Goods storage and retrieval device and its control method, apparatus, and readable storage medium

Abstract

This application relates to a control method, apparatus, storage device, system, computer-readable storage medium, and computer program product for a cargo storage and retrieval device. The method includes: receiving a work instruction; acquiring position parameters of a work module in the cargo storage and retrieval device; the work module includes at least a shifting module, a lifting module, and a fork access module, the position parameters including 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; controlling the work module to move based on the position parameters until the work module moves to a target position range, the target position range being determined based on the work instruction. This method enables precise positioning of the cargo storage and retrieval module, thereby improving the operational accuracy of the cargo storage and retrieval device, ensuring that the operational accuracy meets user needs, and ultimately improving the operational safety and efficiency of the cargo storage and retrieval device.

Description

Technical Field

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

[0002] With the rapid development of modern logistics, the application of automated storage and retrieval systems (AS / RS) has been rapidly promoted. Stacker cranes, stacker machines, and other cargo storage and retrieval devices, as the main execution equipment for cargo storage and retrieval in AS / RS, play a crucial role in the modern logistics system.

[0003] Stacker cranes typically consist of a traveling mechanism, a picking platform lifting mechanism, a fork extension mechanism, electrical equipment, and a control system. Under the control of the control system, the traveling mechanism enables the stacker crane to move within the aisles of the rack, the picking platform lifting mechanism enables the stacker crane to lift and lower goods, and the fork extension mechanism is responsible for delivering or retrieving goods into or from the rack compartments.

[0004] Because the accuracy of stacker crane operations directly affects operational safety and efficiency, the requirements for stacker crane accuracy are becoming increasingly stringent in modern logistics operations. However, traditional stacker cranes struggle to meet users' demands for high operational accuracy. Summary of the Invention

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

[0006] In a first aspect, this application provides a control method for a cargo storage and retrieval device, comprising:

[0007] Receive job instructions;

[0008] Obtain the position parameters of the operation module in the cargo storage and retrieval device; the operation module includes at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting 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 parameters until it reaches the target position range, which is determined based on the operation instructions.

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

[0011] The estimated travel time is determined based on the location parameters and the target location range;

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

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

[0014] During the movement of the work module, the displacement change of the work module is determined within a preset monitoring period;

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

[0016] In one embodiment, controlling the movement of the work module based on the position parameters until the work module moves to the target location range includes:

[0017] A drive signal is sent to move the working module;

[0018] During the movement of the work module, the current position of the work module is determined according to the position parameters of the work module;

[0019] If the current position is within the target position range, a stop signal is issued 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] Obtain the current initial position of the task module;

[0022] If the position parameters determined based on the initial position are inaccurate, a fault alarm signal is issued;

[0023] If the position parameters are accurately determined based on the initial position, the operation module is moved based on the position parameters.

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

[0025] During the process of controlling the movement of the operation module based on the position parameters, if the change in the position parameters within a preset step time is detected to be greater than a preset change amplitude threshold, a fault alarm signal is issued.

[0026] Secondly, this application also provides a control device for a cargo storage and retrieval device, comprising:

[0027] The instruction receiving module is used to receive job instructions;

[0028] A position acquisition module is used to acquire position parameters of the operating modules in the cargo storage and retrieval device; the operating modules include at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting module, a second position parameter of the lifting module, and a third position parameter of the fork storage and retrieval module;

[0029] The positioning control module is used to control the movement of the operation module based on the position parameters until the operation module moves to the target position range, wherein the target position range is determined based on the operation command.

[0030] Thirdly, this application also provides a cargo storage and retrieval device, including a controller and an operation module and a position detection module respectively connected to the controller. The operation module includes at least a shifting module, a lifting module and a fork storage and retrieval module connected to the controller. The position detection module is used to detect and output a first position parameter of the shifting module, a second position parameter of the lifting module and a third position parameter of the fork storage and retrieval module to the controller.

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

[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 disposed in the shifting module, the second distance detection unit is disposed in the lifting module, and the third distance detection unit is disposed in the fork storage 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 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 storage module and the origin of the telescopic path.

[0036] Fourthly, this application also provides a cargo storage and retrieval system, including a remote control system and at least one cargo storage and retrieval device, the cargo storage and retrieval device being implemented as described above, and the remote control system being connected to the controller of the cargo storage and retrieval device.

