Goods taking and placing method of stacking machine, control device and stacking machine

Abstract

The invention relates to a method for a stacker to pick and place goods, a control device and the stacker, the stacker picks and places the goods from a goods shelf, the goods shelf comprises a plurality of goods grids, each goods grid is provided with a positioning mark, the stacker comprises a goods fork, the stacker is provided with a camera device, and the method comprises the steps that a first image is acquired according to the camera device and a target goods grid coordinate; according to the first image, judging whether the target goods lattice is within a first preset range or not; if the target goods lattice is within the first preset range, acquiring the actual position of the positioning mark in the first image; a deviation value between the actual position and the standard position of the positioning mark is obtained at the current goods taking and placing position of the pallet fork; judging whether the deviation value is within a second preset range or not; and if the deviation value is not within the second preset range, the adjusted goods taking and placing position is obtained according to the deviation value, and the fork takes and places goods from the adjusted goods taking and placing position. Goods taking and placing positions of the forks can be automatically adjusted, and the risk that the stacking machine collides with a warehouse can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a method for a stacker to pick up and place goods, a control device and a stacker. Background Art

[0002] A stacker, also known as a stacking crane, is a special crane that uses a fork or a skewer as a picking device to grab, transport and stack or pick and place unit cargo from high-rise shelves in warehouses, workshops, etc. It is a commonly used warehousing equipment.

[0003] With the increasing popularity of stackers, some industries have an increasing demand for ultra-high and ultra-heavy stackers. Ultra-high shelves will deform to a certain extent as the use time increases, and long-term storage of overweight goods will also cause deformation of the shelves. This causes the relative position between the stacker body and the shelf to change irregularly. The precise positioning accuracy of the stacker body can no longer guarantee that the stacker can effectively pick up and place goods from the shelf every time, and there is still a certain possibility of colliding with the shelf, which is usually called the risk of collision in the industry.

[0004] In order to avoid the risk of collision between over-high and over-heavy stackers, the conventional practice is to install two sets of mirror reflection switches on the fork-out direction of the stacker's cargo platform, and paste a reflective plate on each cargo compartment of the shelf. When the stacker is positioned in the walking and lifting directions, if the mirror reflection switch on the fork-out direction side of the position is triggered, it means that the fork extension action can be performed at this position. Conversely, when the mirror reflection switch on the fork-out direction side of the position is not triggered, it means that the position is not suitable and the fork extension action cannot be performed.

[0005] Although the methods in the existing technology can effectively avoid the risk of warehouse collision, in actual operation, the picking and placing of goods after the alarm is issued, as well as the proofreading of the position coordinates of the deformed warehouse location, all require manual intervention, which has poor timeliness and seriously affects the efficiency of the stacker. At the same time, it will also have a great impact on some processes that need to be rushed in and out of the warehouse. Summary of the invention

[0006] In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides a method for stacking and placing goods, a control device and a stacker.

[0007] In a first aspect, the present invention provides a method for stacking a cargo, wherein the stacking machine takes cargo from a shelf, the shelf comprises a plurality of cargo compartments, each of the cargo compartments is provided with a positioning mark, the stacking machine comprises a cargo fork, and a camera device is provided on the stacking machine.

[0008] The method comprises:

[0009] Acquire a first image according to the camera device and the coordinates of the target cargo compartment;

[0010] According to the first image, determining whether the target cargo compartment is within a first preset range;

[0011] If the target cargo compartment is within the first preset range, obtaining the actual position of the positioning mark in the first image;

[0012] At the current picking and placing position of the fork, obtaining a deviation value between the actual position and the standard position of the positioning mark;

[0013] Determining whether the deviation value is within a second preset range;

[0014] If the deviation value is not within the second preset range, the adjusted picking and placing position is obtained according to the deviation value, so that the fork picks and places the goods from the adjusted picking and placing position.

[0015] Optionally, determining whether the deviation value is within a second preset range includes:

[0016] According to the deviation value, obtaining an X-axis adjustment value and a Y-axis adjustment value;

[0017] If any one of the X-axis adjustment value and the Y-axis adjustment value exceeds the second preset range, it is determined that the deviation value is not within the second preset range.

