A stacker, a control method, device and computer equipment of the stacker

Abstract

The present application relates to the technical field of logistics storage, in particular to a stacking machine, a control method and device of the stacking machine and computer equipment, wherein the control method of the stacking machine comprises: obtaining the task type and target position issued by the scheduling system, wherein the target position comprises row position, column position and layer position; determining the target action required to be executed by the stacking machine according to the task type; and controlling the stacking machine to complete the issued task according to the target position and target action, so as to realize the cooperation between the stacking machine and the scheduling system and make the automation three-dimensional; meanwhile, the target position issued by the scheduling system comprises row position, column position and layer position, so that the positioning of the stacking machine is more accurate when completing the task issued by the scheduling system, thereby improving the working efficiency of the automated three-dimensional warehouse.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics warehousing, in particular to a stacker, a control method and device of the stacker and a computer device. BACKGROUND

[0002] At present, the market of automatic stereoscopic warehouse is developing rapidly, and the stacker is an important part of the automatic stereoscopic warehouse. The stacker completes cooperation with the scheduling system through an online mode, and is an important link in realizing the automation of the stereoscopic warehouse. At present, the cooperation degree of the stacker and the scheduling system is low, thereby affecting the work efficiency of the automatic stereoscopic warehouse. SUMMARY

[0003] Therefore, the present application provides a stacker, a control method and device of the stacker and a computer device to solve the problem of low work efficiency of the automatic stereoscopic warehouse.

[0004] In a first aspect, the present application provides a control method of a stacker, comprising the following steps: obtaining a task type and a target position issued by a scheduling system, wherein the target position comprises a row position, a column position and a layer position; determining a target action required by the stacker to be executed according to the task type; and controlling the stacker to complete the task issued according to the target position and the target action.

[0005] The control method of the stacker provided by the present application can realize cooperation between the stacker and the scheduling system, and make the stereoscopic warehouse realize automation, by obtaining the task type and the target position issued by the scheduling system, wherein the target position comprises the row position, the column position and the layer position, determining the target action required by the stacker to be executed according to the task type, and controlling the stacker to complete the task issued according to the target position and the target action. Meanwhile, the target position issued by the scheduling system comprises the row position, the column position and the layer position, so that the positioning of the stacker is more accurate when completing the task issued by the scheduling system, thereby improving the work efficiency of the automatic stereoscopic warehouse.

[0006] In an optional embodiment, determining the target action required by the stacker to be executed according to the task type comprises: when the task type is warehouse-out, the target action required by the stacker to be executed is to transport the goods at the target position to a warehouse-out port; when the task type is warehouse-in, the target action required by the stacker to be executed is to transport the goods at a warehouse-in port to the target position; when the task type is warehouse-moving, the target position comprises a first position and a second position; the target action required by the stacker to be executed is to move the goods from the first position to the second position; and when the task type is moving, the target action required by the stacker to be executed is to move the stacker to the target position.

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

[0008] In an optional implementation, before the stacker is controlled to complete the issued task according to the target position and the target action, the following steps are further included: obtaining preset first, second and third correction values; correcting the row position by using the first correction value, correcting the column position by using the second correction value, and correcting the layer position by using the third correction value to obtain a corrected target range.

[0009] This is because the stacker has a positioning error, and thus the row position is corrected by using the first correction value, the column position is corrected by using the second correction value, and the layer position is corrected by using the third correction value.

[0010] In an optional implementation, the controlling the stacker to complete the issued task according to the target position and the target action includes: when the task type is warehouse-out, controlling the stacker to move to the target position, pick the goods in the target position, and move from the target position to the warehouse-out port; when the task type is warehouse-in, controlling the stacker to move to the warehouse-in port, pick the goods in the warehouse-in port, and control the stacker to move to the target position; when the task type is warehouse-moving, controlling the stacker to move to the first position, pick the goods in the first position, and move from the first position to the second position; and when the task type is moving, controlling the stacker to move to the target position.

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

[0012] In an optional implementation, the controlling the stacker to move to the target position includes: controlling the stacker to move at a preset speed; obtaining an 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] Therefore, the working efficiency of the automated stereoscopic warehouse can be improved without affecting the normal work of the stacker.