[0037] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0038] Receive job instructions;

[0039] Obtain the position parameters of the operation module in the cargo storage and retrieval device; the operation module includes at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting 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 parameters until it reaches the target position range, which is determined based on the operation instructions.

[0041] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0042] Receive job instructions;

[0043] Obtain the position parameters of the operation module in the cargo storage and retrieval device; the operation module includes at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting 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 parameters until it reaches the target position range, which is determined based on the operation instructions.

[0045] The aforementioned control method, apparatus, cargo storage and retrieval device, cargo storage and retrieval system, computer-readable storage medium, and computer program product for cargo storage and retrieval devices first receive an operation instruction; acquire the position parameters of the operation modules in the cargo storage and retrieval device; the operation modules include at least a shifting module, a lifting module, and a fork access module; the position parameters include 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; and control the movement of the operation modules based on the position parameters until the operation modules move to a target position range, the target position range being determined based on the operation instruction. Therefore, the position parameters of the operation modules, including the first position parameter of the shifting module, the second position parameter of the lifting module, and the third position parameter of the fork access module, can accurately reflect the position of the cargo storage and retrieval module, thus achieving precise positioning of the cargo storage and retrieval module. Since the positioning accuracy of the cargo storage and retrieval module during operation directly affects the accuracy of the cargo, improving the positioning accuracy can improve the operational accuracy of the cargo storage and retrieval device, enabling it to meet user needs and thereby improving operational safety and efficiency. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of a cargo storage device in one embodiment;

[0048] Figure 2 This is a schematic diagram of a cargo storage device module in another embodiment;

[0049] Figure 3 This is a schematic diagram of a cargo storage device in yet another embodiment;

[0050] Figure 4 This is a flowchart illustrating the control method of a goods storage and retrieval device in one embodiment;

[0051] Figure 5 This is a schematic diagram of a process in one embodiment, which controls the movement of a work module based on position parameters until the work module moves to the target position range;

[0052] Figure 6 This is a partial flowchart illustrating a control method for a cargo storage and retrieval device according to one embodiment.

[0053] Figure 7 A partial flowchart illustrating a control method for a cargo storage and retrieval device according to another embodiment;

[0054] Figure 8 This is a flowchart illustrating the control method of the goods storage and retrieval device in another embodiment;

[0055] Figure 9 This is a structural block diagram of the control device for a goods storage and retrieval device in one embodiment;

[0056] Figure 10 This is a schematic diagram of a cargo storage device in yet another embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0058] The control method for the cargo storage and retrieval device provided in this application embodiment can be applied to cargo storage devices. 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 shifting module 111, a lifting module 112, and a fork storage and retrieval module 113 electrically connected to the controller 100.

[0059] Under the control of the controller 100, the shift module 111 enables the goods storage device to move in the rack aisles of the automated warehouse, the lifting module 112 is used to lift the goods in the direction of rack extension (such as the vertical direction), and the fork access module 113 can put the goods into the rack compartments or take them out of the compartments.

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

[0061] In one embodiment, such as Figure 3 As shown, the goods storage and retrieval device also includes an interaction module 130 electrically connected to the controller 100. The interaction module 130 allows the user to input commands, view status, or receive feedback information. Exemplarily, the interaction module 130 may include one or more components such as a touch screen, buttons, indicator lights, and a display screen.

[0062] The implementation of controller 100 is not limited. For example, controller 100 can be a PLC (Programmable Logic Controller), such as a PLC S7-1500 chip. Controller 100 is used to receive work instructions; obtain the position parameters of the work module 110 in the goods storage and retrieval device; the work 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; and control the work module 110 to move based on the position parameters until the work module 110 moves to a target position range, the target position range being determined based on the work instructions. This achieves precise positioning of the goods storage and retrieval module, improves the operational accuracy of the goods storage and retrieval device, ensures that the operational accuracy of the goods storage and retrieval device meets user needs, and thus improves the operational safety and efficiency of the goods storage and retrieval device.

[0063] In one exemplary embodiment, such as Figure 4 As shown, a control method for a cargo storage and retrieval device is provided, which is applied to... Figure 1 Taking controller 100 as an example, the explanation includes steps 402 to 406. Wherein:

[0064] Step 402: Receive job instructions.

[0065] Work instructions can be transmitted from the user to the controller via the interactive module. Work instructions can also be set by the user according to control needs.