[0018] Optionally, obtaining the adjusted pick-up and drop-off positions according to the deviation value includes:

[0019] Obtaining the coordinates of the current pickup and drop location;

[0020] The adjusted pick-up and place position is obtained according to the coordinates of the current pick-up and place position, the X-axis adjustment value, and the Y-axis adjustment value.

[0021] Optionally, after obtaining the adjusted pick-up and drop-off positions according to the deviation value, the method further includes:

[0022] The total number of deviations is added by one as the new total number of deviations;

[0023] Determining whether the total number of new deviations is greater than or equal to a third preset value;

[0024] If the total number of new deviations is greater than or equal to the third preset value, an alarm is issued.

[0025] Optionally, if the total number of new deviations is less than the third preset value, the coordinates of the current pick-up and release position are updated with the coordinates of the adjusted pick-up and release position.

[0026] Optionally, if the deviation value is within the second preset range, the fork is enabled to pick up and place goods from the current picking and placing position.

[0027] Optionally, before acquiring the first image according to the camera device and the target cargo grid coordinates, the method further includes:

[0028] Obtaining the coordinates of the current pickup and drop location;

[0029] Move the fork to the current cargo picking and placing position, and turn on the camera device.

[0030] Optionally, the positioning mark is arranged on a lower cross beam of the target cargo compartment.

[0031] In a second aspect, a control device for a stacker to pick up and place goods is provided, wherein the stacker picks up and places goods from a shelf, wherein the shelf comprises a plurality of cargo compartments, each of which is provided with a positioning mark, the stacker comprises a cargo fork, and a camera device is provided on the stacker.

[0032] The control device comprises:

[0033] A camera device, used to obtain a first image according to the coordinates of the target cargo compartment;

[0034] A controller, configured to determine whether the target cargo compartment is within a first preset range according to the first image;

[0035] The controller is further configured to obtain the actual position of the positioning mark in the first image if the target cargo compartment is within the first preset range;

[0036] The controller is also used to obtain a deviation value between the actual position and the standard position of the positioning mark at the current picking and placing position of the fork;

[0037] The controller is also used to determine whether the deviation value is within a second preset range;

[0038] The controller is further configured to obtain an adjusted cargo pickup and placement position according to the deviation value if the deviation value is not within the second preset range, so that the cargo fork picks up and places cargo from the adjusted cargo pickup and placement position.

[0039] In a third aspect, a stacker is provided, which is applied to the method as described in any one of the above items.

[0040] The present invention provides a method, control device and stacker for picking up and placing goods by a stacker, wherein the stacker picks up and places goods from a shelf, the shelf includes a plurality of cargo compartments, each of which is provided with a positioning mark, the stacker includes a fork, and the stacker is provided with a camera device, the method comprising: obtaining a first image according to the camera device and the coordinates of the target cargo compartment; judging whether the target cargo compartment is within a first preset range according to the first image; if the target cargo compartment is within the first preset range, obtaining the actual position of the positioning mark in the first image; obtaining the deviation value between the actual position and the standard position of the positioning mark at the current picking up and placing position of the fork; judging whether the deviation value is within a second preset range; if the deviation value is not within the second preset range, obtaining the adjusted picking up and placing position according to the deviation value, so that the fork picks up and places goods from the adjusted picking up and placing position. In the embodiment of the present invention, according to the deviation between the actual position and the standard position of the mark position, it can be judged whether the goods can be picked up and placed directly, or whether the goods can be picked up and placed after adjustment. If adjustment is required, the picking and placing position of the fork can be automatically adjusted according to the deviation value between the actual position of the positioning mark and the standard position. The stacker can still automatically pick up and place goods after the shelf is deformed without manual intervention, thereby improving the utilization efficiency of the stacker and helping to improve the efficiency of the entire logistics. In addition, the method of the present invention can automatically adjust the picking and placing position of the stacker shelf, thereby reducing the risk of the stacker colliding with the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 Shown is a schematic diagram of a stacker according to an embodiment of the present invention;

[0044] Figure 2 Shown is a schematic diagram of a shelf and a stacker according to an embodiment of the present invention;

[0045] Figure 3 Shown is a schematic diagram of positioning marks on a cargo rack according to an embodiment of the present invention;

[0046] Figure 4 It is a flow chart of a method for stacking a cargo by a stacker according to an embodiment of the present invention;

[0047] Figure 5 Shown is a schematic diagram of a positioning mark in a first image according to an embodiment of the present invention;

[0048] Figure 6 Shown is a schematic diagram of a control device for stacking machines to pick up and place goods according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Figure 1 FIG. 1 is a schematic diagram of a stacker according to an embodiment of the present invention. Figure 1 As shown, the stacker includes a fork 110 and a camera device is provided on the stacker.

