Goods storing and taking device, control method and device thereof and readable storage medium

Abstract

The invention relates to a control method and device of a goods storing and taking device, the goods storing and taking device, a goods storing and taking system, a computer readable storage medium and a computer program product. The method comprises the steps of receiving an operation instruction; acquiring position parameters of an operation module in the cargo storing and taking device; the operation module at least comprises a shifting module, a lifting module and a fork access module, and the position parameters comprise a first position parameter of the shifting module, a second position parameter of the lifting module and a third position parameter of the fork access module; the operation module is controlled to move based on the position parameters until the operation module moves to a target position range, and the target position range is determined based on the operation instruction. By the adoption of the method, accurate positioning of the goods storing and taking module can be achieved, the operation accuracy of the goods storing and taking device can be improved, the operation accuracy of the goods storing and taking device can meet the requirements of users, and then the operation safety and the operation efficiency of the goods storing and taking device are improved.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a control method and device for a cargo storage and retrieval device, a cargo storage and retrieval device, a cargo storage and retrieval system, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the rapid development of modern logistics, the application of automated warehouses has been rapidly promoted. As the main execution equipment for cargo storage and retrieval in warehouses, cargo storage and retrieval devices such as stackers and stackers play a vital role in the modern logistics system.

[0003] Stackers are usually composed of a traveling mechanism, a pickup platform lifting mechanism, a fork telescopic mechanism, electrical equipment, and a control system. Under the control of the control system, the traveling mechanism enables the stacker to move in the aisles of the shelves, the pickup platform lifting mechanism enables the stacker to lift the goods, and the fork telescopic mechanism is responsible for delivering or taking the goods out of the shelves.

[0004] Since the operation accuracy of stackers directly affects the safety and efficiency of operations, the requirements for the operation accuracy of stackers are becoming increasingly stringent in modern logistics operations. However, traditional stackers are difficult to meet users' pursuit of high operation accuracy. Summary of the invention

[0005] Based on this, it is necessary to provide a control method, device, cargo storage and retrieval device, cargo storage and retrieval system, computer-readable storage medium and computer program product for the cargo storage and retrieval device that can improve operation accuracy in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a method for controlling a cargo storage and retrieval device, comprising:

[0007] Receive work instructions;

[0008] Acquire position parameters of an operation module in a cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module;

[0009] The operation module is controlled to move based on the position parameter until the operation module moves to a target position range, wherein the target position range is determined based on the operation instruction.

[0010] In one embodiment, after controlling the movement of the operation module based on the position parameter, the method further includes:

[0011] Determining an estimated moving time based on the location parameter and the target location range;

[0012] If the operation module fails to reach the target position range after moving for the expected moving time, a fault alarm signal is issued.

[0013] In one embodiment, after controlling the movement of the operation module based on the position parameter, the method further includes:

[0014] During the movement of the operation module, determining the displacement change of the operation module within a preset monitoring time;

[0015] If the displacement change is less than the preset moving distance, a fault alarm signal is issued.

[0016] In one embodiment, controlling the movement of the operation module based on the position parameter until the operation module moves to a target position range includes:

[0017] Sending a driving signal to move the operation module;

[0018] During the movement of the operation module, determining the current position of the operation module according to the position parameter of the operation module;

[0019] If the current position is within the target position range, a stop signal is sent to stop the operation module from moving.

[0020] In one embodiment, after obtaining the position parameters of the operation module in the cargo storage and retrieval device and before controlling the movement of the operation module based on the position parameters, the method further includes:

[0021] Obtaining the current initial position of the operation module;

[0022] In the case where the position parameter is determined to be inaccurate according to the initial position, a fault alarm signal is issued;

[0023] In the case where the position parameter is determined to be accurate according to the initial position, the control of the movement of the operation module based on the position parameter is performed.

[0024] In one embodiment, the method further comprises:

[0025] In the process of controlling the movement of the operation module based on the position parameter, if it is monitored that the change amount of the position parameter within the preset step time is greater than the preset change amplitude threshold, a fault alarm signal is issued.

[0026] In a second aspect, the present application also provides a control device for a cargo storage and retrieval device, comprising:

[0027] An instruction receiving module, used for receiving operation instructions;

[0028] A position acquisition module, used to acquire position parameters of an operation module in the cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module;

[0029] A positioning control module is used to control the movement of the operation module based on the position parameter until the operation module moves to a target position range, and the target position range is determined based on the operation instruction.

[0030] In a third aspect, the present application further provides a cargo storage and retrieval device, comprising a controller and an operation module and a position detection module respectively connected to the controller, wherein the operation module at least comprises a shift module, a lifting module and a fork access module connected to the controller, and the position detection module is used to detect and output a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork access module to the controller;

[0031] The controller is used to implement the steps of the above method.

