Intelligent CTU goods shelf and anti-shake control method, device and terminal thereof

Abstract

The invention relates to an intelligent CTU goods shelf and an anti-shake control method and device thereof and a terminal. The method comprises the steps that a goods placing instruction for controlling operation of the intelligent CTU goods shelf is obtained, and a telescopic structure is controlled to clamp a goods shelf body according to the goods placing instruction; the goods placing instruction comprises the initial speed, the final speed and the maximum acceleration of the operation of the intelligent CTU goods shelf; processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve; and according to the speed curve, the extending running speed and running time of the pallet fork in the goods shelf body are controlled, and a goods release instruction that the pallet fork in the goods shelf body extends in place is obtained. According to the method, a telescopic structure is controlled to clamp a goods shelf body to stabilize the goods shelf body of the intelligent CTU goods shelf according to a goods placing instruction, and then the extending running speed and running time of a pallet fork in the goods shelf body are controlled through a speed curve, so that the pallet fork in the goods shelf body extends in place; therefore, the intelligent CTU shelf doubly reduces the impact force generated when the pallet fork stretches out and draws back.

Description

Technical Field

[0001] The present application relates to the technical field of anti-shake control for transport equipment, and in particular to an intelligent CTU shelf and an anti-shake control method, device and terminal thereof. Background Art

[0002] The CTU (Container Transport Unit) robotic shelf has autonomous navigation, autonomous obstacle avoidance and intelligent charging systems, and can transport multiple pieces of goods at the same time. The main advantage of the CTU shelf is that it can fully utilize the high density of box storage through longitudinal space, and conduct real-time scheduling and monitoring with various automated equipment. The CTU shelf can pick and carry multiple boxes from the shelf area by accurately identifying the boxes, and deliver the required boxes to the operator, achieving fast and efficient inventory turnover.

[0003] Since the box-type CTU box rack usually needs to take and place boxes from a high shelf (such as 10 meters) and carry multiple boxes, the CTU box rack body is usually high. When the speed of taking and placing boxes is fast, it is easy to shake and sway, causing the boxes to tip over and cause danger. Summary of the invention

[0004] The present application provides an intelligent CTU shelf and its anti-shake control method, device and terminal, which are used to solve the technical problem that the existing CTU material box shelf body is usually high and is prone to shaking when the material box is taken and placed at a fast speed, causing the material box to tip over.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] On the one hand, an anti-shake control method for an intelligent CTU shelf is provided, which is applied to an intelligent CTU shelf. The intelligent CTU shelf includes a shelf body and a retractable structure installed under the shelf body for stabilizing the shelf body. The anti-shake control method for the intelligent CTU shelf includes the following steps:

[0007] Obtaining a cargo release instruction for controlling the operation of the intelligent CTU shelf, and controlling the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes an initial speed, a final speed, and a maximum acceleration of the operation of the intelligent CTU shelf;

[0008] Processing the initial velocity, the final velocity and the maximum acceleration to obtain a velocity curve;

[0009] The running speed and running time of the fork in the shelf body being extended are controlled according to the speed curve, and a cargo release instruction is obtained when the fork in the shelf body is extended into place.

[0010] Preferably, processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve comprises:

[0011] Calculating according to the initial speed, the final speed and the maximum acceleration, obtaining parameter coefficients and acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient and a third coefficient;

[0012] Constructing a velocity expression and an acceleration expression according to the parameter coefficients;

[0013] Constructing a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, the speed expression and the acceleration expression;

[0014] Wherein, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body extends out to the right position.

[0015] Preferably, calculating according to the initial speed, the final speed and the maximum acceleration to obtain parameter coefficients and acceleration time includes: calculating according to the initial speed and the final speed to obtain the first coefficient and the third coefficient; calculating according to the initial speed, the final speed and the maximum acceleration to obtain the second coefficient and the acceleration time.

[0016] Preferably, the speed expression is:

[0017]

[0018] The acceleration expression is:

[0019]

[0020] In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, a is the acceleration, a max is the maximum acceleration, V max is the final velocity, V min is the initial velocity and v is the velocity.

[0021] Preferably, the anti-shake control method of the intelligent CTU shelf includes: controlling the shelf body to release the goods according to the goods release instruction, and obtaining a fork return instruction for retracting the fork in the shelf body; controlling the retractable structure to reset after releasing the shelf body according to the fork return instruction, and controlling the fork in the shelf body to reset.

