Methods, devices, electronic equipment and storage media for determining the location of cargo channels

Abstract

This invention relates to a method, apparatus, electronic device, and storage medium for determining the location of a delivery lane. The method includes: for each target delivery lane in a food pickup cabinet, determining whether a food pickup platform can place or retrieve a test item from the target delivery lane; if the platform cannot place or retrieve the test item, acquiring the delivery lane information; acquiring the distance the platform moves from a first position to a limiting fixture corresponding to the delivery lane information; and determining a target position for the target delivery lane based on the first position and the moving distance, for use in lane position adjustment. This invention avoids errors introduced by manual measurement, improves the accuracy of delivery lane location determination, shortens the time required for determination, and increases the efficiency of delivery lane location determination.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, electronic device and storage medium for determining the location of a cargo channel. Background Technology

[0002] Food pickup lockers are automated devices that purchase and supply meals through on-site purchase or pre-order. They are typically placed in large office buildings, factories, schools, commercial centers, and other locations to provide convenient dining services.

[0003] To store more food items, the food lockers are equipped with multiple storage channels. The food pickup platform can transport the food from the storage channel to the serving outlet for users to retrieve.

[0004] However, during the production of food pickup lockers, the height of the delivery lanes usually needs to be manually positioned, which may result in inaccurate positioning. In addition, due to the easy deformation of sheet metal materials, the delivery lanes of the food pickup lockers may not be level or have inconsistent heights. During transportation, the vibration of the unit may cause changes in the position of the delivery lanes. All of these may lead to deviations in the position of the delivery lanes when the food pickup lockers are transported to the place of use, resulting in problems such as the food pickup platform being unable to properly retrieve or place food. Summary of the Invention

[0005] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides a method, apparatus, electronic device and storage medium for determining the location of a cargo channel.

[0006] Firstly, this application provides a method for determining the location of a cargo channel, including:

[0007] For each target aisle in the food pickup cabinet, determine whether the food pickup platform can place the test item into or retrieve it from the target aisle;

[0008] If the food pickup platform is unable to place the test item into the target channel or remove it from the target channel, it obtains the channel information of the target channel.

[0009] The distance the food pickup platform moves from its first position to the limiting fixture corresponding to the cargo channel information is obtained.

[0010] The target position of the target cargo lane is determined based on the first position and the moving distance, for use in adjusting the cargo lane position.

[0011] Optionally, determine whether the food pickup platform can place the test item into the target aisle, including:

[0012] Control the food collection platform carrying the test items to move to the second position;

[0013] Control the food pickup platform to move to the preset position corresponding to the target cargo channel;

[0014] The first conveying device in the food collection platform and the second conveying device in the target cargo channel are reversed to push the test item from the food collection platform into the target cargo channel.

[0015] If the test item is still located on the food collection platform after a preset time period, it is determined that the food collection platform cannot place the test item into the target cargo channel.

[0016] Optionally, determining whether the food pickup platform can remove the test item from the target aisle includes:

[0017] Control the food collection platform carrying the test items to move to the second position;

[0018] Control the food pickup platform to move to the preset position corresponding to the target cargo channel;

[0019] Control the first conveying device in the food collection platform and the second conveying device in the target cargo channel to rotate forward so that the test item is taken out from the cargo channel opening of the target cargo channel;

[0020] If the test item is still not located on the food collection platform after a preset time period, it is determined that the food collection platform cannot remove the test item from the target cargo channel.

[0021] Optionally, obtaining the movement distance of the food pickup platform from the first position to the limiting fixture corresponding to the cargo channel information includes:

[0022] After the limiting fixture corresponding to the cargo channel information is adjusted from the retracted state to the pop-up state, the food pick-up platform is controlled to move to the first position, and the first position and the target cargo channel are located in the same column in the food pick-up cabinet;

[0023] Control the food pickup platform to move toward the target cargo channel until it contacts the limiting fixture, obtain the number of steps the food pickup platform has taken, and return to execute the step of controlling the food pickup platform to move to the first position until the number of repetitions reaches a preset number.

[0024] The distance traveled is determined based on a preset number of steps taken.

[0025] Optionally, determining the distance traveled based on a preset number of walking steps includes:

[0026] Calculate the average of a preset number of walking steps to obtain the average number of steps;

[0027] The distance traveled is calculated based on the average number of steps.