[0032] In one embodiment, the position detection module includes a first distance detection unit, a second distance detection unit, and a third distance detection unit connected to the controller, the first distance detection unit is arranged at the shift module, the second distance detection unit is arranged at the lifting module, and the third distance detection unit is arranged at the fork access module.

[0033] In one embodiment, the first distance detection unit includes an X-axis laser rangefinder connected to the controller; the X-axis laser rangefinder is used to detect the distance data between the displacement module and the origin of the walking path;

[0034] The second distance detection unit includes a Y-axis laser rangefinder connected to the controller; the Y-axis laser rangefinder is used to detect the distance data between the lifting module and the origin of the lifting path;

[0035] The third distance detection unit includes a Z-axis laser rangefinder connected to the controller; the Z-axis laser rangefinder is used to detect the distance data between the fork access module and the origin of the telescopic path.

[0036] In a fourth aspect, the present application also provides a cargo storage and retrieval system, comprising a remote control system and at least one cargo storage and retrieval device, wherein the cargo storage and retrieval device is implemented according to the cargo storage and retrieval device as described above, and the remote control system is connected to a controller of the cargo storage and retrieval device.

[0037] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0038] Receive work instructions;

[0039] Acquire position parameters of an operation module in a cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module;

[0040] The operation module is controlled to move based on the position parameter until the operation module moves to a target position range, wherein the target position range is determined based on the operation instruction.

[0041] In a sixth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0042] Receive work instructions;

[0043] Acquire position parameters of an operation module in a cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module;

[0044] The operation module is controlled to move based on the position parameter until the operation module moves to a target position range, wherein the target position range is determined based on the operation instruction.

[0045] The control method, device, cargo storage and retrieval device, cargo storage and retrieval system, computer-readable storage medium and computer program product of the cargo storage and retrieval device are as follows: first, an operation instruction is received; the position parameters of the operation module in the cargo storage and retrieval device are obtained; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module; the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module in the operation module; the operation module is controlled to move based on the position parameters until the operation module moves to a target position range, and the target position range is determined based on the operation instruction. Therefore, the position parameters of the operation module include the first position parameter of the shift module, the second position parameter of the lifting module and the third position parameter of the fork storage and retrieval module, so the position parameters of the operation module can accurately reflect the position of the cargo storage and retrieval module, that is, to achieve accurate positioning of the cargo storage and retrieval module. Since the positioning accuracy of the cargo storage and retrieval module during the operation process will directly affect the accuracy of the cargo, by improving the positioning accuracy, the operation accuracy of the cargo storage and retrieval device can be improved, so that the operation accuracy of the cargo storage and retrieval device can meet the needs of users, thereby improving the operation safety and operation efficiency of the cargo storage and retrieval device. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0047] FIG1 is a schematic diagram of a module of a cargo storage device in one embodiment;

[0048] FIG2 is a schematic diagram of a module of a cargo storage device in another embodiment;

[0049] FIG3 is a module schematic diagram of a cargo storage device in yet another embodiment;

[0050] FIG4 is a schematic flow chart of a control method of a cargo storage and retrieval device in one embodiment;

[0051] FIG5 is a schematic diagram of a process of controlling the movement of an operation module based on a position parameter until the operation module moves to a target position range in one embodiment;

[0052] FIG6 is a partial flow diagram of a control method for a cargo storage and retrieval device according to an embodiment;

[0053] FIG7 is a partial flow chart of a control method of a cargo storage and retrieval device according to another embodiment;

[0054] FIG8 is a schematic flow chart of a control method of a cargo storage and retrieval device in another embodiment;

[0055] FIG9 is a block diagram of a control device for a cargo storage and retrieval device according to an embodiment;

[0056] FIG. 10 is a schematic diagram of a module of a cargo storage device in yet another embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] The control method of the cargo storage and retrieval device provided in the embodiment of the present application can be applied to the cargo storage device. The cargo storage and retrieval device includes a controller 100 and an operation module 110 connected to the controller 100. The operation module 110 includes a shift module 111, a lifting module 112 and a fork access module 113 electrically connected to the controller 100.

[0059] Under the control of the controller 100, the shift module 111 can move the cargo storage device in the shelf aisle of the stereoscopic warehouse, the lifting module 112 is used to lift and lower the cargo in the extension direction of the shelf (such as the vertical direction), and the fork access module 113 can put the cargo into the cargo compartment of the shelf or take it out from the cargo compartment.

[0060] In one embodiment, as shown in FIG. 2 , the cargo storage and retrieval device further includes a position detection module 120 electrically connected to the controller 100 , and the position detection module 120 is used to detect position parameters of the shift module 111 , the lifting module 112 and the fork access module 113 , and transmit them to the controller 100 .

