 and the second support member 1044 to extend and retract.

[0108] In this embodiment of the invention, a first driving member 112 is provided on the bracket 104, wherein the first driving member 112 may specifically be a DC motor.

[0109] Specifically, both the first support member 1042 and the second support member 1044 are two-section structures. One section is fixedly connected to the platform 102 and is referred to as the fixed section structure. The other section is fitted onto the fixed section structure and is referred to as the movable section structure. The movable section structure is connected to the output end of the first drive member 112. When the first drive member 112 drives the movable section structure in a first direction, the movable section structure moves away from the fixed section structure. At this time, the bracket 104 extends to load and support the goods.

[0110] When the first drive member 112 drives the movable section structure in the second direction, the movable section structure moves in the direction close to the fixed section structure, at which time the bracket 104 retracts to unload the goods.

[0111] It is understood that in some embodiments, the number of first drive members 112 can be one, and one drive member can simultaneously drive the first support 104 and the second support 104 to perform telescopic movements.

[0112] In other embodiments, there may be two first driving members 112, and the two first driving members 112 respectively drive the first support 104 and the second support 104 to perform telescopic movements.

[0113] Based on any of the above embodiments, the bracket 104 further includes: a second driving member 114, connected to the first support member 1042 and the second support member 1044, for driving the first support member 1042 and / or the second support member 1044 to move, so as to change the distance between the first support member 1042 and the second support member 1044.

[0114] In embodiments of the present invention, such as Figure 1 As shown, a second driving element 114 is provided on the bracket 104, wherein the second driving element 114 may be a DC motor.

[0115] Specifically, due to differences in the size, shape, or form of the goods, the spacing between the holes on the goods pallet may also vary. In order to ensure the balance and stability of the goods during handling, loading, and support, the spacing between the first support member 1042 and the second support member 1044 can be increased or decreased. When the volume of the goods is large, the spacing between the first support member 1042 and the second support member 1044 is increased, and when the volume of the goods is small, the spacing between the first support member 1042 and the second support member 1044 is decreased.

[0116] The second driving member 114 is used to drive at least one of the first support member 1042 and the second support member 1044 to move relative to the other, thereby changing the distance between the first support member 1042 and the second support member 1044.

[0117] It is understood that in some embodiments, the driving end of the second driving member 114 is connected to the first support member 1042. When the second driving member 114 is driven along the first direction, the first support member 1042 moves away from the second support member 1044, at which time the distance between the first support member 1042 and the second support member 1044 increases. When the second driving member 114 is driven along the second direction, the first support member 1042 moves towards the second support member 1044, at which time the distance between the first support member 1042 and the second support member 1044 decreases.

[0118] In other embodiments, the driving end of the second driving member 114 is connected to the second support member 1044. When the second driving member 114 is driven along the first direction, the second support member 1044 moves away from the first support member 1042, at which time the distance between the first support member 1042 and the second support member 1044 increases. When the second driving member 114 is driven along the second direction, the second support member 1044 moves towards the first support member 1042, at which time the distance between the first support member 1042 and the second support member 1044 decreases.

[0119] In some other embodiments, the driving end of the second driving member 114 is connected to both the first support member 1042 and the second support member 1044. When the second driving member 114 is driven along a first direction, the first support member 1042 moves away from the second support member 1044, and the second support member 1044 moves away from the first support member 1042, thus increasing the distance between the first support member 1042 and the second support member 1044. When the second driving member 114 is driven along a second direction, the first support member 1042 moves closer to the second support member 1044, and the second support member 1044 moves closer to the first support member 1042, thus decreasing the distance between the first support member 1042 and the second support member 1044.

[0120] Based on any of the above embodiments, such as Figure 1 As shown, the bracket 104 includes a power supply module 116, which is connected to the first sensor 106 and the second sensor 108.

[0121] In this embodiment of the invention, both the first sensor 106 and the second sensor 108 are photoelectric sensors and are powered by the power supply module 116. In some embodiments, the power supply module 116 supplies a 24V DC power supply signal to the first sensor 106 and the second sensor 108.

[0122] It is understood that the first sensor 106 and the second sensor 108 can share a power module with the PLC controller 110. Alternatively, the first sensor 106 and the second sensor 108 can be powered by a separate power supply module 116; this embodiment does not impose any limitations on this.

