Stacking machine, control method and device of stacking machine and computer equipment

Abstract

The invention relates to the technical field of logistics warehousing, in particular to a stacker, a control method and device of the stacker and computer device.The control method of the stacker comprises the steps that task types and target positions issued by a scheduling system are obtained, and the target positions comprise the row position, the column position and the layer position; the target action needing to be executed by the stacker is determined according to the task type, the stacker is controlled to complete the issued task according to the target position and the target action, and therefore cooperation of the stacker and a dispatching system can be achieved, and three-dimensional automation is achieved; and meanwhile, the target positions issued by the scheduling system comprise the row position, the column position and the layer position, so that the stacking machine can be positioned more accurately when completing the task issued by the scheduling system, and the working efficiency of the automatic three-dimensional warehouse is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing, and in particular to a stacker, a control method and device for the stacker, and computer equipment. Background Art

[0002] At present, the market of automated three-dimensional warehouse is developing rapidly. Stacker is an important part of automated three-dimensional warehouse. It cooperates with the dispatching system through online mode and is an important part of realizing the automation of three-dimensional warehouse. At present, the coordination between stacker and dispatching system is low, which affects the working efficiency of automated three-dimensional warehouse. Summary of the invention

[0003] In view of this, the present invention provides a stacker, a control method and device for the stacker, and a computer device to solve the problem of low working efficiency of an automated stereoscopic warehouse.

[0004] In a first aspect, the present invention provides a control method for a stacker, comprising the following steps: obtaining a type of task and a target position, wherein the target position includes a row position, a column position, and a layer position; determining a target action that the stacker needs to perform according to the task type; and controlling the stacker to complete the issued task according to the target position and the target action.

[0005] The control method of the stacker provided by the present invention obtains the task type and target position issued by the scheduling system, wherein the target position includes the row position, the column position and the layer position, determines the target action that the stacker needs to perform according to the task type, and controls the stacker to complete the issued task according to the target position and the target action, thereby realizing the coordination between the stacker and the scheduling system and realizing three-dimensional automation; at the same time, the target position issued by the scheduling system includes the row position, the column position and the layer position, thereby enabling the stacker to be positioned more accurately when completing the task issued by the scheduling system, thereby improving the working efficiency of the automated three-dimensional warehouse.

[0006] In an optional embodiment, determining the target action that the stacker needs to perform based on the task type includes: when the task type is outbound, the target action that the stacker needs to perform is to transport the goods at the target position to the outbound port; when the task type is inbound, the target action that the stacker needs to perform is to transport the goods at the inbound port to the target position; when the task type is warehouse transfer, the target position includes a first position and a second position; the target action that the stacker needs to perform is to move the goods from the first position to the second position; when the task type is move, the target action that the stacker needs to perform is to move the stacker to the target position.

[0007] Thereby, the control method of the stacker can be applicable to various application scenarios.

[0008] In an optional embodiment, before controlling the stacker to complete the assigned task according to the target position and target action, the following steps are also included: obtaining a preset first correction value, a second correction value and a third correction value; correcting the row position using the first correction value, correcting the column position using the second correction value, and correcting the layer position using the third correction value to obtain a corrected target range.

[0009] This is because the stacker has a positioning error, so it is necessary to use the first correction value to correct the row position, the second correction value to correct the column position, and the third correction value to correct the layer position.

[0010] In an optional embodiment, controlling the stacker to complete the issued task according to the target position and the target action includes: when the task type is outbound, controlling the stacker to move to the target position, inserting the goods in the target position, and moving from the target position to the outbound port; when the task type is inbound, controlling the stacker to move to the inbound port, inserting the goods at the inbound port, and controlling the stacker to move to the target position; when the task type is warehouse transfer, controlling the stacker to move to the first position, inserting the goods at the first position, and moving from the first position to the second position; when the task type is movement, controlling the stacker to move to the target position.

[0011] Thereby, the control method of the stacker can be applicable to various application scenarios.

[0012] In an optional embodiment, controlling the stacker to move to the target position includes: controlling the stacker to move at a preset speed; obtaining the actual position of the stacker; determining whether the actual position belongs to the target range; and when the actual position belongs to the target range, controlling the stacker to stop moving.

[0013] This can improve the working efficiency of the automated high-bay warehouse without affecting the normal operation of the stacker.