[0028] Optionally, obtaining the number of steps taken corresponding to the food pickup platform includes:

[0029] When the food collection platform comes into contact with the limiting fixture, the state of the three sequentially arranged microswitches inside the limiting fixture is obtained;

[0030] If, among the three microswitches in the limiting fixture, the first microswitch closest to the first position is closed and the second microswitch in the middle is not closed, the first actual walking number of the motor in the food pick-up platform is obtained as the walking number of the food pick-up platform.

[0031] Optionally, obtaining the number of steps taken corresponding to the food pickup platform further includes:

[0032] If all three microswitches inside the limiting fixture are closed, determine the current speed of the food retrieval platform at the limiting fixture.

[0033] If the current speed is less than the preset maximum speed, the time difference between the closing of the three micro switches and the distance between every two adjacent micro switches are obtained to determine the deceleration distance. The second actual number of steps the motor in the food pick-up platform moves when the food pick-up platform decelerates according to the deceleration distance is obtained as the number of steps the food pick-up platform moves accordingly.

[0034] If the current speed is equal to the preset maximum speed, the deceleration distance is determined by obtaining the time difference between the closing of the three micro switches and the distance between every two adjacent micro switches. When the food pick-up platform decelerates according to the difference between the original deceleration distance and the deceleration distance, the third actual number of steps of the motor in the food pick-up platform is obtained as the number of steps corresponding to the food pick-up platform.

[0035] Secondly, this application provides a channel position determination device, comprising:

[0036] The first determining module is used to determine, for each target channel in the food pickup cabinet, whether the food pickup platform can put the test item into the target channel or take it out from the target channel;

[0037] The first acquisition module is used to acquire the channel information of the target channel if the food collection platform is unable to place the test item into the target channel or take it out of the target channel.

[0038] The second acquisition module is used to acquire the distance the food pickup platform moves from the first position to the limiting fixture corresponding to the cargo channel information;

[0039] The second determining module is used to determine the target position of the target cargo channel based on the first position and the moving distance, for cargo channel position adjustment.

[0040] Thirdly, this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0041] Memory, used to store computer programs;

[0042] The processor, when executing a program stored in memory, implements the channel position determination method described in any of the first aspects.

[0043] Fourthly, this application provides a computer-readable storage medium storing a program for a channel location determination method, wherein when the program for the channel location determination method is executed by a processor, it implements the steps of the channel location determination method described in any of the first aspects.

[0044] The technical solutions provided in this application have the following advantages compared with the prior art:

[0045] This application embodiment determines whether the food pickup platform can place or remove the test item from each target pickup lane to identify any abnormal position of the target pickup lane. If the pickup platform cannot place or remove the test item from the target pickup lane, it indicates that the target pickup lane is abnormal. Furthermore, the distance the pickup platform moves from a first position to the limiting fixture corresponding to the pickup lane information is obtained, thereby automatically measuring the accurate target position of the target pickup lane for lane position adjustment. This avoids errors introduced by manual measurement, improves the accuracy of lane position determination, shortens the lane position determination time, and improves the efficiency of lane position determination. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0047] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A flowchart illustrating a method for determining the location of a cargo channel, as provided in an embodiment of this application;

[0049] Figure 2 A structural diagram of a food pickup cabinet provided in an embodiment of this application;

[0050] Figure 3 A schematic diagram illustrating the speed variation of a stepper motor, provided as an embodiment of this application;

[0051] Figure 4 A flowchart illustrating a method for determining the location of a cargo channel in a practical application, provided as an embodiment of this application;

[0052] Figure 5 A flowchart for locating a target cargo channel is provided as an embodiment of this application;

[0053] Figure 6 A flowchart for obtaining the number of steps taken in a single trip on a food pickup platform, provided as an embodiment of this application;

[0054] Figure 7 A structural diagram of a cargo channel position determination device provided in an embodiment of this application;

[0055] Figure 8 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] During the production of food pickup lockers, manual positioning of the driveway height is typically required, which can lead to inaccurate positioning. Furthermore, the susceptibility of sheet metal materials to deformation can cause the driveways to be uneven or inconsistent in height. Vibration during transportation can also cause changes in the driveway position. All of these factors can result in deviations in the driveway position when the locker is transported to its intended use, preventing the food pickup platform from properly retrieving or placing food. Therefore, this application provides a method, apparatus, electronic device, and storage medium for determining the driveway position.