[0014] In an optional implementation, before the target action that the stacker needs to perform is determined according to the task type, the following steps are further included: obtaining a range of warehouse positions that the stacker is responsible for; determining whether the target position belongs to the range of warehouse positions; when the target position belongs to the range of warehouse positions, performing the step of determining the target action that the stacker needs to perform according to the task type; and when the target position does not belong to the range of warehouse positions, sending a prompt message of task failure.

[0015] Therefore, it can be determined in time whether the task issued by the scheduling system to the stacker is within the range of warehouse positions that the stacker is responsible for, so as to improve the working efficiency of the automated stereoscopic warehouse.

[0016] In a second aspect, the present application further provides a control device of a stacker, comprising an acquisition module, a target action determination module and a task execution module; the acquisition module is configured to acquire a task type and a target position issued by a dispatching system, wherein the target position comprises a row position, a column position and a layer position; the target action determination module is configured to determine a target action required by the stacker according to the task type; and the task execution module is configured to control the stacker to complete the task issued by the dispatching system according to the target position and the target action.

[0017] In a third aspect, the present application further provides a stacker, comprising a memory and a processor, which are connected to each other in communication, and the memory stores computer instructions; the processor executes the computer instructions to perform the control method of the stacker according to the first aspect or any one of the corresponding embodiments thereof.

[0018] In a fourth aspect, the present application further provides a stereoscopic warehouse, comprising a dispatching system and the stacker according to the fourth aspect.

[0019] In a fifth aspect, the present application further provides a computer readable storage medium, which stores computer instructions for making a computer execute the control method of the stacker according to the first aspect or any one of the corresponding embodiments thereof.

[0020] In a sixth aspect, the present application further provides a computer program product, which comprises computer instructions for making a computer execute the control method of the stacker according to the first aspect or any one of the corresponding embodiments thereof.

[0021] The stacker, the control method of the stacker, the device and the computer equipment provided by the present application have the following beneficial effects: the task type and the target position issued by the dispatching system are acquired, wherein the target position comprises a row position, a column position and a layer position; the target action required by the stacker is determined according to the task type; and the stacker is controlled to complete the task issued by the dispatching system according to the target position and the target action, so that the cooperation between the stacker and the dispatching system can be realized, and the automation of the stereoscopic warehouse is achieved; meanwhile, the target position issued by the dispatching system comprises a row position, a column position and a layer position, so that the positioning of the stacker when completing the task issued by the dispatching system is more accurate, and the working efficiency of the automated stereoscopic warehouse is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

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

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

[0025] Figure 3 is a flow chart of still another stacker control method according to an embodiment of the present application;

[0026] Figure 4 is a flow chart of an example of a stacker control method according to an embodiment of the present application;

[0027] Figure 5 is a schematic diagram of interaction between a stacker and a dispatching system according to an embodiment of the present application

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

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

[0030] In order to make the objects, technical solutions and advantages of embodiments of the present application clearer, the technical solutions in embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] According to an embodiment of the present application, a control method for a stacker is provided. It should be noted that the steps shown in the flow chart 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 flow chart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

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

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

[0034] In the embodiment, the task type and the target position are issued to the stacker by the automated stereoscopic scheduling system. The row position, the column position and the layer position in the target position refer to the row position, the column position and the layer position of the storage location.

[0035] Step S102: determining the target action to be performed by the stacker according to the task type.

[0036] Generally, the task type issued to the stacker by the scheduling system includes the outbound of the goods, the inbound of the goods, the relocation of the goods, the movement of the stacker, etc.

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

[0038] The control method of the stacker provided by the application can realize the cooperation between the stacker and the scheduling system, and the stereoscopic automation. Meanwhile, the target position issued by the scheduling system includes the row position, the column position and the layer position, so that the positioning of the stacker is more accurate when completing the task issued by the scheduling system, thereby improving the work efficiency of the automated stereoscopic warehouse.

[0039] In the embodiment, a control method of a stacker is provided, which can be used for a computer device in the stacker. Figure 2 Another control method of a stacker according to an embodiment of the application is shown in a flow chart as shown in FIG. 2, which includes the following steps: Figure 2

[0040] Step S201: obtaining the issued task type and the target position, wherein the target position includes the row position, the column position and the layer position.