[0014] In an optional embodiment, before determining the target action that the stacker needs to perform according to the task type, it also includes: obtaining the storage location range that the stacker is responsible for; determining whether the target position belongs to the storage location range; when the target position belongs to the storage location range, executing the step of determining the target action that the stacker needs to perform according to the task type; when the target position does not belong to the storage location range, sending a prompt message of task failure.

[0015] In this way, it can be discovered in time whether the task assigned by the scheduling system to the stacker is within the storage location that the stacker is responsible for, thereby improving the working efficiency of the automated high-bay warehouse.

[0016] In the second aspect, the present invention also provides a control device for a stacker, comprising an acquisition module, a target action determination module and a task execution module; the acquisition module is used to acquire the type of task and the target position issued, wherein the target position includes the row position, the column position and the layer position; the target action determination module is used to determine the target action that the stacker needs to perform according to the task type; the task execution module is used to control the stacker to complete the issued task according to the target position and the target action.

[0017] In a third aspect, the present invention further provides a stacker, comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the control method of the stacker according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0018] In a fourth aspect, the present invention further provides a stereoscopic warehouse, comprising a scheduling system and the stacker of the fourth aspect.

[0019] In a fifth aspect, the present invention further provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for a stacker according to the first aspect or any corresponding embodiment thereof.

[0020] In a sixth aspect, the present invention further provides a computer program product, comprising computer instructions for causing a computer to execute the control method for a stacker according to the first aspect or any corresponding embodiment thereof.

[0021] The stacker, control method, device and computer equipment of the present invention have the following beneficial effects: by acquiring the task type and target position issued by the scheduling system, wherein the target position includes the row position, column position and layer position, the target action that the stacker needs to perform is determined according to the task type, and the stacker is controlled to complete the issued task according to the target position and the target action, thereby realizing the coordination between the stacker and the scheduling system and realizing three-dimensional automation; at the same time, the target position issued by the scheduling system includes the row position, column position and layer position, thereby enabling the stacker to be positioned more accurately when completing the task issued by the scheduling system, thereby improving the working efficiency of the automated three-dimensional warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a flow chart of a stacker control method according to an embodiment of the present invention;

[0024] Figure 2 is a flow chart of another stacker control method according to an embodiment of the present invention;

[0025] Figure 3 is a flow chart of a method for controlling a palletizer according to an embodiment of the present invention;

[0026] Figure 4 is a flowchart of an example of a stacker control method according to an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of interaction between a stacker and a scheduling system according to an embodiment of the present invention

[0028] Figure 6 is a structural block diagram of a stacker control device according to an embodiment of the present invention;

[0029] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0031] According to an embodiment of the present invention, a control method embodiment of a stacker is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] In this embodiment, a control method for a stacker is provided, which can be used for a computer device in the stacker. Figure 1 is a flow chart of a stacker control method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0033] Step S101: Obtain the type of task and target position issued, where the target position includes row position, column position and layer position.

[0034] In this embodiment, the task type and target position are sent to the stacker by the automated three-dimensional dispatching system. The row position, column position and layer position in the target position refer to the row position, column position and layer position of the storage location.

[0035] Step S102: Determine the target action that the stacker needs to perform according to the task type.

[0036] Generally speaking, the types of tasks sent by the scheduling system to the stacker include the outbound delivery of goods, the inbound delivery of goods, the transfer of goods to other warehouses, the movement of the stacker, etc.

[0037] Step S103: Control the stacker to complete the assigned task according to the target position and target action.

[0038] The control method of the stacker provided by the present invention obtains the task type and target position issued by the scheduling system, wherein the target position includes the row position, the column position and the layer position, determines the target action that the stacker needs to perform according to the task type, and controls the stacker to complete the issued task according to the target position and the target action, thereby realizing the coordination between the stacker and the scheduling system and realizing three-dimensional automation; at the same time, the target position issued by the scheduling system includes the row position, the column position and the layer position, thereby enabling the stacker to be positioned more accurately when completing the task issued by the scheduling system, thereby improving the working efficiency of the automated three-dimensional warehouse.

[0039] In this embodiment, a control method for a stacker is provided, which can be used for a computer device in the stacker. Figure 2 is a flow chart of another stacker control method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0040] Step S201: Obtain the type of task and target position issued, where the target position includes row position, column position and layer position.