[0058] This application provides a method for determining the location of a cargo channel, such as... Figure 1 As shown, the following steps may be included:

[0059] Step S101: For each target channel in the food pickup cabinet, determine whether the food pickup platform can put the test item into the target channel or take it out from the target channel;

[0060] In this embodiment of the application, the structure of the food pickup cabinet can be as follows: Figure 2As shown, the food collection cabinet has multiple grid-like channels arranged vertically to the paper. Each channel can be equipped with a second conveying device to move items into or out of the channel. The cabinet also has a food collection platform that can move horizontally and / or vertically to the opening of any channel. The bottom of the food collection platform is equipped with a first conveying device to move items into or out of the platform.

[0061] Each aisle in the food pick-up cabinet can be used as a target aisle. In this step, the ability of the food pick-up platform to place or retrieve test items from the target aisle can be determined by controlling the movement of the food pick-up platform, the rotation of the first conveyor, and the rotation of the second conveyor. To reduce errors, the food pick-up platform can carry test items during its movement.

[0062] In one embodiment of this application, determining whether a food pickup platform can place a test item into a target channel includes: controlling the food pickup platform carrying the test item to move to a second position; controlling the food pickup platform to move to a preset position corresponding to the target channel; controlling the first conveying device in the food pickup platform and the second conveying device in the target channel to reverse, so that the test item is pushed from the food pickup platform into the target channel; if the test item is still on the food pickup platform after a preset time period, it is determined that the food pickup platform cannot place the test item into the target channel.

[0063] In another embodiment of this application, determining whether the food pickup platform can remove the test item from the target channel includes: controlling the food pickup platform carrying the test item to move to a second position; controlling the food pickup platform to move to a preset position corresponding to the target channel; controlling the first conveying device in the food pickup platform and the second conveying device in the target channel to rotate forward so that the test item is removed from the channel opening of the target channel; if the test item is still not located on the food pickup platform after a preset time period, it is determined that the food pickup platform cannot remove the test item from the target channel.

[0064] Step S102: If the food pickup platform cannot place the test item into the target channel or take it out of the target channel, obtain the channel information of the target channel;

[0065] In this embodiment of the application, the cargo channel information of the target cargo channel may refer to the cargo channel identifier, etc.

[0066] Step S103: Obtain the distance the food pickup platform moves from the first position to the limiting fixture corresponding to the cargo channel information;

[0067] In this embodiment, when it is determined that the food pickup platform cannot place the test item into or retrieve it from the target channel, staff can be notified to install a limiting fixture on the cabinet. Alternatively, multiple limiting fixtures in a retracted state can be pre-set on the food pickup cabinet, with each limiting fixture positioned according to the channel identifier of its corresponding channel. When it is determined that the food pickup platform cannot place the test item into or retrieve it from the target channel, the limiting fixture corresponding to the channel identifier of that target channel can be controlled to pop up.

[0068] In this step, the food pickup platform can be moved to a preset first position. To make the final moving distance more accurate, the first position can be the bottom position of the cabinet in the same column as the target cargo channel. The moving distance of the food pickup platform from the first position to the limiting fixture is obtained.

[0069] like Figure 3 As shown, due to the characteristics of stepper motors, they cannot directly move to a designated position at a constant speed. When the distance to be traveled is short, the motor accelerates to a certain speed and then decelerates to the corresponding position. When the distance to be traveled is long, the motor first accelerates to its maximum speed, runs for a period of time, and then decelerates until it reaches the corresponding position. Therefore, the calculation of distance and motion state cannot be expressed linearly, and it is easy for collisions to occur due to untimely deceleration.

[0070] In one embodiment of this application, step S103, obtaining the movement distance of the food pickup platform from the first position to the limiting fixture corresponding to the cargo channel information, includes:

[0071] Step S201: After the limiting fixture corresponding to the cargo channel information is adjusted from the retracted state to the pop-up state, the food pick-up platform is controlled to move to the first position, and the first position and the target cargo channel are located in the same column in the food pick-up cabinet.

[0072] Step S202: Control the food pickup platform to move toward the target cargo channel until it contacts the limiting fixture, obtain the number of steps the food pickup platform has taken, and return to execute the step of controlling the food pickup platform to move to the first position until the number of repetitions reaches a preset number.