[0123] Example 2

[0124] A second aspect of the present invention provides a control method for an object handling device, used to control the object handling device as provided in any of the above embodiments. Figure 4 One of the flowcharts of the control method according to an embodiment of the present invention is shown, such as Figure 4 As shown, the control methods include:

[0125] Step 402: Upon receiving a transport signal, obtain the object information of the target object corresponding to the transport signal and the distance value between the bracket and the object.

[0126] Step 404: Based on the object information and distance value, control the bracket to load the target object.

[0127] In this embodiment of the invention, the object handling equipment includes a stacker crane, etc. Specifically, the object handling equipment includes a platform, a bracket, a first sensor, and a second sensor. The platform supports the bracket, the first sensor, and the second sensor. The bracket can extend or retract relative to the platform, thereby enabling loading and unloading operations for goods.

[0128] The platform can be connected to movable structures such as tracks, gantry cranes, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods transportation. Upon reaching the target location, the carrier unloads the target object into a predetermined position, thus realizing the object transportation operation.

[0129] The first sensor is used to collect object information of the target object, that is, to collect cargo information. This cargo information is specifically used to determine whether there is cargo placed at a predetermined location, such as on a shelf. The second sensor is used to obtain the distance between the tray and the cargo, that is, the target object.

[0130] Specifically, the transport signal is used to control the object transport equipment to move a target object from point A to point B. Upon receiving the transport signal, the object transport equipment collects object information of the target object through a first sensor. When the first sensor collects object information, it determines that there is goods at the predetermined location, and can then control the pallet to load the goods. If object information cannot be collected, it determines that there are no goods at the predetermined location, and at this time, an alarm is sent to the control console, such as reporting missing goods.

[0131] After detecting the object information, the distance information between the tray and the target object is further collected by the second sensor. Specifically, when the tray extends outward to insert into the hole on the cargo pallet, the cargo itself does not move during this process. Therefore, the distance between the target object and the tray should decrease to a certain range and then remain constant within a certain range.

[0132] If, during this process, the distance between the goods and the pallet increases, specifically exceeding a certain range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving. In this case, there is a risk of pushing the goods off the shelf, causing them to fall.

[0133] Therefore, based on the distance between the target object and the bracket, it is possible to accurately determine the situation where the bracket is pushing the goods, and control the bracket to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0134] Based on any of the above embodiments, controlling the tray to load the target object according to the object information and the distance value includes: if the object information is obtained, controlling the tray to load the target object according to the comparison result of the distance value and the preset distance range; if the object information is not obtained, generating a first warning message.

[0135] In this embodiment of the invention, if the first sensor collects object information, it is determined that there is cargo at the predetermined position. Then, the second sensor further collects the distance information between the tray and the target object, and based on the distance value, the tray is controlled to load cargo.

[0136] If object information cannot be collected, it is determined that there is no goods at the predetermined location. At this time, it can be judged that the goods are missing or the goods position information indicated by the handling signal is incorrect. In this case, the PLC controller generates a first warning message and alarms the control console according to the first warning message, such as reporting missing goods or incorrect goods position, thereby ensuring the reliability and safety of goods handling.

[0137] Based on any of the above embodiments, according to the comparison result between the distance value and the preset distance range, the bracket is controlled to load the target object, including: when the distance value is within the preset distance range, the bracket is controlled to extend to load the target object; when the distance value is outside the preset distance range, a second warning message is generated.

[0138] In this embodiment of the invention, when an object signal is determined, it is determined that there is cargo at the cargo location specified by the transport signal. At this time, the distance value between the cargo and the pallet is collected, and the pallet extends outward to insert into the hole on the cargo pallet. During this process, the cargo itself does not move. Therefore, the distance between the target object and the pallet should be reduced to a certain distance range and then maintained within a certain range.

[0139] If the distance value is within the preset distance range, it means that the bracket, specifically the first support and the second support, extends synchronously and successfully inserts into the hole on the cargo pallet. At this time, the loading platform can be controlled to lift the bracket, thereby loading the cargo onto the loading platform and moving with the loading platform to complete the cargo handling work.

[0140] If the distance value is not within the preset range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving, posing a risk of pushing the goods off the shelf and causing them to fall. In this case, the pallet can be stopped from extending, a second warning message can be generated, and an alarm can be sent to the control panel based on the second warning message, such as reporting the risk of goods falling, thereby ensuring the reliability and safety of goods handling.