[0041] Step S202: Determine the target action that the stacker needs to perform according to the task type.

[0042] In an optional implementation, determining the target action that the stacker needs to perform according to the task type includes the following steps S2021 to S2024.

[0043] Step S2021: When the task type is outbound, the target action that the stacker needs to perform is to transport the goods at the target location to the outbound port.

[0044] Step S2022: When the task type is warehousing, the target action that the stacker needs to perform is to transport the goods at the warehousing entrance to the target location.

[0045] Step S2023: When the task type is warehouse transfer, the target position includes a first position and a second position; the target action that the stacker needs to perform is to move the goods from the first position to the second position.

[0046] Step S2024: When the task type is moving, the target action that the stacker needs to perform is to move the stacker to the target position.

[0047] Step S203: Control the stacker to complete the assigned task according to the target position and target action.

[0048] In an optional implementation, controlling the stacker to complete the assigned task according to the target position and the target action includes the following steps S2031 to S2034.

[0049] Step S2031: When the task type is outbound, control the stacker to move to the target position, pick up the goods in the target position, and move from the target position to the outbound port.

[0050] Step S2032: When the task type is warehousing, control the stacker to move to the warehousing entrance, insert the goods at the warehousing entrance, and control the stacker to move to the target position.

[0051] Step S2033: When the task type is warehouse transfer, control the stacker to move to the first position, insert the goods at the first position, and move from the first position to the second position.

[0052] Step S2034: When the task type is moving, control the stacker to move to the target position.

[0053] The control method of the stacker provided in this embodiment can not only make the stacker more accurately positioned when completing the tasks issued by the scheduling system, thereby improving the working efficiency of the automated stereoscopic warehouse, but also make the stacker applicable to various application scenarios.

[0054] In this embodiment, a control method for a stacker is provided, which can be used for a computer device in the stacker. Figure 3 FIG. 4 is a flowchart of another method for controlling a palletizer according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0055] Step S301: Obtain the type of task and target position issued, where the target position includes row position, column position and layer position.

[0056] Step S302: Obtain the storage location range that the stacker is responsible for.

[0057] Step S303: Determine whether the target location belongs to the storage location range; when the target location belongs to the storage location range, proceed to step S304; when the target location does not belong to the storage location range, send a prompt message of task failure.

[0058] Step S304: Determine the target action that the stacker needs to perform according to the task type.

[0059] Step S305: Obtaining a preset first correction value, a second correction value, and a third correction value.

[0060] Step S306: Use the first correction value to correct the row position, use the second correction value to correct the column position, and use the third correction value to correct the layer position to obtain a corrected target range.

[0061] Step S307: When the task type is outbound, control the stacker to move to the target position.

[0062] In an optional implementation, controlling the stacker to move to the target position includes the following steps S3071 to S3074.

[0063] Step S3071: When the task type is outbound, control the stacker to move at a preset speed.

[0064] Step S3072: Obtain the actual position of the stacker.

[0065] Step S3073: Determine whether the actual position belongs to the target range; when the actual position belongs to the target range, go to step S3074. When the actual position does not belong to the target range, return to step S3071.

[0066] Step S3074: Control the stacker to stop moving.

[0067] For example, the X[row, layer, column], Y[row, layer, column], and Z[row, layer, column] data recorded in the target position are assigned to the target position values ​​Xa, Ya, and Za in the X, Y, and Z directions, respectively.

[0068] The position deviation compensation values ​​related to the three directions are set as Xe, Ye, and Ze respectively, then the target position value ranges of the stacker in the three directions of X, Y, and Z are {Xa-Xe, Xa+Xe}, {Ya-Ye, Ya+Ye}, and {Za-Ze, Za+Ze} respectively.

[0069] The moving speed of the axis is V (speed) = Ve (preset speed) * K (ratio). When the stacker is not in action, the Ve and K values ​​of the axis can be modified through the touch screen to meet the actual application needs. The actual position values ​​Xs, Ys, and Zs of the relevant axes of the stacker can be obtained through laser ranging and encoders. When Xa-Xe≤Xs≥Xa+Xe, Ya-Ye≤Ys≥Ya+Ye, and Za-Ze≤Zs≥Za+Ze are met respectively, the relevant axis has completed the task and fed back the task completion signal to the scheduling system. When it waits for it to send a task completion confirmation signal, the entire online mode action is completed.