[0066] In one embodiment, the work instruction may include the target location coordinates of the goods storage and retrieval device. Once the target location coordinates are determined based on the work instruction, the controller controls the work module to move and position itself.

[0067] For example, the target position coordinates may include X-axis target coordinates, Y-axis target coordinates, and Z-axis target coordinates. The X-axis represents the travel path of the shifting module, the Y-axis represents the lifting path of the lifting module, and the Z-axis represents the extension path of the fork access module. The X-axis target coordinates represent the target position coordinates of the shifting module along its travel path, the Y-axis represents the target position coordinates of the lifting module in the shelf extension direction, and the Z-axis represents the target position coordinates of the fork access module in the shelf extension direction.

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

[0069] In one embodiment, the work instruction may further include target location coordinates and work type. The work type may include movement positioning, picking up goods, delivery, etc. For example, if the work instruction includes (1, 4) positioning, then the controller will control the work module to move, so that the displacement module is located at a specified position on the first row of shelves and the lifting module is located at a specified position on the fourth layer of shelves, thereby achieving accurate positioning.

[0070] In other embodiments, the operation instructions may also include (1, 4, 30), positioning, and placing goods. After the controller controls the shifting module to be located at a specified position on the first row of shelves, the lifting module to be located at a specified position on the fourth shelf, and the forklift module to be located 50 cm away from the shelf compartment on the fourth shelf of the first row, it will also control the forklift module to place the goods 30 cm away from the shelf compartment on the fourth shelf of the first row.

[0071] It is understandable that the form of work instructions is not unique, and the specific form can be determined according to the circumstances.

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

[0073] The position parameters include the first position parameters of the shifting module, the second position parameters of the lifting module, and the third position parameters of the fork storage and retrieval module.

[0074] The first position parameter represents the distance between the shifting module and the origin of the travel path; the second position parameter represents the distance between the lifting module and the origin of the lifting path; and the third position parameter represents the distance between the fork storage module and the origin of the telescopic path.

[0075] Step 406: Control the movement of the work module based on the position parameters until the work module moves to the target position range.

[0076] The target location range is determined based on the work instruction. For example, after receiving the work instruction, the controller first determines the target location coordinates according to the work instruction, then matches the target address data with the target location coordinates, and finally determines the target location range based on the target address data.

[0077] It can be understood that the target address data is the actual location data of the operation module. Specifically, it can include the first distance data between the actual position corresponding to the X-axis target coordinate (such as the specified position of the first 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 fourth shelf) 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 practical implementation, the controller can pre-store a coordinate library, which includes the mapping relationship between each position coordinate and the actual position data. Matching address data can be obtained by searching the coordinate library based on the target position coordinates.

[0079] After obtaining the target address data, the target location range can be determined based on the allowable positional deviation. For example, if the distance between the specified location of the 4th shelf and the origin of the lifting path is 50 cm, and the allowable positional deviation is ±5 cm, then the position range on the Y-axis is 45 cm - 55 cm. In practical applications, the allowable positional deviations for the X-axis, Y-axis, and Z-axis can be the same or different, depending on the specific circumstances.

[0080] There are multiple ways to control the movement of the work module based on position parameters until the work module moves to the target location range. In one embodiment, such as... Figure 5 As shown, step 406 includes steps 502-506.

[0081] Step 502: Send a drive signal to move the work module.

[0082] The drive signals need to be determined based on the target position coordinates in the work instruction. When the target position coordinates include X-axis, Y-axis, and Z-axis target coordinates, the drive signals can include shift drive signals, lifting drive signals, and extension drive signals. The shift module starts moving after receiving the shift drive signal; the lifting module starts moving after receiving the lifting drive signal; and the fork access module starts moving after receiving the extension drive signal. It can be understood that when the target position coordinates include one or two of the X-axis, Y-axis, and Z-axis target coordinates, the corresponding drive signals can include one or two of the shift drive signal, lifting drive signal, and extension drive signal.

[0083] Step 504: During the movement of the work module, determine the current position of the work module based on its position parameters.