[0022] On the other hand, an anti-shake control device for an intelligent CTU shelf is provided, which is applied to an intelligent CTU shelf, wherein the intelligent CTU shelf includes a shelf body and a retractable structure installed under the shelf body for stabilizing the shelf body, and the anti-shake control device for the intelligent CTU shelf includes an instruction acquisition module, a curve generation module and a first execution module;

[0023] The instruction acquisition module is used to acquire a cargo release instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf;

[0024] The curve generating module is used to process the initial speed, the final speed and the maximum acceleration to obtain a speed curve;

[0025] The first execution module is used to control the running speed and running time of the fork in the shelf body extending according to the speed curve, and obtain the cargo release instruction when the fork in the shelf body is extended into place.

[0026] Preferably, the anti-shake control device of the intelligent CTU shelf further includes a second execution module and a third execution module;

[0027] The second execution module is used to control the shelf body to release the goods according to the goods release instruction, and obtain a fork return instruction for retracting the fork in the shelf body;

[0028] The third execution module is used to control the retractable structure to reset after releasing the shelf body and control the fork in the shelf body to reset according to the fork return instruction.

[0029] Preferably, the curve generation module includes a calculation submodule, a construction submodule and a curve generation submodule;

[0030] The calculation submodule is used to calculate according to the initial speed, the final speed and the maximum acceleration to obtain parameter coefficients and acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient and a third coefficient;

[0031] The construction submodule is used to construct a velocity expression and an acceleration expression according to the parameter coefficients;

[0032] The curve generating submodule is used to construct a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, the speed expression and the acceleration expression;

[0033] Wherein, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body extends out to the right position.

[0034] On the other hand, a smart CTU shelf is provided, including a shelf body and a controller for controlling the operation of the shelf body, a retractable structure for stabilizing the shelf body is provided at the bottom end of the shelf body, the retractable structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism, the moving mechanism includes a driving source, two telescopic rods connected to the driving source, and a support rod is installed at the end of each of the telescopic rods, and the controller controls the shelf body to pick up goods according to the anti-shake control method of the smart CTU shelf described above.

[0035] In another aspect, a terminal device is provided, comprising a processor and a memory;

[0036] The memory is used to store program codes and transmit the program codes to the processor;

[0037] The processor is used to execute the anti-shake control method of the intelligent CTU shelf according to the instructions in the program code.

[0038] The intelligent CTU shelf and its anti-shake control method, device and terminal, the anti-shake control method of the intelligent CTU shelf includes obtaining a cargo release instruction for controlling the operation of the intelligent CTU shelf, and controlling a retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes an initial speed, a final speed and a maximum acceleration of the operation of the intelligent CTU shelf; the initial speed, the final speed and the maximum acceleration are processed to obtain a speed curve; the running speed and running time of the fork in the shelf body are controlled according to the speed curve, and a cargo release instruction is obtained when the fork in the shelf body is extended into place.

[0039] It can be seen from the above technical scheme that the present application has the following advantages: the anti-shake control method of the intelligent CTU shelf first controls the retractable structure to clamp the shelf body to stabilize the shelf body of the intelligent CTU shelf according to the cargo release instruction, and then controls the running speed and running time of the fork in the shelf body through the speed curve so that the fork in the shelf body is extended into place, so that the intelligent CTU shelf can double reduce the impact force generated when the fork is extended and retracted, and solves the technical problem that the existing CTU material box shelf body is usually high and is prone to shaking and shaking when the speed of taking and placing the material box is fast, causing the material box to tip over.

[0040] The anti-shake control device of the intelligent CTU shelf controls the intelligent CTU shelf through the instruction acquisition module, the curve generation module and the third execution module. The intelligent CTU shelf can control the retractable structure to clamp the shelf body to stabilize the shelf body of the intelligent CTU shelf according to the cargo release instruction, and then control the running speed and running time of the fork in the shelf body through the speed curve so that the fork in the shelf body is extended into place, so that the intelligent CTU shelf can double reduce the impact force generated when the fork is extended and retracted, thereby improving the reliability of picking up goods on the intelligent CTU shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application 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, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 This is a flowchart of the anti-shake control method of the smart CTU shelf described in an embodiment of the present application;

[0043] Figure 2 It is a structural schematic diagram of the intelligent CTU shelf in the anti-shake control method of the intelligent CTU shelf described in the embodiment of the present application;

[0044] Figure 3 It is a line graph of the speed curve in the anti-shake control method of the intelligent CTU shelf described in the embodiment of the present application;

[0045] Figure 4 A schematic diagram of the framework of the anti-shake control device of the intelligent CTU shelf described in the embodiment of the present application;

[0046] Figure 5 A schematic diagram of a terminal device described in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] Terminology explanation: CTU intelligent storage shelf is an automated three-dimensional storage system designed specifically for use with CTU (Container Transferring Unit) robots.