[0070] Step S308: Insert the goods in the target position.

[0071] Step S309: Control the stacker to move from the target position to the exit.

[0072] The control method for the stacker provided in this embodiment can not only make the stacker position more accurate when completing the task issued by the scheduling system, thereby improving the work efficiency of the automated stereoscopic warehouse; but also, by judging whether the target position belongs to the storage location range, it can promptly discover whether the task issued by the scheduling system to the stacker is within the storage location range that the stacker is responsible for, thereby further improving the work efficiency of the automated stereoscopic warehouse.

[0073] Figure 4 : is a flowchart of an example of a stacker control method according to an embodiment of the present invention. Figure 4 As shown, the stacker obtains the task type and target location issued by the scheduling system, and obtains the storage location range for which it is responsible; it determines whether the target location belongs to the storage location range (i.e., whether the task is correct). When the target location belongs to the storage location range, the task type is matched, and the XYZ axis starts the automatic positioning program until the task is completed. When the target location does not belong to the storage location range, an audio-visual prompt message is displayed on the stacker's touch screen, and the task is cleared.

[0074] Figure 5 Schematic diagram of the interaction between a stacker and a scheduling system according to an embodiment of the present invention. Figure 5 As shown, the stacker and the dispatching system communicate via the Siemens S7 communication protocol. The heartbeat signal can be used to display the communication status between the stacker and the dispatching system.

[0075] like Figure 5As shown in the figure, the information sent by the stacker to the scheduling system includes heartbeat, equipment number, mode, horizontal position, whether it is idle, storage location information, action steps, task number, whether the task is completed and fault code. Specifically, there will be multiple stackers in a scheduling system, and the equipment number is used to identify the stacker. The stacker modes are manual, semi-automatic and automatic. The stacker can only receive the task type and target position issued by the scheduling system when it is in automatic mode. The horizontal position indicates the current position of the stacker in the lane. Whether it is idle indicates whether the stacker is idle and whether it is executing a task. The storage location information indicates which storage location of the stereoscopic warehouse the stacker is parked in. The action step indicates the step of the stacker in executing the task. If it is 0, it is standby. The task number is used by the system to identify which task the stacker is executing. This is because the scheduling system can continuously issue several tasks to the same stacker, but the stacker can only execute one at a time. Whether the task is completed, that is, the stacker needs to feedback to the scheduling system after the task is completed, and wait for the confirmation of the scheduling system. The fault code is used to indicate the failure of the stacker.

[0076] The information sent by the scheduling system to the stacker includes heartbeat, task type, target location, cargo barcode, task write completion, task completion confirmation, task cancellation, and task number. Among them, the task type includes outbound, inbound, transfer, and move. The target location includes row location, column location, and layer location. The cargo barcode indicates the cargo identity information. Task write completion is used to confirm that the task has been issued. Task completion confirmation is used to indicate that the task has been completed. Task cancellation is used to cancel the issued task. The task number is used to identify the task.

[0077] In this embodiment, a control device for a stacker is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0078] This embodiment provides a control device for a stacker, such as Figure 6 As shown, including:

[0079] The acquisition module 601 is used to acquire the type of task and the target position issued, wherein the target position includes the row position, column position and layer position;

[0080] A target action determination module 602 is used to determine the target action that the stacker needs to perform according to the task type;

[0081] The task execution module 603 is used to control the stacker to complete the assigned task according to the target position and target action.

[0082] In some optional embodiments, the target action determination module 602 is specifically used for: when the task type is outbound, the target action that the stacker needs to perform is to transport the goods at the target position to the outbound port; when the task type is inbound, the target action that the stacker needs to perform is to transport the goods at the inbound port to the target position; when the task type is warehouse transfer, the target position includes a first position and a second position; the target action that the stacker needs to perform is to move the goods from the first position to the second position; when the task type is move, the target action that the stacker needs to perform is to move the stacker to the target position.

[0083] In some optional embodiments, the control device of the stacker also includes a target position correction module. Before controlling the stacker to complete the assigned task according to the target position and the target action, the target position correction module is specifically used to: obtain a preset first correction value, a second correction value, and a third correction value; correct the row position using the first correction value, correct the column position using the second correction value, and correct the layer position using the third correction value to obtain a corrected target range.