[0073] In another embodiment of this application, step S202, which obtains the number of steps corresponding to the food pick-up platform, includes: obtaining the state of three sequentially arranged microswitches in the limiting fixture when the food pick-up platform contacts the limiting fixture; if, among the three microswitches in the limiting fixture, the first microswitch closest to the first position is closed and the second microswitch in the middle is not closed, the first actual number of steps of the motor in the food pick-up platform is obtained as the number of steps corresponding to the food pick-up platform.

[0074] In this embodiment, the limiting fixture contains three microswitches, a limit switch, and an intelligent controller arranged in sequence. The limit switch restricts the position of the food retrieval platform to prevent it from exceeding the designated position due to motion inertia, thus avoiding positioning inaccuracies. The first microswitch determines whether the food retrieval platform is in position and transmits the current step count (after the first microswitch closes, it sends a closing signal to the original mainboard, which records the current step count of the stepper motor) to the original mainboard via the controller. The second microswitch prevents the food retrieval platform from overshooting and reduces collision problems. The third microswitch calculates the deceleration distance that the stepper motor needs to be fine-tuned. The controller communicates with the original food cabinet mainboard and can transmit parameters such as the step count, microswitch status, and limit switch status to ensure the fixture functions properly.

[0075] If all three microswitches within the limiting fixture are closed, the current speed of the food retrieval platform at the limiting fixture is determined. If the current speed is less than a preset maximum speed, the time difference between the closure of the three microswitches and the distance between any two adjacent microswitches are obtained to determine the deceleration distance. The second actual number of steps taken by the motor in the food retrieval platform when it decelerates according to the deceleration distance is obtained as the corresponding number of steps taken by the food retrieval platform. If the current speed is equal to the preset maximum speed, the time difference between the closure of the three microswitches and the distance between any two adjacent microswitches are obtained to determine the deceleration distance. The third actual number of steps taken by the motor in the food retrieval platform when it decelerates according to the difference between the original deceleration distance and the deceleration distance is obtained as the corresponding number of steps taken by the food retrieval platform.

[0076] Step S203: Determine the movement distance based on a preset number of walking steps.

[0077] In one embodiment of this application, step S203, which determines the movement distance based on a preset number of walking steps, includes: calculating the average value of the preset number of walking steps to obtain an average number of steps; and calculating the movement distance based on the average number of steps.

[0078] Step S104: Determine the target position of the target cargo channel based on the first position and the moving distance, for use in cargo channel position adjustment.

[0079] In this step, the sum of the first position and the moving distance can be used as the longitudinal height of the target channel. Since inconsistent heights can cause food to tip over or get stuck, the channel's X-axis is wider and this problem does not occur. Therefore, the coordinates containing the horizontal position and longitudinal height of the target channel can be used as the target position of the target channel, and the channel position can be adjusted accordingly.

[0080] This application embodiment determines whether the food pickup platform can place or remove the test item from each target pickup lane to identify any abnormal position of the target pickup lane. If the pickup platform cannot place or remove the test item from the target pickup lane, it indicates that the target pickup lane is abnormal. Furthermore, the distance the pickup platform moves from a first position to the limiting fixture corresponding to the pickup lane information is obtained, thereby automatically measuring the accurate target position of the target pickup lane for lane position adjustment. This avoids errors introduced by manual measurement, improves the accuracy of lane position determination, shortens the lane position determination time, and improves the efficiency of lane position determination.

[0081] For ease of understanding, this application also provides an embodiment of a method for determining the location of a cargo channel in a practical application.

[0082] like Figure 4 As shown, after the user sets the automatic walking program, the current food needs to be placed on the food collection platform. The platform will gradually move to the corresponding position according to the earliest positioning step count. Then, the platform rollers and the conveyor motor reverse, returning the food to the conveyor. If the photoelectric sensor on the food collection platform is not closed for a long time (default 15 seconds, can be set by the display), it means the food cannot be pushed back to the conveyor. At this time, the corresponding number of steps is recorded, and the rollers and conveyor motor rotate forward to ensure that the food does not tip over when the platform moves. After returning to the origin, the platform will reposition itself for the next location. If the photoelectric sensor on the food collection platform is closed, the rollers and conveyor motor rotate forward again. If the photoelectric sensor is not opened for a long time (default 15 seconds, can be set by the display), it means the food cannot be pushed from the conveyor to the food collection platform, and the corresponding number of steps is recorded. If the photoelectric sensor is opened, it means the food has been successfully pushed to the food collection platform, and the corresponding number of steps does not need to be repositioned.