[0051] The embodiment of the present application provides an intelligent CTU shelf and its anti-shake control method, device and terminal, which solves the technical problem that the existing CTU material box shelf is usually high and is prone to shaking and swaying when the material box is taken and placed at a fast speed, causing the material box to tip over. The intelligent CTU shelf and its anti-shake control method, device and terminal can be applied not only to intelligent shelves, but also to warehouse pickup trucks. In this embodiment, the intelligent CTU shelf is used as an example for illustration.

[0052] Embodiment 1:

[0053] Figure 1 This is a flowchart of the anti-shake control method of the smart CTU shelf described in an embodiment of the present application. Figure 2 This is a structural schematic diagram of the smart CTU shelf in the anti-shake control method of the smart CTU shelf described in an embodiment of the present application.

[0054] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides an anti-shake control method for a smart CTU shelf, which is used on a smart CTU shelf.

[0055] like Figure 2 and Figure 3As shown, in the embodiment of the present application, the intelligent CTU shelf includes a shelf body 1 and a retractable structure 2 installed under the shelf body 1 for stabilizing the shelf body 1. The retractable structure 2 includes a lifting mechanism and a moving mechanism installed on the lifting mechanism, and the moving mechanism includes a driving source, two telescopic rods 21 connected to the driving source, and a support rod 22 is installed at the end of each telescopic rod 21.

[0056] It should be noted that, in order to improve the anti-shaking ability of the shelf body 1 itself, a retractable structure 2 is provided below both sides of the shelf body 1. Figure 2 As shown, when the intelligent CTU shelf is working, the driving source of the mobile mechanism drives the telescopic rod 21 to extend the support rod 22 before picking up and placing the goods, and then the lifting mechanism is used to drive the mobile mechanism to rise and place the support rods 22 on both sides of the shelf body 1 on the pillars of the shelf body 1. The two support rods 22 are against the pillars of the shelf body 1. When the body of the shelf body 1 shakes, it can play a stabilizing role to a certain extent, thereby improving the safety of the intelligent CTU shelf to pick up and place the material box. When the intelligent CTU shelf is not working, the lifting mechanism is then used to drive the mobile mechanism to rise and lower the support rods 22 on both sides of the shelf body 1 to separate from the pillars of the shelf body 1, and the telescopic rod 21 is driven by the driving source of the mobile mechanism to retract the support rod 22. In this embodiment, the driving source can be a cylinder, or it can be an electric or various forms of cylinder or push-type power devices. The lifting mechanism is used to drive the mobile mechanism to rise or fall, and the mobile mechanism is used to control the extension and retraction of the support rod 22. Among them, the lifting mechanism can be realized by connecting the output shaft of the cylinder to the mobile mechanism, or it can be other existing structures that can realize the lifting function, which is not specifically limited in this embodiment.

[0057] Figure 3 It is a line graph of the speed curve in the anti-shake control method of the intelligent CTU shelf described in the embodiment of the present application.

[0058] like Figure 1 and Figure 3 As shown, the anti-shake control method of the intelligent CTU shelf includes the following steps:

[0059] S1. Obtain the cargo release instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf.

[0060] It should be noted that in step S1, the cargo release instruction for controlling the operation of the intelligent CTU shelf is first obtained, and then the retractable structure 2 clamps the shelf body 1 according to the cargo release instruction to improve the anti-shaking and shaking ability of the intelligent CTU shelf body. In this embodiment, the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf. The settings of the initial speed, final speed and maximum acceleration can be set according to the needs and are not limited here.

[0061] S2. Process the initial velocity, final velocity and maximum acceleration to obtain a velocity curve.

[0062] It should be noted that in step S2, the initial speed, final speed and maximum acceleration parameters included in the cargo release instruction in step S1 are used to construct the following Figure 3 The speed curve shown provides data for the subsequent control of the operation of the shelf body.

[0063] S3. Control the running speed and running time of the fork in the shelf body according to the speed curve, and obtain a cargo release instruction when the fork in the shelf body is in place.

[0064] It should be noted that in step S3, the speed curve obtained in step S2 is used to control the fork in the shelf body and the goods carried by the fork to be extended together, so as to facilitate the removal of goods from the smart CTU shelf. In order to reduce the impact force caused by the sudden change of acceleration when the smart CTU shelf is started or stopped, the speed curve is used to control the extension or retraction of the fork in the shelf body to alleviate the impact force of the fork extension, avoid damage to the fork, and increase the service life of the smart CTU shelf.

[0065] In an embodiment of the present application, the anti-shake control method of the intelligent CTU shelf includes: S4. Controlling the shelf body to release the goods according to the goods release instruction, and obtaining a fork return instruction for retracting the fork in the shelf body; controlling the retractable structure to reset after releasing the shelf body according to the fork return instruction and controlling the fork in the shelf body to reset.