[0084] In some optional embodiments, the task execution module 603 is specifically used for: when the task type is outbound, controlling the stacker to move to the target position, inserting the goods in the target position, and moving from the target position to the outbound port; when the task type is inbound, controlling the stacker to move to the inbound port, inserting the goods at the inbound port, and controlling the stacker to move to the target position; when the task type is warehouse transfer, controlling the stacker to move to the first position, inserting the goods at the first position, and moving from the first position to the second position; when the task type is moving, controlling the stacker to move to the target position.

[0085] In some optional implementations, the task execution module 603 includes a moving unit. The moving unit is used to control the stacker to move at a preset speed; obtain the actual position of the stacker; determine whether the actual position belongs to the target range; and control the stacker to stop moving when the actual position belongs to the target range.

[0086] In some optional embodiments, the control device of the stacker further includes a task judgment module. Before determining the target action that the stacker needs to perform according to the task type, the task judgment module is used to obtain the storage location range that the stacker is responsible for; determine whether the target location belongs to the storage location range; when the target location belongs to the storage location range, perform the step of determining the target action that the stacker needs to perform according to the task type; when the target location does not belong to the storage location range, send a prompt message of task failure.

[0087] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0088] The control device of the stacker in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0089] The embodiment of the present invention further provides a stacker having the above Figure 6 The control device of the stacker crane is shown.

[0090] The present invention also provides a three-dimensional warehouse, comprising a dispatching system and the above-mentioned stacker.

[0091] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0092] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0093] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0094] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0096] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0097] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0098] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0099] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0100] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a stacker, characterized in that: include: Obtaining the type of task and the target position issued, wherein the target position includes a row position, a column position and a layer position; Determining a target action that the stacker needs to perform according to the task type; The stacker is controlled to complete the assigned task according to the target position and the target action.

2. The method according to claim 1, characterized in that Determining the target action that the stacker needs to perform according to the task type includes: When the task type is outbound, the target action that the stacker needs to perform is to transport the goods at the target location to the outbound port; When the task type is warehousing, the target action that the stacker needs to perform is to transport the goods at the warehouse entrance to the target location; When the task type is warehouse transfer, the target position includes a first position and a second position; the target action that the stacker needs to perform is to move the goods from the first position to the second position; When the task type is moving, the target action that the stacker needs to perform is moving the stacker to the target position.

3. The method according to claim 2, characterized in that Before controlling the stacker to complete the assigned task according to the target position and the target action, the method further includes: Obtaining a preset first correction value, a second correction value, and a third correction value; Using the first correction value to correct the row position, using the second correction value to correct the column position, and using the third correction value to correct the layer position, to obtain a corrected target range; The controlling the stacker to complete the task assigned according to the target position and the target action comprises: When the task type is outbound, the stacker is controlled to move to the target position, pick up the goods in the target position, and move from the target position to the outbound port; When the task type is warehousing, the stacker is controlled to move to the warehousing entrance, the goods at the warehousing entrance are inserted, and the stacker is controlled to move to the target position; When the task type is warehouse transfer, the stacker is controlled to move to the first position, pick up the goods at the first position, and move from the first position to the second position; When the task type is moving, the stacker is controlled to move to the target position.

4. The method according to claim 3, characterized in that The controlling the stacker to move to the target position comprises: Controlling the stacker to move at a preset speed; Obtaining the actual position of the stacker; Determining whether the actual position belongs to the target range; When the actual position belongs to the target range, the stacker is controlled to stop moving.

5. The method according to claim 1, characterized in that Before determining the target action that the stacker needs to perform according to the task type, the method further includes: Obtain the storage location range that the stacker is responsible for; Determine whether the target location belongs to the storage location range; When the target position belongs to the storage location range, executing the step of determining the target action that the stacker needs to perform according to the task type; When the target location does not belong to the storage location range, a prompt message of task failure is sent.

6. A control device for a stacker, characterized in that: include: An acquisition module, used to acquire the type of task and target position issued, wherein the target position includes row position, column position and layer position; A target action determination module, used to determine the target action that the stacker needs to perform according to the task type; The task execution module is used to control the stacker to complete the assigned task according to the target position and the target action.

7. A stacker, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the stacker according to any one of claims 1 to 5 by executing the computer instructions.

8. A three-dimensional library, characterized in that: It comprises a dispatching system and the stacker as claimed in claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method of the stacker according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the control method of the stacker according to any one of claims 1 to 5.

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