[0141] Based on any of the above embodiments, the control method further includes: determining the target position according to the transport signal; after the control bracket loads the target object, the control method further includes: controlling the platform to move to the target position.

[0142] In this embodiment of the invention, when the object handling equipment is operating, upon receiving a handling signal, the location of the goods and the target location are determined based on the handling signal. Specifically, the object handling equipment is used to move goods from point A to point B, where point A is the location of the goods and point B is the target location.

[0143] When the platform moves to point A, which is the location of the goods, it first determines whether there are goods at point A based on the object information collected by the first sensor. If it is determined that the object information has been collected, it further determines whether there is a risk of the object falling based on the distance value between the target object and the bracket collected by the second sensor.

[0144] After confirming there is no risk of falling, control the tray to load the target object. At this point, control the platform to rise and move to the target position, completing the transport operation from point A to point B.

[0145] Based on any of the above embodiments, after controlling the stage to move to the target position, the control method further includes: controlling the bracket to retract to unload the target object.

[0146] In this embodiment of the invention, the platform can be connected to movable structures such as tracks, gantry frames, and vehicles, thereby enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can further move to the target location for goods transportation.

[0147] Upon reaching the target location, the bracket retracts, thereby unloading the target object into the predetermined position and completing the object handling operation.

[0148] In some embodiments of this application, Figure 5 A second flowchart of a control method according to an embodiment of the present invention is shown, such as... Figure 5 As shown, the control methods include:

[0149] Step 502: The platform travel lifting frequency converter positioning stop enable signal is sent.

[0150] Step 504: Determine if there is an object signal at the target location; if yes, proceed to step 506; otherwise, proceed to step 508.

[0151] Step 506: Determine whether the distance value exceeds the preset distance range; if yes, proceed to step 508; otherwise, proceed to step 510.

[0152] Step 508, PLC controller alarm;

[0153] Step 510: Send an enable signal to the bracket inverter.

[0154] Specifically, when the first sensor shines obliquely onto the pallet, it detects the upper left corner of the pallet and the logic is true, indicating the presence of goods. When the second sensor shines obliquely onto the upper left corner of the pallet, the distance setting button is pressed and held to record the distance value. When the pallet is placed within this distance, the sensor returns a true logic signal to the PLC, indicating no risk of falling. When the pallet is accidentally pushed beyond the distance range, the sensor returns a false PLC signal, indicating a risk of falling.

[0155] By using the signal from the push-down protection sensor (second sensor), it is possible to effectively prevent the forks from rubbing against the pallet or even falling off during the fork extension process. The multiple pallet sensors for cargo detection and distance judgment can avoid risks and achieve more accurate positioning.

[0156] Example 3

[0157] In some embodiments of the present invention, a control device for an object handling device is provided, for controlling the object handling device as provided in any of the above embodiments. Figure 6 A structural block diagram of a control device according to an embodiment of the present invention is shown, such as... Figure 6 As shown, the control device 600 includes:

[0158] The acquisition module 602 is used to acquire the object information of the target object corresponding to the transport signal and the distance value between the bracket and the object when the transport signal is received; the control module 604 is used to control the bracket to load the target object according to the object information and the distance value.

[0159] In this embodiment of the invention, the object handling equipment includes a stacker crane, etc. Specifically, the object handling equipment includes a platform, a bracket, a first sensor, and a second sensor. The platform supports the bracket, the first sensor, and the second sensor. The bracket can extend or retract relative to the platform, thereby enabling loading and unloading operations for goods.

[0160] The platform can be connected to movable structures such as tracks, gantry cranes, and vehicles, enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can move further to the target location for goods transportation. Upon reaching the target location, the carrier unloads the target object into a predetermined position, thus realizing the object transportation operation.

[0161] The first sensor is used to collect object information of the target object, that is, to collect cargo information. This cargo information is specifically used to determine whether there is cargo placed at a predetermined location, such as on a shelf. The second sensor is used to obtain the distance between the tray and the cargo, that is, the target object.