[0041] Step S202: determining the target action to be performed by the stacker according to the task type.

[0042] In an optional embodiment, the step of determining the target action to be performed by the stacker according to the task type includes steps S2021-S2024.

[0043] Step S2021: when the task type is the outbound, the target action to be performed by the stacker is to transport the goods at the target position to the outbound port.

[0044] Step S2022: when the task type is the inbound, the target action to be performed by the stacker is to transport the goods at the inbound port to the target position.

[0045] ​Step S2023: When the task type is the moving-to-another-location, the target position includes a first position and a second position, and 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 the 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 task according to the target position and the target action.

[0048] In an optional embodiment, the step S203 of controlling the stacker to complete the task according to the target position and the target action includes steps S2031-S2034.

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

[0050] Step S2032: When the task type is the in-of-warehouse, control the stacker to move to the in-of-warehouse port, pick the goods in the in-of-warehouse port, and control the stacker to move to the target position.

[0051] Step S2033: When the task type is the moving-to-another-location, control the stacker to move to the first position, pick the goods in the first position, and move from the first position to the second position.

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

[0053] The control method of the stacker provided in the embodiment can not only make the stacker more accurate in positioning when completing the task issued by the scheduling system, but also improve the work efficiency of the automated warehouse, and make the stacker applicable to various application scenarios.

[0054] In the embodiment, a control method of a stacker is provided, which can be used for a computer device in the stacker. Figure 3 is a flowchart of another control method of a stacker according to an embodiment of the present application, as shown in the figure, the flowchart includes the following steps: Figure 3

[0055] Step S301: Obtain the task type and the target position, wherein the target position includes a row position, a column position, and a layer position.

[0056] Step S302: Obtain the range of the warehouse position that the stacker is responsible for.

[0057] ​Step S303: judging whether the target position belongs to the range of the storage location; when the target position belongs to the range of the storage location, turning to step S304; when the target position does not belong to the range of the storage location, sending a prompt message of task failure.

[0058] Step S304: determining the target action to be performed by the stacker according to the task type.

[0059] Step S305: obtaining the preset first correction value, second correction value and third correction value.

[0060] Step S306: correcting the row position by using the first correction value, correcting the column position by using the second correction value, and correcting the layer position by using the third correction value to obtain the corrected target range.

[0061] Step S307: when the task type is the out-of-warehouse, controlling the stacker to move to the target position.

[0062] In an optional embodiment, the step of controlling the stacker to move to the target position includes steps S3071-S3074.

[0063] Step S3071: when the task type is the out-of-warehouse, controlling the stacker to move at a preset speed.

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

[0065] Step S3073: judging whether the actual position belongs to the target range; when the actual position belongs to the target range, turning to step S3074; when the actual position does not belong to the target range, returning to step S3071.

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

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

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

[0069] The moving speed of the shaft is V (speed) = Ve (preset speed) * K (proportion), when the stacker is not in action, the Ve and K values of the shaft can be modified through the touch screen to meet the actual application requirements. The actual position values Xs, Ys and Zs of the shaft of the stacker can be obtained through the laser ranging and the encoder, when Xa-Xe≤Xs≥Xa+Xe, Ya-Ye≤Ys≥Ya+Ye and Za-Ze≤Zs≥Za+Ze are met respectively, that is, the related shaft has completed the task, and the task completion signal is fed back to the scheduling system, and the whole online mode action is completed when waiting for the task completion confirmation signal sent by the scheduling system.

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

[0071] Step S309: controlling the stacker to move from the target position to the delivery port.

[0072] The control method of the stacker provided by the embodiment can not only make the stacker more accurate in positioning when completing the task issued by the scheduling system, and improve the work efficiency of the automated stereoscopic warehouse, but also can timely find whether the task issued by the scheduling system to the stacker is within the warehouse range responsible by the stacker by judging whether the target position belongs to the warehouse range, and further improve the work efficiency of the automated stereoscopic warehouse.

[0073] Figure 4 is a flow chart of the control method of the stacker according to an embodiment of the present application, as shown in Figure 4 The stacker obtains the task type and the target position issued by the scheduling system, and obtains the warehouse range responsible by itself, and judges whether the target position belongs to the warehouse range (that is, judges whether the task is correct). When the target position belongs to the warehouse range, the task type is matched, the XYZ shaft starts the automatic positioning program until the task is completed. When the target position does not belong to the warehouse range, an acoustic-optical-electric prompt message is displayed on the touch screen of the stacker, and the task is cleared.