[0084] During the movement of each module within the work module, the controller acquires the real-time position parameters of the work module and, combined with a coordinate library or position mapping relationship, calculates the current position of the work module. This process is real-time, and the controller continuously updates the current position of the work 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] Stop signals are used to control the operation module to stop moving. Stop signals may include one, two, or three of the following: a shift stop signal to control the shift module to stop moving; a lifting stop signal to control the lifting module to stop moving; and a telescopic stop signal to control the fork access module to stop moving. The specific settings can be configured according to the corresponding drive signals.

[0087] Once the controller determines the current position of the work module, it compares this position with a preset target position range. If the current position is already within the target position range, the controller sends a stop signal to stop the work module from moving. In this way, the work module can accurately position itself at the user-specified location, preparing for subsequent goods storage and retrieval operations.

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

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

[0090] The controller can employ path planning algorithms to adjust and optimize based on different environments and requirements, adapting to goods of varying sizes and shapes, different types of shelving, and warehouse layouts, generating suitable paths. It then outputs drive signals to propel the operation module along the planned path, with the endpoint of this path being the target location.

[0091] The control method for the aforementioned goods storage and retrieval device first receives a work instruction; then acquires the position parameters of the working modules within the device; each working module includes at least a shifting module, a lifting module, and a fork access module; the position parameters include 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; based on these position parameters, the working module is controlled to move until it reaches a target position range, which is determined by the work instruction. Therefore, the position parameters of the working module, including the first position parameter of the shifting module, the second position parameter of the lifting module, and the third position parameter of the fork access module, accurately reflect the position of the goods storage and retrieval module, achieving precise positioning. Since the positioning accuracy of the goods storage and retrieval module directly affects the accuracy of the goods, improving positioning accuracy enhances the operational accuracy of the goods storage and retrieval device, ensuring it meets user needs and ultimately improving operational safety and efficiency.

[0092] In one embodiment, such as Figure 6 As shown, after the operation module is moved based on the position parameters, the control method of the cargo storage and retrieval device further includes steps 602 and 604.

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

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

[0095] It is understood that various factors may be considered in the process of calculating the movement time, such as the movement speed, acceleration, and path complexity of the work module. This embodiment does not limit these factors. In actual implementation, those skilled in the art can calculate the movement time by combining various factors according to the specific circumstances.

[0096] Step 604: If the operation module fails to reach the target location range after the estimated movement time, a fault alarm signal is issued.

[0097] After the work module begins moving, the controller monitors its position parameters in real time and updates the actual movement progress based on these parameters. If the work module fails to reach the target location within the expected movement time, the controller will determine this as an abnormal situation and immediately issue a fault alarm signal. This signal can be displayed to the user through the interactive module or through other means (such as sound, light, etc.) to remind the user or maintenance personnel to handle the situation promptly.

[0098] This embodiment enables real-time monitoring and fault warning of the movement process of the operation module. On the one hand, it improves operational efficiency and ensures that goods can be stored and retrieved on time and accurately. On the other hand, it can also promptly detect and warn of potential faults, greatly avoiding fork interference problems during manual operation. Fork interference can cause the forks to collide with the automated warehouse racking, resulting in hardware damage. In this embodiment, fault warnings enhance safety protection and improve the safety of the goods storage and retrieval device.

[0099] In one embodiment, such as Figure 7 As shown, after the operation module is moved based on the position parameters, the control method of the cargo storage and retrieval device further includes steps 702 and 704.

[0100] Step 702: During the movement of the work module, determine the displacement change of the work module within a preset monitoring period.

[0101] The controller monitors the position parameters of the work module in real time or periodically and calculates the displacement change of the work module within a certain time period (i.e., the preset monitoring duration). This displacement change reflects the actual distance the work module moves during this period. The preset monitoring duration can be set according to actual conditions to ensure accurate reflection of the work module's movement status.

[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 period, the controller compares it with a preset travel distance. The preset travel distance is calculated based on the normal travel speed of the operating module and the preset monitoring period; it represents the minimum travel distance the operating module should reach within that period. If the displacement change is less than the preset travel distance, it indicates that the operating module's travel speed during this period is lower than normal, potentially indicating a mechanical or drive system malfunction, or external interference. In this case, the controller will immediately issue a fault alarm signal to alert the user or maintenance personnel to take timely action.

[0104] This embodiment enables real-time monitoring and fault warning of the movement process of the work module. This improves operational efficiency and the safety of the goods storage and retrieval device, thus providing users with a more reliable and safer working environment.