[0051] Figure 2 FIG. 1 is a schematic diagram of a shelf and a stacker according to an embodiment of the present invention. Figure 2 As shown, the shelf includes a plurality of cargo compartments, each of which is provided with a positioning mark.

[0052] Figure 3 FIG. 1 is a schematic diagram of a positioning mark on a cargo rack according to an embodiment of the present invention. Figure 3 As shown, the positioning mark 310 is set on the lower crossbeam of the target cargo grid.

[0053] The positioning mark on the crossbar on the target cargo compartment belongs to the cargo compartment above the target cargo compartment.

[0054] In the embodiment of the present invention, the positioning mark may be a hollow hole, a label with a specific pattern, or other marks that are easy to identify and distinguish, etc., which will not be described in detail here.

[0055] In the embodiment of the present invention, the stacker takes and places goods from the cargo compartments of the shelf.

[0056] Figure 4 FIG. 1 is a flow chart of a method for stacking a stacker to pick up and place goods according to an embodiment of the present invention. Figure 4 As shown, the method includes:

[0057] Step 410, acquiring a first image according to the camera device and the coordinates of the target cargo compartment.

[0058] In the embodiment of the present invention, the imaging device may be a camera, a smart camera, a video camera, etc.

[0059] Step 420: Determine whether the target cargo compartment is within a first preset range based on the first image.

[0060] In the embodiment of the present invention, before step 420, that is, before acquiring the first image according to the camera device and the target cargo grid coordinates, the method further includes:

[0061] Obtaining the coordinates of the current pickup and drop location;

[0062] Move the fork to the current cargo picking and placing position, and turn on the camera device.

[0063] In the embodiment of the present invention, the stacker picks up the goods from the pickup point and then delivers the goods to the shelf and places them in the cargo compartment, or picks up the goods from a cargo compartment of the shelf and then delivers them to the delivery point. Usually, in the process from the pickup point to the shelf, or from the shelf to the delivery point, the walking direction of the stacker and the lifting direction of the fork are completed by the stacker control system, positioning system and power system, and usually do not require the assistance of the camera device. Therefore, before the fork moves to the current pickup and delivery position, the camera device can be turned off to save system energy consumption.

[0064] In an embodiment of the present invention, the stacker can obtain the approximate position or rough position of the target cargo box based on the first image to determine whether the target cargo box is within a first preset range. The first preset range can be a larger range. If the target cargo box is not within the first preset range, it means that the target cargo box may be severely deformed, or the stacker may not have walked to the predetermined position, or other errors have occurred. If the target cargo box is not within the first preset range, the stacker can reposition, or turn on the camera system to assist in positioning, or issue an alarm, etc., which will not be repeated here.

[0065] Step 430: If the target cargo compartment is within the first preset range, the actual position of the positioning mark in the first image is obtained.

[0066] Step 440: acquiring a deviation value between the actual position and the standard position of the positioning mark at the current picking-up and placing-down position of the fork.

[0067] Step 450: determine whether the deviation value is within a second preset range.

[0068] Step 460: If the deviation value is not within the second preset range, an adjusted pick-up and place position is obtained according to the deviation value, so that the fork picks up and places the goods from the adjusted pick-up and place position.

[0069] In the embodiment of the present invention, if the deviation value is within the second preset range, the fork is enabled to pick up and place the goods from the current picking and placing position.

[0070] In the embodiment of the present invention, it can be determined whether the goods can be directly picked up and placed, or whether the goods can be picked up and placed after adjustment, according to the deviation between the actual position of the mark and the standard position. If adjustment is required, the picking and placing position of the fork is automatically adjusted according to the deviation value between the actual position of the positioning mark and the standard position. After the shelf is deformed, the stacker can still automatically pick up and place the goods without manual intervention, which improves the use efficiency of the stacker and helps to improve the efficiency of the entire logistics; in addition, the method of the present invention can automatically adjust the picking and placing position of the stacker shelf, which can reduce the risk of the stacker colliding with the warehouse.