[0083] Once all position detections are complete, the controller will display a prompt on the screen indicating all lanes requiring repositioning. At this point, you can choose to install only the limit switches for the indicated positions or install all limit switches. If limit switches are installed in all rows, the controller will send a control signal to disable the limits to the unused switches. In this case, the retraction of the limit switches for each switch (which can be achieved through communication between the microcontroller and the original motherboard, using relays to retract the test switches) will no longer affect the unit's positioning.

[0084] like Figure 5As shown, after the limit fixture is installed, the main board of the food cabinet will move the food retrieval platform to the bottom and activate the limit switch that needs to be repositioned. At the start of the test, the food retrieval platform rises to limit fixture 1, and the micro switch is checked for closure. If the switch is closed, the coordinates of the current movement position are recorded. The number of steps is also counted. If the number of steps is no more than 3, this process is repeated until 3 steps are taken, and the average step value is used as the final channel height. The main board simultaneously retracts the limit fixture at that point to prevent interference with the food retrieval platform during the next test. At this point, it is checked whether the limit fixture number X is less than the set limit fixture quantity. If the number X is less than the set value, the quantity of X is incremented, and the platform moves back to the limit fixture for the next positioning check. Since the limit fixture X-1 is retracted at this time, the food retrieval platform can directly move to limit fixture X. When the number X equals the set limit fixture quantity, all tests are completed, the fixture can be retracted, and the device can be powered on again for normal use.

[0085] After completing the height positioning, it is recommended to retest the conveyor using the normal food dispensing process to ensure that there are no abnormalities in actual use. The entire food dispensing process of this invention is completed automatically by the program without manual intervention. All limit fixtures are universal and can be shipped in batches simultaneously to ensure on-site debugging, which is convenient and quick, reduces manpower, and reduces the difficulty of adjusting the height of the conveyor after sales.

[0086] like Figure 3 As shown, due to the characteristics of stepper motors, they cannot directly move to a designated position at a constant speed. When the distance to be traveled is short, the motor accelerates to a certain speed and then decelerates to reach the corresponding position. When the distance to be traveled is long, the motor first accelerates to its maximum speed, runs for a period of time, and then decelerates until it reaches the corresponding position. Therefore, the calculation of distance and motion state cannot be expressed linearly, and it is easy for collisions to occur due to untimely deceleration.

[0087] like Figure 6 As shown, this limiting fixture can be used to optimize this problem. When moving fast, the food pick-up platform is prone to slowing down in time, which can lead to collisions. All three microswitches are closed. By the time difference between the closing of the three microswitches, the relevant slope can be calculated. Specifically, the slope can be calculated by dividing the distance between two microswitches by the time difference between their closing, which is the speed of the food pick-up platform at this point.

[0088] If the slope is less than Vmax (maximum speed of the stepper motor), it indicates that the food pick-up platform is moving too fast or the deceleration distance of the food pick-up platform is insufficient. The additional deceleration distance L2 can be calculated based on the closing time difference of the three microswitches. Specifically, the speed V1 can be calculated from the closing time difference of the first two microswitches, and the speed V2 can be calculated from the closing time difference of the last two microswitches. Then, the acceleration can be calculated by (V2-V1) / t, and the deceleration distance can be calculated by L2=V22 / 2a. Finally, the deceleration distance is transmitted to the original main board.

[0089] If the slope is equal to Vmax (the maximum speed of the stepper motor), it means that the required deceleration distance is relatively long and the motor has already accelerated to the maximum speed. The deceleration can be performed in advance, and the position of the advance deceleration can be obtained by subtracting L2 from the original deceleration distance.

[0090] After speed adjustment, the microcontroller communicates with the original motherboard. When the first microswitch is closed and the second microswitch remains open after the time threshold, it means that the calculated number of steps of the stepper motor is exactly the actual number of steps, ensuring that the calculated number of steps matches the actual number of steps. In other words, when the first microswitch is closed and the second microswitch is not closed, the original motherboard can record the number of steps the stepper motor has moved in its memory. Subsequent steps can be taken according to this number of steps, thus avoiding positional deviation. The actual number of steps refers to the number of steps obtained from the movement of the stepper motor, rather than being calculated.