[0061] In one embodiment, as shown in FIG3 , the cargo storage and retrieval device further includes an interaction module 130 electrically connected to the controller 100. The interaction module 130 enables a user to input instructions, view status, or receive feedback information, etc. Exemplarily, the interaction module 130 may include one or more components such as a touch screen, a button, an indicator light, and a display screen.

[0062] The implementation method of the controller 100 does not need to be limited. Exemplarily, the controller 100 may use a PLC (Programmable Logic Controller), such as a PLC S7-1500 chip. The controller 100 is used to receive an operation instruction; obtain the position parameters of the operation module 110 in the cargo storage and retrieval device; the operation module 110 includes at least a shift module 111, a lifting module 112, and a fork access module 113, and the position parameters include a first position parameter of the shift module 111, a second position parameter of the lifting module 112, and a third position parameter of the fork access module 113; based on the position parameters, the operation module 110 is controlled to move until the operation module 110 moves to the target position range, and the target position range is determined based on the operation instruction. Thereby, the precise positioning of the cargo storage and retrieval module is achieved, the operation accuracy of the cargo storage and retrieval device is improved, and the operation accuracy of the cargo storage and retrieval device can meet the needs of users, thereby improving the operation safety and operation efficiency of the cargo storage and retrieval device.

[0063] In an exemplary embodiment, as shown in FIG4 , a control method for a cargo storage and retrieval device is provided, and the method is applied to the controller 100 in FIG1 as an example for description, and includes the following steps 402 to 406. Among them:

[0064] Step 402, receiving a job instruction.

[0065] The operation instruction can be transmitted to the controller by the user through the interactive module. The operation instruction can be set by the user according to the control requirements.

[0066] In one embodiment, the operation instruction may include the target position coordinates of the cargo storage and retrieval device. When the target position coordinates are determined according to the operation instruction, the controller controls the operation module to move and position.

[0067] Exemplarily, the target position coordinates may include X-axis target coordinates, Y-axis target coordinates, and Z-axis target coordinates. Among them, the X-axis represents the travel path of the shift module, the Y-axis represents the lifting path of the lifting module, and the Z-axis represents the telescopic path of the fork access module. The X-axis target coordinates represent the target position coordinates of the shift module in its travel path, the Y-axis represents the target position coordinates of the lifting module in the extension direction of the shelf, and the Z-axis represents the target position coordinates of the fork access module in the extension direction of the cargo grid.

[0068] In other embodiments, the target position coordinates may include one or two of the X-axis target coordinates, the Y-axis target coordinates, and the Z-axis target coordinates. For example, the target position coordinates are (1, 4), indicating that the target position coordinates of the shift module are the designated position of the first row of shelves, and the target position coordinates of the lifting module are the designated position of the fourth layer of shelves.

[0069] In one embodiment, the operation instruction may further include the target position coordinates and the operation type. The operation type may include mobile positioning, picking up goods, delivering goods, etc. For example, the operation instruction includes (1, 4), positioning, then the controller will control the operation module to move so that the shift module is located at the designated position of the first row of shelves and the lifting module is located at the designated position of the fourth layer of shelves, thereby achieving accurate positioning.

[0070] In other embodiments, the operation instructions may also include (1, 4, 30), positioning, and releasing goods. Then, after the controller controls the shift module to be located at the specified position of the 1st row of shelves, the lifting module to be located at the specified position of the 4th layer shelf, and the fork access module to be located at 50 cm of the cargo grid of the 1st row and 4th layer shelf, it will also control the fork access module to place the goods at 30 cm of the cargo grid of the 1st row and 4th layer shelf.

[0071] It can be understood that the form of the operation instruction is not unique, and the specific form can be determined according to the circumstances.

[0072] Step 404, obtaining the position parameters of the operation module in the cargo storage and retrieval device.

[0073] The position parameters include a first position parameter of the shift module, a second position parameter of the lifting module, and a third position parameter of the fork access module.

[0074] The first position parameter is the distance data between the shift module and the origin of the walking path, the second position parameter is the distance data between the lifting module and the origin of the lifting path, and the third position parameter is the distance data between the fork access module and the origin of the telescopic path.

[0075] Step 406 , controlling the operation module to move based on the position parameter until the operation module moves to the target position range.

[0076] The target position range is determined based on the operation instruction. Exemplarily, after receiving the operation instruction, the controller first determines the target position coordinates according to the operation instruction, then matches the target address data according to the target position coordinates, and then determines the target position range according to the target address data.

[0077] It can be understood that the target address data is the actual position data of the operation module, which may specifically include the first distance data between the actual position corresponding to the X-axis target coordinate (such as the specified position of the 1st row of shelves) and the origin of the walking path, the second distance data between the actual position corresponding to the Y-axis target coordinate (such as the specified position of the 4th layer of shelves) and the origin of the lifting path, and the third distance data between the actual position corresponding to the Z-axis target coordinate and the origin of the telescopic path.