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

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

[0107] If the position parameters determined based on the initial position are inaccurate, a fault alarm signal will be issued;

[0108] If the position parameters are accurately determined based on the initial position, the position parameter-based control module moves.

[0109] Since the precise location of the task module is crucial to the accuracy of the task, the controller updates and stores the final location of the task module after each task is completed. When the next task begins, the controller can quickly obtain this final location as the "initial location" of the task module.

[0110] Specifically, after receiving the work instruction, before controlling the work module to move, the controller will compare the obtained position parameters of the work module with the initial position. If the two are consistent, or the difference between the two is within the allowable error range, the controller will determine that the currently obtained position parameters are accurate; otherwise, the controller will determine that the currently obtained position parameters are inaccurate.

[0111] If the acquired position parameters are determined to be inaccurate, it indicates a malfunction or abnormality in the position detection module. In this case, the controller will issue a fault alarm signal to alert the user or maintenance personnel to take timely action. Furthermore, the controller will not control the movement of the work module to prevent safety accidents.

[0112] In this embodiment, the accuracy of the position detection module can be checked by verifying the accuracy of the position parameters. Controlling the movement of the work module only when the position parameters are accurate ensures the accuracy of the work module's movement and positioning. Providing an early warning when the position parameters are inaccurate alerts maintenance personnel to promptly identify and address potential problems, enhancing system reliability.

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

[0114] During the movement of the operation module based on position parameters, if the change in position parameters within a preset step time is greater than a preset change threshold, a fault alarm signal will be issued.

[0115] Specifically, the controller is set with a preset step time, which is the time interval for checking changes in position parameters. Its specific value can be set according to the actual situation. During each preset step time, the controller compares the current position parameters of the work module with the position parameters at the previous step time point, that is, it calculates the amount of change within the preset step time.

[0116] If the controller detects during monitoring that the change in position parameters exceeds a preset threshold within a certain preset step time, indicating an abnormal abrupt change in position parameters, the controller will determine that the operating module may be experiencing abnormal movement or uncontrolled acceleration / deceleration. To ensure system safety and stability, the controller will promptly issue a fault alarm signal to alert users or maintenance personnel to pay attention to and address this anomaly.

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

[0118] In this embodiment, by monitoring the changes in position parameters in real time, abnormal situations during the movement of the operation module can be detected in a timely manner, thereby improving the safety of the cargo storage and retrieval device.

[0119] In actual implementation, the fault alarm signals in all the above 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 identifiers so that the user can distinguish the fault type in time, thereby improving the ease of use of the goods storage and retrieval device.

[0120] To better understand the above embodiments, a detailed explanation is provided below with reference to a specific embodiment. Please refer to... Figure 8 In one embodiment, the control method for the goods storage and retrieval device includes:

[0121] Receive work instructions from the user; determine the target location coordinates and range based on the work instructions;

[0122] The position parameters of the operation module transmitted by the position detection module are obtained. The position parameters of the operation module include the first position parameters of the shift module, the second position parameters of the lifting module, and the third position parameters of the fork storage module.

[0123] The accuracy of the obtained position parameters is determined based on the current initial position of the operation module. If the accuracy is not accurate, a fault alarm signal is issued.

[0124] If the location parameters are accurate, the target location range is determined by matching the address data corresponding to the target location coordinates based on the coordinate library.

[0125] Send a drive signal to control the movement of the work module;

[0126] During the movement of the work module, the position parameters of the work module are acquired in real time and compared with the target position range to determine whether the work module is within the target position range; if not, the movement of the work module continues.

[0127] If the work module has moved to the target location range, control the work module to stop moving, and the positioning process ends.

[0128] The control method for the aforementioned cargo storage and retrieval device enables precise positioning of the cargo storage and retrieval module, thereby improving the operational accuracy of the device. Furthermore, it provides timely warnings via the interactive module when an anomaly is detected, offering better assurance in terms of safety braking.

[0129] Furthermore, in actual implementation, the control method of this cargo storage and retrieval device can be modularized. Through a standardized positioning process, it can be directly applied to various cargo storage and retrieval devices (such as stacker cranes), thereby saving the debugging time of developers and improving the ease of use for end users.

[0130] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0131] Based on the same inventive concept, this application also provides a control device for a cargo storage and retrieval device for implementing the control method of the cargo storage and retrieval device described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the control device for a cargo storage and retrieval device provided below can be found in the limitations of the control method for the cargo storage and retrieval device described above, and will not be repeated here.