[0091] In another embodiment of this application, a cargo channel position determination device is also provided, such as... Figure 7 As shown, it includes:

[0092] The first determining module 11 is used to determine, for each target channel in the food pickup cabinet, whether the food pickup platform can put the test item into the target channel or take it out from the target channel.

[0093] The first acquisition module 12 is used to acquire the channel information of the target channel if the food collection platform is unable to put the test item into the target channel or take it out of the target channel;

[0094] The second acquisition module 13 is used to acquire the distance the food collection platform moves from the first position to the limiting fixture corresponding to the cargo channel information;

[0095] The second determining module 14 is used to determine the target position of the target cargo channel based on the first position and the moving distance, so as to adjust the position of the cargo channel.

[0096] In another embodiment of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0097] Memory, used to store computer programs;

[0098] The processor, when executing a program stored in memory, implements the cargo channel position determination method described in any of the foregoing method embodiments.

[0099] The electronic device provided in this embodiment of the invention uses a processor to execute a program stored in a memory to determine whether a food pick-up platform can place or remove a test item from a target food pick-up channel for each target channel. This determines whether there is an abnormal position of any target food pick-up channel. If the food pick-up platform cannot place or remove the test item from the target food pick-up channel, it indicates that the target food pick-up channel is abnormal. The device further obtains the distance the food pick-up platform moves from a first position to a limiting fixture corresponding to the channel information, thereby automatically measuring the accurate target position of the target food pick-up channel for channel position adjustment. This avoids errors introduced by manual measurement, improves the accuracy of channel position determination, shortens the channel position determination time, and improves the efficiency of channel position determination.

[0100] The communication bus 1140 mentioned in the above-mentioned electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0101] The communication interface 1120 is used for communication between the above-mentioned electronic device and other devices.

[0102] The memory 1130 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0103] The processor 1110 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0104] In another embodiment of this application, a computer-readable storage medium is provided, on which a program for a channel location determination method is stored. When the program for the channel location determination method is executed by a processor, it implements the steps of the channel location determination method described in any of the foregoing method embodiments.

[0105] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0106] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for determining the location of a cargo channel, characterized in that, include: For each target aisle in the food pickup cabinet, determine whether the food pickup platform can place the test item into or retrieve it from the target aisle; If the food pickup platform is unable to place the test item into the target channel or remove it from the target channel, it obtains the channel information of the target channel. The distance the food pickup platform moves from its first position to the limiting fixture corresponding to the cargo channel information is obtained. Obtaining the distance the food pickup platform moves from its first position to the limiting fixture corresponding to the cargo channel information includes: After the limiting fixture corresponding to the cargo channel information is adjusted from the retracted state to the pop-up state, the food pick-up platform is controlled to move to the first position, and the first position and the target cargo channel are located in the same column in the food pick-up cabinet; Control the food pickup platform to move toward the target cargo channel until it contacts the limiting fixture, obtain the number of steps the food pickup platform has taken, and return to execute the step of controlling the food pickup platform to move to the first position until the number of repetitions reaches a preset number. Obtaining the number of steps taken corresponding to the food pickup platform includes: When the food collection platform comes into contact with the limiting fixture, the state of the three sequentially arranged microswitches inside the limiting fixture is obtained; If, among the three microswitches in the limiting fixture, the first microswitch closest to the first position is closed and the second microswitch in the middle is not closed, the first actual walking number of the motor in the food pick-up platform is obtained as the walking number corresponding to the food pick-up platform. The first microswitch is used to determine whether the food pick-up platform is in place, the second microswitch is used to prevent the food pick-up platform from overshooting, and the third microswitch is used to calculate the deceleration distance that the stepper motor needs to be fine-tuned. Obtaining the number of steps taken corresponding to the food pickup platform also includes: If all three microswitches inside the limiting fixture are closed, determine the current speed of the food retrieval platform at the limiting fixture. If the current speed is less than the preset maximum speed, the time difference between the closing of the three micro switches and the distance between every two adjacent micro switches are obtained to determine the deceleration distance. The second actual number of steps the motor in the food pick-up platform moves when the food pick-up platform decelerates according to the deceleration distance is obtained as the number of steps the food pick-up platform moves accordingly. If the current speed is equal to the preset maximum speed, the time difference between the closing of the three micro switches and the distance between every two adjacent micro switches are obtained to determine the deceleration distance. When the food pick-up platform decelerates according to the difference between the original deceleration distance and the deceleration distance, the third actual number of steps of the motor in the food pick-up platform is obtained as the number of steps of the food pick-up platform. The distance traveled is determined based on a preset number of walking steps; The target position of the target cargo lane is determined based on the first position and the moving distance, for use in adjusting the cargo lane position.