[0078] In actual implementation, a coordinate library may be pre-stored in the controller, and the coordinate library includes a mapping relationship between each position coordinate and the actual position data. The matching address data can be obtained by searching the coordinate library according to the target position coordinate.

[0079] After obtaining the target address data, the target position range can be obtained based on the allowable position deviation. For example, the distance data between the designated position of the 4th shelf and the origin of the lifting path is 50 cm, and the allowable position deviation is ±5 cm, then the position range of the Y axis is 45 cm-55 cm. In actual applications, the allowable position deviations of the X axis, Y axis, and Z axis may be the same or different, and can be determined in combination with actual conditions.

[0080] There is no unique way to control the movement of the operation module based on the position parameter until the operation module moves to the target position range. In one embodiment, as shown in FIG5 , step 406 includes steps 502 - 506 .

[0081] Step 502: Send a driving signal to move the operation module.

[0082] The driving signal needs to be determined according to the target position coordinates in the operation instruction. When the target position coordinates include the X-axis target coordinates, the Y-axis target coordinates and the Z-axis target coordinates, the driving signal may include a shift driving signal, a lifting driving signal and a telescopic driving signal. The shift module starts to move after receiving the shift driving signal; the lifting module starts to move after receiving the lifting driving signal; and the fork access module starts to move after receiving the telescopic driving signal. It can be understood that when the target position coordinates include one or two of the X-axis target coordinates, the Y-axis target coordinates and the Z-axis target coordinates, the driving signal may include one or two of the shift driving signal, the lifting driving signal and the telescopic driving signal.

[0083] Step 504: during the movement of the operation module, determine the current position of the operation module according to the position parameters of the operation module.

[0084] During the movement of each module in the operation module, the controller will obtain the real-time position parameters of the operation module, and calculate the current position of the operation module in combination with the coordinate library or position mapping relationship. This process is real-time, and the controller will continuously update the current position of the operation module to ensure its accuracy.

[0085] Step 506: If the current position is within the target position range, a stop signal is issued to stop the operation module from moving.

[0086] The stop signal is used to control the operation module to stop moving. The stop signal may include one, two or three of a shift stop signal for controlling the shift module to stop moving, a lift stop signal for controlling the lift module to stop moving and a telescopic stop signal for controlling the fork access module to stop moving, which may be specifically set according to the corresponding drive signal.

[0087] Once the controller determines the current position of the operation module, it will compare this position with the preset target position range. If the current position is already within the target position range, the controller will send a stop signal to stop the operation module. In this way, the operation module can be accurately positioned at the user-specified position and be ready for subsequent cargo storage and retrieval operations.

[0088] In this embodiment, by real-time monitoring of the position parameters of the operation module, it can be ensured that the operation module can be accurately moved to the target position with high positioning accuracy. Moreover, real-time position feedback allows the controller to adjust the movement of the operation module more quickly, thereby reducing unnecessary movement and waiting time, and achieving high positioning efficiency.

[0089] In another embodiment, path planning can be performed according to the current position parameters of the operation module and the target position range, and then the operation module can be controlled to move based on the planned path.

[0090] The controller can use the path planning algorithm to adjust and optimize according to different environments and needs to adapt to goods of different sizes and shapes, different types of shelves and warehouse layouts, etc., and generate a suitable path. Then it outputs a drive signal to drive the operation module to move based on the planned path, and the end point of the path is the target position range.

[0091] The control method of the cargo storage and retrieval device described above first receives an operation instruction; obtains the position parameters of the operation module in the cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork access module; the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork access module in the operation module; the operation module is controlled to move based on the position parameters until the operation module moves to a target position range, and the target position range is determined based on the operation instruction. Therefore, the position parameters of the operation module include the first position parameter of the shift module, the second position parameter of the lifting module and the third position parameter of the fork access module, so the position parameters of the operation module can accurately reflect the position of the cargo storage and retrieval module, that is, to achieve accurate positioning of the cargo storage and retrieval module. Since the positioning accuracy of the cargo storage and retrieval module during the operation process will directly affect the accuracy of the cargo, by improving the positioning accuracy, the operation accuracy of the cargo storage and retrieval device can be improved, so that the operation accuracy of the cargo storage and retrieval device can meet the needs of users, thereby improving the operation safety and operation efficiency of the cargo storage and retrieval device.

[0092] In one embodiment, as shown in FIG. 6 , after controlling the movement of the operation module based on the position parameter, the control method of the cargo storage and retrieval device further includes step 602 and step 604 .

[0093] Step 602: Determine the estimated moving time based on the location parameters and the target location range.

[0094] After controlling the operation module to move, the controller will also calculate the moving time required for the operation module to move from the current position to the target position range based on the position parameters of the current operation module (including the position parameters of the shift module, lifting module and fork access module) and the target position range. The estimated moving time can be the moving time, or a certain margin can be reserved based on the moving time.