[0074] Figure 5 is an interaction schematic diagram of the stacker and the scheduling system according to an embodiment of the present application. As shown in Figure 5 The stacker and the scheduling system communicate through the Siemens S7 communication protocol. The heartbeat signal can be used to display the communication condition of the stacker and the scheduling system.

[0075] As shown in Figure 5As shown, the information sent by the stacker to the scheduling system includes heartbeat, device number, mode, horizontal position, whether idle, storage location information, action step, task number, whether the task is completed, and fault code. Specifically, there are multiple stackers in a scheduling system, and the device number is used to identify the stacker. The stacker mode has manual, semi-automatic, and automatic, and the stacker can only receive the task type and target position issued by the scheduling system when the stacker is in the automatic mode. The horizontal position indicates the current position of the stacker in the lane. Whether idle indicates whether the stacker is idle or is executing a task. The storage location information indicates which storage location the stacker stops at in the stereoscopic warehouse. The action step indicates the step of the task being executed by the stacker, and is 0 when it is standby. The task number is used for the system to identify which task is executed by the stacker, which 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, i.e., 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 fault of the stacker.

[0076] The information sent by the scheduling system to the stacker includes heartbeat, task type, target position, cargo barcode, task writing completion, task completion confirmation, task cancellation, and task number. Among them, the task type includes warehouse-out, warehouse-in, warehouse-moving, and moving. The target position includes row position, column position, and layer position. The cargo barcode represents the cargo identity information. The task writing completion is used to confirm the completion of task issuance. The task completion confirmation is used to indicate the completion of the task. The task cancellation is used to cancel the issued task. The task number is used to identify the task.

[0077] In the embodiment, a control device of the stacker is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0078] The embodiment provides a control device of a stacker, as shown, comprising: Figure 6 As shown, comprising:

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

[0080] The target action determination module 602 is configured to determine the target action that needs to be executed by the stacker according to the task type.

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

[0082] In some optional embodiments, the target action determination module 602 is specifically configured to: 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 relocation, 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 movement, 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 further includes a target position correction module. Before controlling the stacker to complete the issued task according to the target position and the target action, the target position correction module is specifically configured to: obtain a preset first correction value, a second correction value and a third correction value; correct the row position by using the first correction value, correct the column position by using the second correction value, and correct the layer position by using the third correction value to obtain a corrected target range.

[0084] In some optional embodiments, the task execution module 603 is specifically configured to: 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; when the task type is inbound, control the stacker to move to the inbound port, pick up the goods at the inbound port, and control the stacker to move to the target position; when the task type is relocation, control the stacker 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 movement, control the stacker to move to the target position.

[0085] In some optional embodiments, the task execution module 603 includes a moving unit. The moving unit is configured to control the stacker to move at a preset speed, obtain an 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 configured to obtain a range of storage locations that the stacker is responsible for, determine whether the target position belongs to the range of storage locations, and perform the step of determining the target action that the stacker needs to perform according to the task type when the target position belongs to the range of storage locations; and send a prompt message of task failure when the target position does not belong to the range of storage locations.

[0087] Further function descriptions of the above-mentioned modules and units are the same as those of the above-mentioned corresponding embodiments, which will not be described here.

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

[0089] This invention also provides a stacker crane having the above-described features. Figure 6 The control device for the stacker crane shown.

[0090] The present invention also provides an automated warehouse, including a scheduling system and the stacker crane described above.

[0091] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0092] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0093] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0094] The memory 20 can include a program storage area and a data storage area, where the program storage area can store an operating system, application programs required for at least one function, and the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely from the processor 10, which can be connected to the computer device through a network. Examples of the 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 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk, and can also include a combination of the above-mentioned kinds of memories.

[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 can be connected through a bus or other means, Figure 7 The connection through the bus is taken as an example.