[0071] In the embodiment of the present invention, in step 450, determining whether the deviation value is within a second preset range includes:

[0072] According to the deviation value, obtaining an X-axis adjustment value and a Y-axis adjustment value;

[0073] If any one of the X-axis adjustment value and the Y-axis adjustment value exceeds the second preset range, it is determined that the deviation value is not within the second preset range.

[0074] In the embodiment of the present invention, in step 460, obtaining the adjusted pick-up and drop-off positions according to the deviation value includes:

[0075] Obtaining the coordinates of the current pickup and drop location;

[0076] The adjusted pick-up and place position is obtained according to the coordinates of the current pick-up and place position, the X-axis adjustment value, and the Y-axis adjustment value.

[0077] Figure 5 FIG. 1 is a schematic diagram of a positioning mark in a first image according to an embodiment of the present invention. In an embodiment of the present invention, a coordinate system may be established with the center of the standard position as the origin.

[0078] like Figure 5 As shown, if the target cargo box has not been deformed, the actual position of the positioning mark should coincide with the standard position. If the target cargo box has been deformed, the actual position of the positioning mark will not coincide with the standard position. Figure 5 The following is an application scenario where the actual position of the positioning mark does not coincide with the standard position. Figure 5 In FIG. 5 , the standard position is 510 and the actual position is 520. According to 510 and 520, the deviation value can be obtained. In the embodiment of the present invention, the deviation value can include an X-axis adjustment value and a Y-axis adjustment value. The X-axis adjustment value is as follows: Figure 5 530 in the figure, the Y-axis adjustment value is as follows Figure 5 Of the 540.

[0079] In other embodiments of the present invention, the deviation value may also be the distance between the standard position and the actual position, which will not be described in detail here.

[0080] In the embodiment of the present invention, if the deviation value includes an X-axis adjustment value and a Y-axis adjustment value, the second preset range may also be two ranges, for example, X: (-a, a) and Y: (-b, b), where a and b may be equal or different.

[0081] According to the X-axis adjustment value and the Y-axis adjustment value, it can be determined whether the deviation value is within the second preset range. If both the X-axis adjustment value and the Y-axis adjustment value are within the second preset range, it is considered that the deviation value is within the second preset range; if one of the adjustment values ​​is not within the second preset range, it is considered that the deviation value is not within the second preset range.

[0082] In the embodiment of the present invention, when obtaining the adjusted pick-up and place-down position, a method of adding the coordinates of the current pick-up and place-down position to the X-axis adjustment value and the Y-axis adjustment value is adopted.

[0083] Figure 5 In the illustrated embodiment, a coordinate system is established with the center of the standard position as the origin, so the X-axis adjustment value and the Y-axis adjustment value may be positive or negative.

[0084] In the embodiment of the present invention, after step 460, that is, after obtaining the adjusted pick-up and release positions according to the deviation value, the method further includes:

[0085] The total number of deviations is added by one as the new total number of deviations;

[0086] Determining whether the total number of new deviations is greater than or equal to a third preset value;

[0087] If the total number of new deviations is greater than or equal to the third preset value, an alarm is issued.

[0088] In the embodiment of the present invention, if the new total number of deviations is less than the third preset value, the coordinates of the current pick-up and place location are updated with the coordinates of the adjusted pick-up and place location.

[0089] There are multiple cargo compartments on the shelf, especially the super-high shelves have more cargo compartments. Usually the position deviation of the cargo compartment is caused by the deformation caused by the heavy weight of the goods, and the deviation is mainly in the vertical direction. Although the position of the cargo compartment can have a certain deviation, if the deviation is too large, it will affect the storage and retrieval of goods in other cargo compartments, especially in other cargo compartments in the vertical direction.

[0090] In an embodiment of the present invention, in order to achieve more accurate picking and placing of goods, after the total number of deviations is increased by one, the first image can be acquired again to confirm again whether the deviation value between the actual position of the mark position and the standard position is within the second preset range, that is, repeating the above steps 420 to 460.