[0095] It can be understood that multiple factors may be taken into consideration in the process of calculating the moving time, such as the moving speed, acceleration, path complexity, etc. of the working module. This embodiment does not limit this. Technical personnel in this field can calculate various factors based on the specific situation during actual implementation to obtain an accurate estimated moving time.

[0096] Step 604: If the operation module does not reach the target position range after moving for the expected moving time, a fault alarm signal is issued.

[0097] After the operation module starts to move, the controller will monitor its position parameters in real time and update the actual movement progress of the operation module based on these parameters. If the operation module fails to reach the target position range within the expected movement time during the actual movement process, the controller will determine it as an abnormal situation and immediately issue a fault alarm signal. This signal can be displayed to the user through the interactive module, or it can be alarmed through other means (such as sound, light, etc.) to remind the user or maintenance personnel to deal with it in time.

[0098] In this embodiment, real-time monitoring and fault warning of the movement process of the operation module can be realized. On the one hand, it can improve the operation efficiency and ensure that the goods can be stored and retrieved on time and accurately. On the other hand, it can also timely discover and warn of potential fault problems, and avoid the interference problem of fork picking during manual operation to a great extent. The interference problem of fork picking can cause the fork to hit the shelf of the stereoscopic warehouse and cause hardware damage. In this embodiment, safety protection is increased by fault warning, which improves the safety of the cargo storage and retrieval device.

[0099] In one embodiment, as shown in FIG. 7 , after controlling the movement of the operation module based on the position parameter, the control method of the cargo storage and retrieval device further includes step 702 and step 704 .

[0100] Step 702: during the movement of the operation module, determine the displacement change of the operation module within a preset monitoring time.

[0101] The controller will monitor the position parameters of the operation module in real time or periodically, and calculate the displacement change of the operation module within a certain length of time (i.e., the preset monitoring time). This displacement change reflects the actual movement distance of the operation module during this period. Among them, the preset monitoring time can be set according to the actual situation to ensure that the movement status of the operation module can be accurately reflected.

[0102] Step 704: If the displacement change is less than the preset moving distance, a fault alarm signal is issued.

[0103] After determining the displacement change within the preset monitoring time, the controller will compare it with the preset moving distance. The preset moving distance is calculated based on the normal moving speed of the operating module and the preset monitoring time. The preset moving distance represents the minimum moving distance that the operating module should reach within the preset monitoring time. If the displacement change is less than the preset moving distance, it can be determined that the moving speed of the operating module during this period is lower than the normal speed, and there may be mechanical or drive system failures, or external interference and other abnormal conditions. At this time, the controller will immediately issue a fault alarm signal to remind the user or maintenance personnel to deal with it in time.

[0104] In this embodiment, real-time monitoring and fault warning of the moving process of the operation module can be realized, which can improve the operation efficiency and the safety of the cargo storage and retrieval device, thereby providing users with a more reliable and safer working environment.

[0105] In one embodiment, after step 404 and before step 406, the control method of the cargo storage and retrieval device further includes:

[0106] Get the current initial position of the job module;

[0107] In the case where the position parameters determined according to the initial position are inaccurate, a fault alarm signal is issued;

[0108] When the position parameters are determined to be accurate according to the initial position, the movement of the working module is controlled based on the position parameters.

[0109] Since the precise position of the operation module is crucial to the accuracy of the operation, the controller will update and store the final position of the operation module each time it controls the operation module to complete the operation. When the next operation starts, the controller can quickly obtain this final position as the "initial position" of the operation module.

[0110] Specifically, after receiving the operation instruction and before controlling the movement of the operation module, the controller will compare the acquired position parameters of the operation module with the initial position. If the two are consistent, or the difference between the two is within the allowable error range, it is determined that the currently acquired position parameters are accurate; otherwise, it is determined that the currently acquired position parameters are inaccurate.

[0111] If the acquired position parameters are determined to be inaccurate, it means that the position detection module has a fault or anomaly. At this time, the controller sends a fault alarm signal to remind the user or maintenance personnel to handle it in time. The controller will not control the movement of the operation module to avoid safety accidents.

[0112] In this embodiment, by verifying whether the position parameters are accurate, the detection accuracy of the position detection module can be detected. When the position parameters are accurate, the operation module is controlled to move, which can ensure the accuracy of the movement and positioning of the operation module. When the position parameters are inaccurate, an early warning is issued to remind maintenance personnel to promptly discover and deal with potential problems, thereby enhancing the reliability of the system.

[0113] In one embodiment, the control method of the cargo storage and retrieval device further includes:

[0114] In the process of controlling the movement of the operation module based on the position parameter, if it is monitored that the change of the position parameter within the preset step time is greater than the preset change amplitude threshold, a fault alarm signal is issued.