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

[0098] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the 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 the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0099] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be called or provided. Those skilled in the art should understand that the form of computer program instructions in a computer readable medium includes but is not limited to source files, executable files, installation package files, etc. Correspondingly, the way of executing computer program instructions by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0100] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A control method of a stacker characterized by, The method comprises the following steps: acquiring a task type and a target position of a task to be executed, wherein the target position comprises a row position, a column position and a layer position; determining a target action to be executed by a stacker according to the task type; controlling the stacker to complete the task according to the target position and the target action; the step of determining the target action to be executed by the stacker according to the task type comprises: when the task type is outbound, the target action to be executed by the stacker is to transport goods at the target position to an outbound port; when the task type is inbound, the target action to be executed by the stacker is to transport goods at an inbound port to the target position; when the task type is transfer, the target position comprises a first position and a second position; and the target action to be executed by the stacker is to move goods from the first position to the second position; when the task type is movement, the target action to be executed by the stacker is to move the stacker to the target position; before the step of controlling the stacker to complete the task according to the target position and the target action, the method further comprises the following steps: acquiring a first correction value, a second correction value and a third correction value; correcting the row position by using the first correction value, correcting the column position by using the second correction value, and correcting the layer position by using the third correction value to obtain a corrected target range; the step of controlling the stacker to complete the task according to the target position and the target action comprises: when the task type is outbound, controlling the stacker to move to the target position, pick up goods at the target position, and move from the target position to the outbound port; when the task type is inbound, controlling the stacker to move to the inbound port, pick up goods at the inbound port, and move the stacker to the target position; when the task type is transfer, controlling the stacker to move to the first position, pick up goods at the first position, and move from the first position to the second position; when the task type is movement, controlling the stacker to move to the target position.

2. The method of claim 1, wherein, the step of controlling the stacker to move to the target position comprises: controlling the stacker to move at a preset speed; acquiring an actual position of the stacker; determining whether the actual position belongs to the target range; when the actual position belongs to the target range, controlling the stacker to stop moving.

3. The method of claim 1, wherein, before the step of determining the target action to be executed by the stacker according to the task type, the method further comprises the following steps: acquiring a range of storage locations to be managed by the stacker; determining whether the target position belongs to the range of storage locations; when the target position belongs to the range of storage locations, performing the step of determining the target action to be executed by the stacker according to the task type; when the target position does not belong to the range of storage locations, sending a prompt message of task failure.

4. A control device of a stacker characterized by comprising: The device comprises: an acquisition module, configured to acquire a task type and a target position of a task to be executed, wherein the target position comprises a row position, a column position and a layer position; a target action determination module, configured to determine a target action to be executed by a stacker according to the task type. a task execution module configured to control the stacker to complete the assigned task according to the target position and the target action; the target action determination module is specifically configured to: when the task type is outbound, the target action to be performed by the stacker is to transport the goods at the target position to an outbound port; when the task type is inbound, the target action to be performed by the stacker is to transport the goods at an inbound port to the target position; when the task type is transfer, the target position includes a first position and a second position; the target action to be performed by the stacker is to move the goods from the first position to the second position; and when the task type is movement, the target action to be performed by the stacker is to move the stacker to the target position. The control device of the stacker further includes a target position correction module, which is configured to: obtain a first correction value, a second correction value, and a third correction value before controlling the stacker to complete the assigned task according to the target position and the target action; correct the row position by using the first correction value, correct the column position by using the second correction value, and correct the layer position by using the third correction value to obtain a corrected target range. The task execution module is configured to: 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; when the task type is inbound, control the stacker to move to the inbound port, pick up the goods at the inbound port, and control the stacker to move to the target position; when the task type is transfer, control the stacker to move to the first position, pick up the goods at the first position, and move from the first position to the second position; and when the task type is movement, control the stacker to move to the target position.

5. A stacker characterized in that, comprising: a memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the control method of the stacker according to any one of claims 1 to 3.

6. A stereoscopic library characterized by, a dispatch system and the stacker according to claim 5.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores computer instructions for causing a computer to perform the control method of the stacker according to any one of claims 1 to 3.

8. A computer program product, characterised in that, The computer readable storage medium stores computer instructions for causing a computer to perform the control method of the stacker according to any one of claims 1 to 3. The computer readable storage medium stores computer instructions for causing a computer to perform the control method of the stacker according to any one of claims 1 to 3.

Images