[0162] Specifically, the transport signal is used to control the object transport equipment to move a target object from point A to point B. Upon receiving the transport signal, the object transport equipment collects object information of the target object through a first sensor. When the first sensor collects object information, it determines that there is goods at the predetermined location, and can then control the pallet to load the goods. If object information cannot be collected, it determines that there are no goods at the predetermined location, and at this time, an alarm is sent to the control console, such as reporting missing goods.

[0163] After detecting the object information, the distance information between the tray and the target object is further collected by the second sensor. Specifically, when the tray extends outward to insert into the hole on the cargo pallet, the cargo itself does not move during this process. Therefore, the distance between the target object and the tray should decrease to a certain range and then remain constant within a certain range.

[0164] If, during this process, the distance between the goods and the pallet increases, specifically exceeding a certain range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving. In this case, there is a risk of pushing the goods off the shelf, causing them to fall.

[0165] Therefore, based on the distance between the target object and the bracket, it is possible to accurately determine the situation where the bracket is pushing the goods, and control the bracket to stop moving in this situation, thereby avoiding the situation where the goods are pushed off the shelf and fall, thus effectively reducing the risk of goods falling and ensuring the working safety and reliability of stacker cranes and other handling equipment.

[0166] Based on any of the above embodiments, the control module is further configured to, when object information is obtained, control the bracket to load the target object according to the comparison result of the distance value and the preset distance range; and generate a first warning message when object information is not obtained.

[0167] In this embodiment of the invention, if the first sensor collects object information, it is determined that there is cargo at the predetermined position. Then, the second sensor further collects the distance information between the tray and the target object, and based on the distance value, the tray is controlled to load cargo.

[0168] If object information cannot be collected, it is determined that there is no goods at the predetermined location. At this time, it can be judged that the goods are missing or the goods position information indicated by the handling signal is incorrect. In this case, the PLC controller generates a first warning message and alarms the control console according to the first warning message, such as reporting missing goods or incorrect goods position, thereby ensuring the reliability and safety of goods handling.

[0169] Based on any of the above embodiments, the control module is further configured to control the bracket to extend to load the target object when the distance value is within a preset distance range; and to generate a second warning message when the distance value is outside the preset distance range.

[0170] In this embodiment of the invention, when an object signal is determined, it is determined that there is cargo at the cargo location specified by the transport signal. At this time, the distance value between the cargo and the pallet is collected, and the pallet extends outward to insert into the hole on the cargo pallet. During this process, the cargo itself does not move. Therefore, the distance between the target object and the pallet should be reduced to a certain distance range and then maintained within a certain range.

[0171] If the distance value is within the preset distance range, it means that the bracket, specifically the first support and the second support, extends synchronously and successfully inserts into the hole on the cargo pallet. At this time, the loading platform can be controlled to lift the bracket, thereby loading the cargo onto the loading platform and moving with the loading platform to complete the cargo handling work.

[0172] If the distance value is not within the preset range, it indicates that the pallet is "pushing" the goods, meaning the target object is moving, posing a risk of pushing the goods off the shelf and causing them to fall. In this case, the pallet can be stopped from extending, a second warning message can be generated, and an alarm can be sent to the control panel based on the second warning message, such as reporting the risk of goods falling, thereby ensuring the reliability and safety of goods handling.

[0173] Based on any of the above embodiments, the control device further includes: a determination module for determining the target position based on the transport signal; and a control module for controlling the platform to move to the target position.

[0174] In this embodiment of the invention, when the object handling equipment is operating, upon receiving a handling signal, the location of the goods and the target location are determined based on the handling signal. Specifically, the object handling equipment is used to move goods from point A to point B, where point A is the location of the goods and point B is the target location.

[0175] When the platform moves to point A, which is the location of the goods, it first determines whether there are goods at point A based on the object information collected by the first sensor. If it is determined that the object information has been collected, it further determines whether there is a risk of the object falling based on the distance value between the target object and the bracket collected by the second sensor.

[0176] After confirming there is no risk of falling, control the tray to load the target object. At this point, control the platform to rise and move to the target position, completing the transport operation from point A to point B.

[0177] Based on any of the above embodiments, the control module is also used to control the retraction of the bracket to unload the target object.

[0178] In this embodiment of the invention, the platform can be connected to movable structures such as tracks, gantry frames, and vehicles, thereby enabling it to move in space and transport the carrier to the location of the goods, i.e., the target object. After the target object is loaded onto the carrier, the platform can further move to the target location for goods transportation.