[0115] Specifically, the controller is set with a preset step time, which is the time interval for checking the position parameter change, and its specific value can be set according to the actual situation. In each preset step time, the controller will compare the current position parameter of the operation module with the position parameter of the previous step time point, that is, calculate the change amount within the preset step time.

[0116] If the controller finds during the monitoring process that the position parameter change within a preset step time exceeds the preset change amplitude threshold, that is, the position parameter has undergone an abnormal mutation, then the controller will determine that the operation module may have abnormal movement or uncontrolled acceleration / deceleration. In order to ensure the safety and stability of the system, the controller will quickly issue a fault alarm signal to remind users or maintenance personnel to pay attention to and handle this abnormal situation in a timely manner.

[0117] Furthermore, in some embodiments, after issuing a fault alarm signal, the controller will also control the operation module to stop moving to prevent potential damage or safety accidents.

[0118] In this embodiment, by real-time monitoring of the variation range of the position parameters, abnormal situations of the operation module during movement can be discovered in time, thereby improving the safety of the cargo storage and retrieval device.

[0119] In actual implementation, the fault alarm signals in the above-mentioned situations can be prompted to the user through the interactive module. When prompting the user, the fault alarm signals in different situations can also include different identifications so that the user can distinguish the fault type in time, thereby improving the convenience of use of the cargo storage and retrieval device.

[0120] In order to better understand the above embodiment, a detailed explanation is given below in conjunction with a specific embodiment. Referring to FIG8 , in one embodiment, the control method of the cargo storage and retrieval device includes:

[0121] Receive the operation instruction issued by the user; determine the target position coordinates and the target position range according to the operation instruction;

[0122] Acquire the position parameters of the operation module transmitted by the position detection module, where the position parameters of the operation module include the first position parameter of the shift module, the second position parameter of the lifting module, and the third position parameter of the fork access module;

[0123] Based on the current initial position of the operation module, determine whether the acquired position parameters are accurate. If inaccurate, issue a fault alarm signal;

[0124] If the location parameters are accurate, the address data corresponding to the target location coordinates are matched based on the coordinate library to determine the target location range;

[0125] Sending a driving signal to control the movement of the working module;

[0126] During the movement of the operation module, the position parameters of the operation module are obtained in real time, and the position parameters are compared with the target position range to determine whether the operation module is within the target position range; if not, the operation module continues to be controlled to move;

[0127] If the operation module has moved to the target position range, the operation module is controlled to stop moving and the positioning process ends.

[0128] The control method of the cargo storage and retrieval device can realize the precise positioning of the cargo storage and retrieval module, thereby improving the operation accuracy of the cargo storage and retrieval device. Moreover, when an abnormality is detected, an early warning can be issued in time through the interactive module, thereby providing better protection in terms of safe braking.

[0129] Furthermore, in actual implementation, the control method of the cargo storage and retrieval device can be modularized, and through a standardized positioning process, various cargo storage and retrieval devices (such as stackers) can be directly applicable, thereby saving developers' debugging time and improving the convenience of use for end users.

[0130] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0131] Based on the same inventive concept, the embodiment of the present application also provides a control device for a cargo storage and retrieval device for implementing the control method for the cargo storage and retrieval device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more cargo storage and retrieval devices provided below can refer to the limitations of the control method for the cargo storage and retrieval device above, and will not be repeated here.

[0132] In an exemplary embodiment, as shown in FIG. 9 , a control device for a cargo storage and retrieval device is provided, comprising: an instruction receiving module 902 , a position acquisition module 904 and a positioning control module 906 , wherein:

[0133] The instruction receiving module 902 is used to receive a job instruction.

[0134] The position acquisition module 904 is used to obtain the position parameters of the operation module in the cargo storage and retrieval device; the operation module includes at least a shift module, a lifting module and a fork access module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork access module.

[0135] The positioning control module 906 is used to control the movement of the operation module based on the position parameters until the operation module moves to a target position range, and the target position range is determined based on the operation instruction.

[0136] In one embodiment, the control device of the cargo storage and retrieval device also includes an early warning module, which is used to determine the expected moving time based on the position parameters and the target position range; if the operation module does not reach the target position range after moving for the expected moving time, a fault alarm signal is issued.

[0137] In one embodiment, the early warning module is also used to determine the displacement change of the operating module within a preset monitoring time during the movement of the operating module; if the displacement change is less than the preset moving distance, a fault alarm signal is issued.

[0138] In one embodiment, the positioning control module 906 is also used to send a driving signal to move the operating module; during the movement of the operating module, the current position of the operating module is determined according to the position parameters of the operating module; if the current position is within the target position range, a stop signal is sent to stop the operating module from moving.

[0139] In one embodiment, the early warning module is also used to obtain the current initial position of the operation module; when the position parameters determined according to the initial position are inaccurate, a fault alarm signal is issued; when the position parameters determined according to the initial position are accurate, the movement of the operation module is controlled based on the position parameters.