[0091] In the present invention, the upper limit of the total number of deviations is set, on the one hand, to prevent the accurate picking and placing of goods still not being achieved after the adjusted picking and placing positions are obtained, for example, the deformation of the cargo compartment is continuous, or the positioning device, control device, etc. of the stacker itself fails, in which case an alarm should be given. On the other hand, it is to avoid the accumulated deviation value being too large after multiple adjustments to the picking and placing positions, which will affect other cargo compartments.

[0092] In the embodiment of the present invention, it can be determined whether the goods can be directly picked up and placed, or whether the goods can be picked up and placed after adjustment, according to the deviation between the actual position of the mark and the standard position. If adjustment is required, the picking and placing position of the fork is automatically adjusted according to the deviation value between the actual position of the positioning mark and the standard position. After the shelf is deformed, the stacker can still automatically pick up and place the goods without manual intervention, which improves the use efficiency of the stacker and helps to improve the efficiency of the entire logistics; in addition, the method of the present invention can automatically adjust the picking and placing position of the stacker shelf, which can reduce the risk of the stacker colliding with the warehouse.

[0093] The embodiment of the present invention also provides a control device for stacking a stacker to pick up and place goods, such as Figure 6 As shown, the stacker takes and places goods from a shelf, the shelf includes a plurality of cargo compartments, each of the cargo compartments is provided with a positioning mark, the stacker includes a fork, and a camera device 610 is provided on the stacker.

[0094] The control device comprises:

[0095] Camera device 610, used to obtain a first image according to the coordinates of the target cargo compartment;

[0096] A controller 620, configured to determine whether the target cargo compartment is within a first preset range according to the first image;

[0097] The controller 620 is further configured to obtain the actual position of the positioning mark in the first image if the target cargo compartment is within the first preset range;

[0098] The controller 620 is also used to obtain the deviation value between the actual position and the standard position of the positioning mark at the current picking and placing position of the fork;

[0099] The controller 620 is also used to determine whether the deviation value is within a second preset range;

[0100] The controller 620 is further configured to obtain an adjusted cargo pickup and placement position according to the deviation value if the deviation value is not within the second preset range, so that the cargo fork picks up and places cargo from the adjusted cargo pickup and placement position.

[0101] In the embodiment of the present invention, the controller 620 is further used for:

[0102] According to the deviation value, obtaining an X-axis adjustment value and a Y-axis adjustment value;

[0103] If any one of the X-axis adjustment value and the Y-axis adjustment value exceeds the second preset range, it is determined that the deviation value is not within the second preset range.

[0104] In the embodiment of the present invention, the controller 620 is further configured to:

[0105] Obtaining the coordinates of the current pickup and drop location;

[0106] The adjusted pick-up and place position is obtained according to the coordinates of the current pick-up and place position, the X-axis adjustment value, and the Y-axis adjustment value.

[0107] In the embodiment of the present invention, the controller 620 is further used for:

[0108] The total number of deviations is added by one as the new total number of deviations;

[0109] Determining whether the total number of new deviations is greater than or equal to a third preset value;

[0110] If the total number of new deviations is greater than or equal to the third preset value, an alarm is issued.

[0111] In the embodiment of the present invention, the controller 620 is further used for:

[0112] If the new total number of deviations is less than the third preset value, the coordinates of the current pick-up and place-down position are updated with the coordinates of the adjusted pick-up and place-down position.

[0113] In the embodiment of the present invention, the controller 620 is further used for:

[0114] If the deviation value is within the second preset range, the fork is enabled to pick up and place the goods from the current picking and placing position.

[0115] In the embodiment of the present invention, the controller 620 is further used for:

[0116] Obtaining the coordinates of the current pickup and drop location;

[0117] The fork is moved to the current cargo pick-up and placement position, and the camera device 610 is turned on.

[0118] In the embodiment of the present invention, the positioning mark is arranged on the lower crossbeam of the target cargo compartment.

[0119] The embodiment of the present invention further provides a stacker, which applies the above method.