[0132] In one exemplary embodiment, such as Figure 9 As shown, a control device for a cargo storage and retrieval device is provided, comprising: an instruction receiving module 902, a location acquisition module 904, and a positioning control module 906, wherein:

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

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

[0135] The positioning control module 906 is used to control the movement of the work module based on position parameters until the work module moves to the target position range, which is determined based on the work instructions.

[0136] In one embodiment, the control device of the goods storage and retrieval device further includes an early warning module, which is used to determine the expected movement time based on the location parameters and the target location range; if the operation module fails to reach the target location range after moving for the expected movement time, a fault alarm signal is issued.

[0137] In one embodiment, the early warning module is further configured to determine the displacement change of the work module within a preset monitoring period during the movement of the work module; if the displacement change is less than a preset movement distance, a fault alarm signal is issued.

[0138] In one embodiment, the positioning control module 906 is further configured to issue a drive signal to move the work module; during the movement of the work module, determine the current position of the work module according to the position parameters of the work module; if the current position is within the target position range, issue a stop signal to stop the work module from moving.

[0139] In one embodiment, the early warning module is further configured to obtain the current initial position of the operation module; issue a fault alarm signal if the position parameters are determined to be inaccurate based on the initial position; and execute position parameter-based control to move the operation module if the position parameters are determined to be accurate based on the initial position.

[0140] In one embodiment, the early warning module is further configured to issue a fault alarm signal if, during the process of controlling the movement of the operation module based on position parameters, the change in position parameters within a preset step time is detected to be greater than a preset change amplitude threshold.

[0141] Each module in the control device of the aforementioned cargo storage and retrieval device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding tasks of each module.

[0142] In one embodiment, a goods storage and retrieval device is provided; please refer again to... Figure 2 The goods 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 goods storage and retrieval device in the above embodiments.

[0143] The structures of the shifting module 111, the lifting module 112, and the fork storage and retrieval module 113 can be configured according to specific circumstances. For example, such as... Figure 10As shown, the shifting module 111 includes a travel inverter, a travel motor, and a travel assembly. The travel inverter is electrically connected to the controller 100 and the travel motor, and the travel motor is mechanically connected to the travel assembly. The travel assembly may include components for movement such as wheels and tracks. The controller 100 controls the travel motor to drive the travel assembly to move via the travel inverter.

[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, 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 moving the goods along the extension direction of the shelf and adjusting the position of the goods in the extension direction of the shelf.

[0145] The fork storage module 113 includes a fork inverter, a fork motor, and a fork extension assembly. The fork inverter is electrically connected to the controller 100 and the fork motor, and the fork motor is mechanically connected to the fork extension assembly. The fork extension assembly may include forks and an extension mechanism. The controller 100 controls the fork motor to operate via the fork inverter, thereby driving the fork extension assembly to move, which in turn moves the goods along the extension direction of the shelf compartments, thus adjusting the position of the goods in the extension direction of the compartments, such as placing the goods into or removing them from the compartments.

[0146] In one embodiment, the travel motor, lifting motor, and fork motor can be asynchronous servo motors. Asynchronous servo motors have a wide operating speed range, which can meet the speed requirements of different applications, thereby enabling the shifting module 111, lifting module 112, and fork storage module 113 to maintain stable performance under different operating 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 storage module 113.

[0148] Therefore, accurate first position parameters can be obtained through the first distance detection unit, accurate second position parameters can be obtained through the second distance detection unit, and accurate third position parameters 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 storage module 113 more precisely.

[0149] In one 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 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, a laser rangefinder includes a transmitter and a reflector. When the transmitter emits a laser pulse toward the object, the time it takes for the laser to reach the reflector and return is recorded, and the distance can be measured by calculation.

[0153] The transmitters of the X-axis, Y-axis, and Z-axis laser rangefinders are all located on the cargo storage and retrieval device. For example, the transmitter of the X-axis laser rangefinder can be mounted on the traveling assembly, with its reflector positioned as the origin at the end of the traveling path. The transmitter of the Y-axis laser rangefinder can be mounted on the lifting assembly, with its reflector positioned as the origin at the end of the lifting path. The transmitter of the Z-axis laser rangefinder can be mounted on the fork extension assembly, with its reflector positioned as the origin at the end of the fork extension path.