[0140] In one embodiment, the early warning module is also used to issue a fault alarm signal if it is detected that the change of the position parameter within a preset step time is greater than a preset change amplitude threshold during the process of controlling the movement of the operation module based on the position parameter.

[0141] Each module in the control device of the cargo storage and retrieval device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0142] In one embodiment, a cargo storage and retrieval device is provided. Please refer to FIG. 2 again. The cargo storage and retrieval device includes a controller 100, and an operation module 110 and a position detection module 120 respectively connected to the controller 100. The operation module 110 includes at least a shift module 111, a lifting module 112, and a fork access module 113 connected to the controller 100. The position detection module 120 is used to detect and output a first position parameter of the shift module 111, a second position parameter of the lifting module 112, and a third position parameter of the fork access module 113 to the controller 100. The controller 100 is used to control the operation module 110 according to the control method of the cargo storage and retrieval device in the above embodiments.

[0143] Among them, the structures of the shift module 111, the lifting module 112 and the fork access module 113 can be set according to specific circumstances. Exemplarily, as shown in Figure 10, the shift module 111 includes a travel frequency converter, a travel motor and a travel assembly. The travel frequency converter is electrically connected to the controller 100 and the travel motor respectively, and the travel motor is mechanically connected to the travel assembly. The travel assembly may include components for movement such as moving wheels and tracks. The controller 100 controls the operation of the travel motor through the travel frequency converter to drive the travel assembly to move.

[0144] The lifting module 112 includes a lifting frequency converter, a lifting motor, and a lifting assembly. The lifting frequency converter is electrically connected to the controller 100 and the lifting motor, respectively, and the lifting motor is mechanically connected to the lifting assembly. The lifting assembly may include a lifting platform, a lifting frame, etc. The controller 100 controls the operation of the lifting motor through the lifting frequency converter to drive the lifting assembly to move, thereby driving the goods to move along the extension direction of the shelf, and then adjusting the position of the goods in the extension direction of the shelf.

[0145] The fork access module 113 includes a fork frequency converter, a fork motor, and a fork telescopic assembly. The fork frequency converter is electrically connected to the controller 100 and the fork motor, respectively, and the fork motor is mechanically connected to the fork telescopic assembly. The fork telescopic assembly may include a fork and a telescopic mechanism. The controller 100 controls the fork motor to operate through the fork frequency converter to drive the fork telescopic assembly to move, thereby driving the goods to move along the extension direction of the shelf, and then adjusting the position of the goods in the extension direction of the shelf, such as putting the goods into the designated position in the shelf or taking them out of the shelf.

[0146] In one embodiment, the travel motor, the lifting motor and the fork motor may be asynchronous servo motors. The asynchronous servo motor has a wide operating speed range and can meet the speed requirements of different applications, thereby enabling the shift module 111, the lifting module 112 and the fork access module 113 to maintain stable performance under different working conditions.

[0147] In one embodiment, the position detection module 120 includes a first distance detection unit, a second distance detection unit, and a third distance detection unit connected to the controller 100. The first distance detection unit is disposed in the shift module 111, the second distance detection unit is disposed in the lifting module 112, and the third distance detection unit is disposed in the fork access module 113.

[0148] Thus, an accurate first position parameter can be obtained through the first distance detection unit, an accurate second position parameter can be obtained through the second distance detection unit, and an accurate third position parameter can be obtained through the third distance detection unit, thereby enabling the controller 100 to control the shift module 111, the lifting module 112 and the fork access module 113 more accurately.

[0149] In a specific embodiment, the first distance detection unit includes an X-axis laser rangefinder connected to the controller 100; the X-axis laser rangefinder is used to detect the distance data between the displacement module and the origin of the walking path;

[0150] The second distance detection unit includes a Y-axis laser rangefinder connected to the controller 100; the Y-axis laser rangefinder is used to detect the distance data between the lifting module and the origin of the lifting path;

[0151] The third distance detection unit includes a Z-axis laser rangefinder connected to the controller 100; the Z-axis laser rangefinder is used to detect the distance data between the fork access module and the origin of the telescopic path.

[0152] Specifically, the laser rangefinder includes a transmitting end and a reflecting end. When the transmitting end emits a laser pulse in the direction of an object, the time it takes for the laser to reach the reflecting end and return is recorded, and the distance can be measured through calculation.