[0179] Upon reaching the target location, the bracket retracts, thereby unloading the target object into the predetermined position and completing the object handling operation.

[0180] Example 4

[0181] In some embodiments of the present invention, a control device for an object handling device is provided, comprising: a memory for storing programs or instructions; and a processor for executing the programs or instructions to implement the steps of the control method provided in any of the above embodiments. Therefore, the control device for the object handling device also includes all the beneficial effects of the control method provided in any of the above embodiments, and will not be repeated here to avoid repetition.

[0182] Example 5

[0183] In some embodiments of the present invention, a readable storage medium is provided on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the steps of the control method provided in any of the above embodiments. Therefore, the readable storage medium also includes all the beneficial effects of the control method provided in any of the above embodiments, and will not be repeated here to avoid repetition.

[0184] Example 6

[0185] In some embodiments of the present invention, an object handling device is provided, including: a control device as provided in any of the above embodiments; and / or a readable storage medium as provided in any of the above embodiments. Therefore, the object handling device also includes all the beneficial effects of the control device as provided in any of the above embodiments and / or the readable storage medium as provided in any of the above embodiments. To avoid repetition, these will not be described again here.

[0186] In the description of this invention, the term "multiple" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0187] In the description of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0188] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An object handling device, characterized in that, include: Stage; A bracket, provided on the platform, is retractable relative to the platform and is used to support objects; The first sensor is located on the stage and is used to acquire object information of the target object. A second sensor is provided on the platform to obtain the distance value between the bracket and the target object, so that the bracket can load the target object according to the object information and the distance value; The controller is connected to the platform, the bracket, the first sensor, and the second sensor; The first sensor collects information about the object and determines that there is cargo at a predetermined location; the controller then controls the tray to load the cargo. As the bracket extends outward to insert into the hole on the goods pallet, the distance between the goods and the bracket increases. When the distance exceeds a certain range, there is a risk of pushing the goods off the shelf and causing them to fall. At this time, the controller generates a second warning message and alarms the control panel based on the second warning message. If the first sensor fails to collect the object information, determines that there is no goods at the predetermined location, judges that the goods are missing, or determines that the goods location information indicated by the handling signal is incorrect, the controller generates a first warning message and alarms the console according to the first warning message. The bracket includes: First support component; The second support component is arranged side by side with the first support component; The second driving member is connected to the first support member and the second support member and is used to drive the first support member and the second support member to move so as to change the distance between the first support member and the second support member. When the second driving member is driven along the first direction, the first support member moves away from the second support member, and the second support member moves away from the first support member. When the second driving member is driven in the second direction, the first support member moves toward the direction of the second support member, and the second support member moves toward the direction of the first support member.

2. The object handling device according to claim 1, characterized in that, The bracket also includes: A first driving member is connected to the first support member and the second support member, and is used to drive the first support member and the second support member to extend and retract.

3. The object handling device according to claim 1 or 2, characterized in that, The bracket includes: A power supply module is connected to the first sensor and the second sensor.

4. A control method for an object handling device, used to control the object handling device as described in any one of claims 1 to 3, characterized in that, include: Upon receiving a transport signal, the system acquires the object information of the target object corresponding to the transport signal, and the distance value between the bracket and the object. Based on the object information and the distance value, the bracket is controlled to load the target object.

5. The control method according to claim 4, characterized in that, Also includes: Determine the target location based on the transport signal; After controlling the bracket to load the target object, the control method further includes: Control the stage to move to the target position.

6. The control method according to claim 5, characterized in that, After controlling the stage to move to the target position, the control method further includes: Control the bracket to retract to unload the target object.

7. A control device for an object handling equipment, used to control the object handling equipment as described in any one of claims 1 to 3, characterized in that, include: The acquisition module is used to acquire, upon receiving a transport signal, the object information of the target object corresponding to the transport signal and the distance value between the bracket and the object; The control module is used to control the bracket to load the target object based on the object information and the distance value.

8. A control device for an object handling equipment, characterized in that, include: Memory, used to store programs or instructions; A processor for implementing the steps of the control method as described in any one of claims 4 to 6 when executing the program or instructions.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the control method as described in any one of claims 4 to 6.

10. An object handling device, characterized in that, include: The control device as described in claim 7 or 8; and / or The readable storage medium as described in claim 9.

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