2. The method for determining the location of a cargo channel according to claim 1, characterized in that, Determining whether the food pickup platform can place the test items into the target pickup lane includes: Control the food collection platform carrying the test items to move to the second position; Control the food pickup platform to move to the preset position corresponding to the target cargo channel; The first conveying device in the food collection platform and the second conveying device in the target cargo channel are reversed to push the test item from the food collection platform into the target cargo channel. If the test item is still located on the food collection platform after a preset time period, it is determined that the food collection platform cannot place the test item into the target cargo channel.

3. The method for determining the location of a cargo channel according to claim 1, characterized in that, Determining whether the food pickup platform can retrieve the test item from the target cargo channel includes: Control the food collection platform carrying the test items to move to the second position; Control the food pickup platform to move to the preset position corresponding to the target cargo channel; Control the first conveying device in the food collection platform and the second conveying device in the target cargo channel to rotate forward so that the test item is taken out from the cargo channel opening of the target cargo channel; If the test item is still not located on the food collection platform after a preset time period, it is determined that the food collection platform cannot remove the test item from the target cargo channel.

4. The method for determining the location of a cargo channel according to claim 1, characterized in that, Determining the distance traveled based on a preset number of steps includes: Calculate the average of a preset number of walking steps to obtain the average number of steps; The distance traveled is calculated based on the average number of steps.

5. A device for determining the position of a cargo channel, characterized in that, include: The first determining module is used to determine, for each target channel in the food pickup cabinet, whether the food pickup platform can put the test item into the target channel or take it out from the target channel; The first acquisition module is used to acquire the channel information of the target channel if the food collection platform is unable to place the test item into the target channel or take it out of the target channel. The second acquisition module is used to acquire the distance the food pickup platform moves from the first position to the limiting fixture corresponding to the cargo channel information; Obtaining the movement distance of the food pickup platform from the first position to the limiting fixture corresponding to the channel information includes: after the limiting fixture corresponding to the channel information is adjusted from a retracted state to a pop-up state, controlling the food pickup platform to move to the first position, where the first position and the target channel are located in the same column of the food pickup cabinet; controlling the food pickup platform to move towards the target channel until it contacts the limiting fixture, obtaining the number of steps corresponding to the food pickup platform, and returning to execute the step of controlling the food pickup platform to move to the first position until the number of repetitions reaches a preset number; obtaining the number of steps corresponding to the food pickup platform includes: obtaining the state of three sequentially arranged microswitches in the limiting fixture when the food pickup platform contacts the limiting fixture; if, among the three microswitches in the limiting fixture, the first microswitch closest to the first position is closed and the second microswitch in the middle is not closed, obtaining the first actual number of steps of the motor in the food pickup platform as the number of steps corresponding to the food pickup platform, where the first microswitch is used to determine whether the food pickup platform is in position. The second microswitch is used to prevent the food retrieval platform from overshooting, and the third microswitch is used to calculate the deceleration distance that the stepper motor needs to fine-tune. The method also includes: if all three microswitches within the limiting fixture are closed, determining the current speed of the food retrieval platform at the limiting fixture; if the current speed is less than a preset maximum speed, obtaining the time difference between the closure of the three microswitches and the distance between any two adjacent microswitches to determine the deceleration distance; obtaining the second actual number of steps taken by the motor in the food retrieval platform when decelerating according to the deceleration distance, as the corresponding number of steps taken by the food retrieval platform; if the current speed is equal to the preset maximum speed, obtaining the time difference between the closure of the three microswitches and the distance between any two adjacent microswitches to determine the deceleration distance; obtaining the third actual number of steps taken by the motor in the food retrieval platform when decelerating according to the difference between the original deceleration distance and the deceleration distance, as the corresponding number of steps taken by the food retrieval platform; and determining the movement distance based on a preset number of these steps. The second determining module is used to determine the target position of the target cargo channel based on the first position and the moving distance, for cargo channel position adjustment.

6. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in the memory, implements the cargo channel position determination method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for a method of determining the location of a cargo lane, which, when executed by a processor, implements the steps of the method for determining the location of a cargo lane as described in any one of claims 1-4.

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