[0153] The transmitting end of the X-axis laser rangefinder, the transmitting end of the Y-axis laser rangefinder, and the transmitting end of the Z-axis laser rangefinder are all arranged on the cargo storage and retrieval device. For example, the transmitting end of the X-axis laser rangefinder can be placed on the walking component, and the reflecting end of the X-axis laser rangefinder is installed as the origin at the end of the walking path. The transmitting end of the Y-axis laser rangefinder can be installed on the lifting component, and the reflecting end of the Y-axis laser rangefinder is placed as the origin at the end of the lifting path. The transmitting end of the Z-axis laser rangefinder can be installed on the fork extension component, and the reflecting end of the Z-axis laser rangefinder is placed as the origin at the end of the fork extension path.

[0154] In this embodiment, by setting a high-detection-precision laser rangefinder in each module, the position of the operating module in the X-axis, Y-axis, and Z-axis directions can be accurately detected, thereby improving the accuracy of positioning and further improving the reliability and safety of the operation.

[0155] In one embodiment, a cargo storage and retrieval system is provided, the system includes a remote control system and at least one cargo storage and retrieval device, the remote control system is in communication with a controller of the cargo storage and retrieval device. The cargo storage and retrieval device can be configured with reference to the above embodiments, and will not be described again.

[0156] In a specific embodiment, the cargo storage and retrieval device is a stacker, and an electrical cabinet is provided at the bottom of the stacker, and an electrical system of the stacker is provided inside the electrical cabinet. The electrical system of the stacker includes a controller (such as a PLC), three frequency converters, a vehicle-mounted touch screen, a remote module, etc. Three laser rangefinders are installed on the stacker.

[0157] The remote control system is arranged outside the vertical warehouse in a safe manual operation area. Exemplarily, the remote control system may include an electrical cabinet operating console, which includes a remote module and a touch screen. The remote module is used to exchange information with the electrical system of the stacker. The touch screen can receive remote control information and interact with the electrical system of the stacker through the remote module to remotely operate the stacker. The touch screen can also receive and display fault alarm signals transmitted by the stacker to improve the timeliness of remote personnel obtaining information. After each operation task in the stacker is completed, the stacker can also send a completion information remote touch screen.

[0158] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0159] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0160] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0161] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0162] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a cargo storage and retrieval device, characterized in that: The method comprises: Receive work instructions; Acquire position parameters of an operation module in a cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module; The operation module is controlled to move based on the position parameter until the operation module moves to a target position range, wherein the target position range is determined based on the operation instruction.

2. The method according to claim 1, characterized in that After controlling the movement of the operation module based on the position parameter, the method further includes: Determining an estimated moving time based on the location parameter and the target location range; If the operation module fails to reach the target position range after moving for the expected moving time, a fault alarm signal is issued.

3. The method according to claim 1, characterized in that After controlling the movement of the operation module based on the position parameter, the method further includes: During the movement of the operation module, determining the displacement change of the operation module within a preset monitoring time; If the displacement change is less than the preset moving distance, a fault alarm signal is issued.

4. The method according to claim 1, characterized in that: The step of controlling the movement of the operation module based on the position parameter until the operation module moves to a target position range includes: Sending a driving signal to move the operation module; During the movement of the operation module, determining the current position of the operation module according to the position parameter of the operation module; If the current position is within the target position range, a stop signal is sent to stop the operation module from moving.

5. The method according to claim 1, characterized in that After obtaining the position parameters of the operation module in the cargo storage and retrieval device and before controlling the movement of the operation module based on the position parameters, the method further includes: Obtaining the current initial position of the operation module; In the case where the position parameter is determined to be inaccurate according to the initial position, a fault alarm signal is issued; In the case where the position parameter is determined to be accurate according to the initial position, the control of the movement of the operation module based on the position parameter is performed.

6. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the movement of the operation module based on the position parameter, if it is monitored that the change amount of the position parameter within the preset step time is greater than the preset change amplitude threshold, a fault alarm signal is issued.

7. A control device for a cargo storage and retrieval device, characterized in that: The device comprises: An instruction receiving module, used for receiving operation instructions; A position acquisition module, used to acquire position parameters of an operation module in the cargo storage and retrieval device; the operation module at least includes a shift module, a lifting module and a fork storage and retrieval module, and the position parameters include a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module; A positioning control module is used to control the movement of the operation module based on the position parameter until the operation module moves to a target position range, and the target position range is determined based on the operation instruction.

8. A cargo storage and retrieval device, characterized in that: The cargo storage and retrieval device includes a controller and an operation module and a position detection module respectively connected to the controller, the operation module at least includes a shift module, a lifting module and a fork access module connected to the controller, and the position detection module is used to detect and output a first position parameter of the shift module, a second position parameter of the lifting module and a third position parameter of the fork access module to the controller; The controller is used to implement the steps of the method according to any one of claims 1 to 6.

9. A cargo storage and retrieval system, characterized in that: It comprises a remote control system and at least one cargo storage and retrieval device, wherein the cargo storage and retrieval device is implemented according to the cargo storage and retrieval device according to claim 8, and the remote control system is connected to a controller of the cargo storage and retrieval device.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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