[0154] In this embodiment, by setting up high-precision laser rangefinders in each module, the position of the working module in the X, Y, and Z axes can be accurately detected, thereby improving the accuracy of position positioning and thus enhancing the reliability and safety of the operation.

[0155] In one embodiment, a goods storage and retrieval system is provided, the system including a remote control system and at least one goods storage and retrieval device, wherein the remote control system is communicatively connected to the controller of the goods storage and retrieval device. The goods storage and retrieval device can be configured as described in the above embodiments, and will not be repeated here.

[0156] In one specific embodiment, the cargo storage and retrieval device is a stacker crane. An electrical cabinet is installed at the bottom of the stacker crane, housing its electrical system. The stacker crane's electrical system includes a controller (such as a PLC), three frequency converters, an onboard touchscreen, and a remote control module. Three laser rangefinders are mounted on the stacker crane.

[0157] The remote control system is located outside the automated warehouse, in a safe, manually operated area. For example, the remote control system may include an electrical control panel containing a remote module and a touchscreen. The remote module interacts with the stacker crane's electrical system. The touchscreen receives remote control information and interacts with the stacker crane's electrical system via the remote module to remotely operate the stacker crane. The touchscreen can also receive and display fault alarm signals transmitted by the stacker crane, improving the timeliness of information access for remote personnel. Upon completion of each task within the stacker crane, the stacker crane can also remotely notify the touchscreen of completion.

[0158] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

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

[0160] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0161] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a cargo storage and retrieval device, characterized in that, The method includes: Receive job instructions; Obtain the position parameters of the operation module in the cargo storage and retrieval device; the operation module includes at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting 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 parameters until it moves to the target position range, wherein the target position range is determined based on the operation instructions. The method further includes, after controlling the movement of the work module based on the position parameters, determining the estimated movement time based on the position parameters and the target position range; and issuing a fault alarm signal if the work module fails to reach the target position range after moving for the estimated movement time. After controlling the movement of the work module based on the position parameters, the method further includes: During the movement of the work module, the displacement change of the work module is determined within a preset monitoring period; if the displacement change is less than the preset movement distance, a fault alarm signal is issued.

2. The method according to claim 1, characterized in that, The step of controlling the movement of the work module based on the position parameters until the work module moves to the target position range includes: A drive signal is sent to move the working module; During the movement of the work module, the current position of the work module is determined according to the position parameters of the work module; If the current position is within the target position range, a stop signal is issued to stop the operation module from moving.

3. The method according to claim 1, characterized in that, After obtaining the position parameters of the operating module in the cargo storage and retrieval device, and before controlling the movement of the operating module based on the position parameters, the method further includes: Obtain the current initial position of the task module; If the position parameters determined based on the initial position are inaccurate, a fault alarm signal is issued; If the position parameters are accurate based on the initial position, the operation module is moved according to the position parameters.

4. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the movement of the operation module based on the position parameters, if the change in the position parameters within a preset step time is detected to be greater than a preset change amplitude threshold, a fault alarm signal is issued.

5. A control device for a cargo storage and retrieval device, characterized in that, The apparatus is used to implement the method of any one of claims 1 to 4, the apparatus comprising: The instruction receiving module is used to receive job instructions; A position acquisition module is used to acquire position parameters of the operating modules in the cargo storage and retrieval device; the operating modules include at least a shifting module, a lifting module, and a fork storage and retrieval module, and the position parameters include a first position parameter of the shifting module, a second position parameter of the lifting module, and a third position parameter of the fork storage and retrieval module; The positioning control module is used to control the movement of the operation module based on the position parameters until the operation module moves to the target position range, wherein the target position range is determined based on the operation command.

6. 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 includes at least a shifting module, a lifting module and a fork storage and retrieval module connected to the controller. The position detection module is used to detect and output the first position parameter of the shifting module, the second position parameter of the lifting module and the third position parameter of the fork storage and retrieval module to the controller. The controller is used to implement the steps of the method according to any one of claims 1 to 4.

7. A cargo storage and retrieval system, characterized in that, It includes a remote control system and at least one cargo storage and retrieval device, the cargo storage and retrieval device being implemented according to claim 6, wherein the remote control system is connected to the controller of the cargo storage and retrieval device.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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