[0120] In the embodiment of the present invention, according to the deviation between the actual position of the mark and the standard position, it can be determined whether the goods can be directly picked up and placed, or whether the goods can be picked up and placed after adjustment. If adjustment is required, the picking and placing position of the fork is automatically adjusted according to the deviation value between the actual position of the positioning mark and the standard position. After the shelf is deformed, the stacker can still automatically pick up and place the goods without manual intervention, which improves the use efficiency of the stacker and helps to improve the efficiency of the entire logistics; in addition, in the embodiment of the present invention, the picking and placing position of the stacker shelf can be automatically adjusted, which can reduce the risk of the stacker colliding with the warehouse.

[0121] Figure 4 FIG. 1 is a flow chart of a method for stacking a stacker to pick up and place goods in one embodiment. It should be understood that although Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0123] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0124] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for stacking goods, characterized in that: The stacker takes and places goods from a shelf, the shelf includes a plurality of cargo compartments, each of the cargo compartments is provided with a positioning mark, the stacker includes a cargo fork, and a camera device is provided on the stacker. The method comprises: Acquire a first image according to the camera device and the coordinates of the target cargo compartment; According to the first image, determining whether the target cargo compartment is within a first preset range; If the target cargo compartment is within the first preset range, obtaining the actual position of the positioning mark in the first image; At the current picking and placing position of the fork, obtaining a deviation value between the actual position and the standard position of the positioning mark; Determining whether the deviation value is within a second preset range; If the deviation value is not within the second preset range, the adjusted picking and placing position is obtained according to the deviation value, so that the fork picks and places the goods from the adjusted picking and placing position.

2. The method according to claim 1, characterized in that The determining whether the deviation value is within a second preset range includes: According to the deviation value, obtaining an X-axis adjustment value and a Y-axis adjustment value; If any one of the X-axis adjustment value and the Y-axis adjustment value exceeds the second preset range, it is determined that the deviation value is not within the second preset range.

3. The method according to claim 2, characterized in that The step of obtaining the adjusted pick-up and release position according to the deviation value includes: Obtaining the coordinates of the current pickup and drop location; The adjusted pick-up and place position is obtained according to the coordinates of the current pick-up and place position, the X-axis adjustment value, and the Y-axis adjustment value.

4. The method according to claim 3, characterized in that After obtaining the adjusted pick-up and release positions according to the deviation value, the method further includes: The total number of deviations is added by one as the new total number of deviations; Determining whether the total number of new deviations is greater than or equal to a third preset value; If the total number of new deviations is greater than or equal to the third preset value, an alarm is issued.

5. The method according to claim 4, characterized in that If the new total number of deviations is less than the third preset value, the coordinates of the current pick-up and place-down position are updated with the coordinates of the adjusted pick-up and place-down position.

6. The method according to claim 1, characterized in that If the deviation value is within the second preset range, the fork is enabled to pick up and place the goods from the current picking and placing position.

7. The method according to claim 1, characterized in that Before acquiring the first image according to the camera device and the target cargo grid coordinates, the method further includes: Obtaining the coordinates of the current pickup and drop location; Move the fork to the current cargo picking and placing position, and turn on the camera device.

8. The method according to claim 1, characterized in that: The positioning mark is arranged on the lower cross beam of the target cargo grid.

9. A control device for stacking a cargo, characterized in that: The stacker takes and places goods from a shelf, the shelf includes a plurality of cargo compartments, each of the cargo compartments is provided with a positioning mark, the stacker includes a cargo fork, and a camera device is provided on the stacker. The control device comprises: A camera device, used to obtain a first image according to the coordinates of the target cargo compartment; A controller, configured to determine whether the target cargo compartment is within a first preset range according to the first image; The controller is further configured to obtain the actual position of the positioning mark in the first image if the target cargo compartment is within the first preset range; The controller is also used to obtain a deviation value between the actual position and the standard position of the positioning mark at the current picking and placing position of the fork; The controller is also used to determine whether the deviation value is within a second preset range; The controller is further configured to obtain an adjusted cargo pickup and placement position according to the deviation value if the deviation value is not within the second preset range, so that the cargo fork picks up and places cargo from the adjusted cargo pickup and placement position.

10. A stacker, characterized in that: Applicable to the method according to any one of claims 1 to 8.

Images