[0066] It should be noted that in step S4, the goods carried by the forks in the smart CTU shelf are released according to the goods release instruction in step S3. It can be understood that the forks in the shelf body obtained through step S3 indicate that the forks of the smart CTU shelf extend the goods, and the goods are in an unloading state. After the goods on the forks in the smart CTU shelf are unloaded, a fork return instruction is obtained, and then the forks in the smart CTU shelf are controlled to retract and return to their original position according to the fork return instruction, and the smart CTU shelf completes a process of picking up goods.

[0067] In an embodiment of the present application, the anti-shake control method of the intelligent CTU shelf first controls the retractable structure to clamp the shelf body to stabilize the shelf body of the intelligent CTU shelf according to the cargo release instruction, and then controls the running speed and running time of the fork in the shelf body through the speed curve so that the fork in the shelf body is extended into place, thereby reducing the impact force generated when the fork is extended and retracted.

[0068] The present application provides an anti-shake control method for an intelligent CTU shelf, including obtaining a cargo release instruction for controlling the operation of the intelligent CTU shelf, and controlling a retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf; the initial speed, final speed and maximum acceleration are processed to obtain a speed curve; the running speed and running time of the fork in the shelf body are controlled according to the speed curve to obtain a cargo release instruction when the fork in the shelf body is extended into place. The anti-shake control method for the intelligent CTU shelf first controls the retractable structure to clamp the shelf body to stabilize the shelf body of the intelligent CTU shelf according to the cargo release instruction, and then controls the running speed and running time of the fork in the shelf body to extend into place through the speed curve, so that the fork in the shelf body is extended into place, so that the intelligent CTU shelf can double reduce the impact force generated when the fork is extended and retracted; it solves the technical problem that the existing CTU material box shelf body is usually high, and it is easy to shake and shake when the speed of taking and placing the material box is fast, causing the material box to tip over.

[0069] In one embodiment of the present application, the initial velocity, the final velocity and the maximum acceleration are processed to obtain a velocity curve including:

[0070] According to the initial speed, final speed and maximum acceleration, the parameter coefficient and acceleration time are calculated, and the parameter coefficient includes the first coefficient, the second coefficient and the third coefficient;

[0071] Construct velocity expressions and acceleration expressions based on parameter coefficients;

[0072] Construct a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, speed expression and acceleration expression;

[0073] Among them, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body is extended into place.

[0074] It should be noted that in the process of constructing the speed curve, the anti-shake control method of the intelligent CTU shelf first obtains the coefficients and acceleration time for constructing the speed curve expression according to the three data of initial speed, final speed and maximum acceleration included in the release instruction, and then constructs the speed expression and acceleration expression according to the obtained coefficients; finally, the speed curve is drawn based on the speed expression, acceleration expression and acceleration time.

[0075] In the embodiment of the present application, according to the initial speed V min , final speed V max and the maximum acceleration a max Calculating to obtain parameter coefficients and acceleration time includes: calculating according to the initial speed and the final speed to obtain the first coefficient and the third coefficient; calculating according to the initial speed, the final speed and the maximum acceleration to obtain the second coefficient and the acceleration time.

[0076] It should be noted that the first coefficient , the second coefficient , the third coefficient ; Acceleration time .

[0077] In one embodiment of the present application, the speed expression is:

[0078]

[0079] The acceleration expression is:

[0080]

[0081] In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, a is the acceleration, a max is the maximum acceleration, V max is the final velocity, V min is the initial velocity and v is the velocity.

[0082] Embodiment 2:

[0083] Figure 4 This is a schematic diagram of the framework of the anti-shake control device of the smart CTU shelf described in an embodiment of the present application.

[0084] like Figure 4 As shown, the embodiment of the present application provides an anti-shake control device for an intelligent CTU shelf, which is applied to the intelligent CTU shelf. The intelligent CTU shelf includes a shelf body and a retractable structure installed under the shelf body for stabilizing the shelf body. The anti-shake control device for the intelligent CTU shelf includes an instruction acquisition module 10, a curve generation module 20 and a first execution module 30;

[0085] The instruction acquisition module 10 is used to acquire a cargo release instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf;

[0086] A curve generating module 20, configured to process the initial velocity, the final velocity and the maximum acceleration to obtain a velocity curve;

[0087] The first execution module 30 is used to control the running speed and running time of the fork in the shelf body extending according to the speed curve, and obtain the cargo release instruction when the fork in the shelf body is extended into place.

[0088] It should be noted that the module content of the anti-shake control device of the intelligent CTU shelf corresponds to the content of the steps in the method of Example 1. Example 1 has already elaborated on the step content of the anti-shake control method of the intelligent CTU shelf, and the module content of the anti-shake control device of the intelligent CTU shelf will not be repeated in this embodiment. The anti-shake control device of the intelligent CTU shelf controls the intelligent CTU shelf through the instruction acquisition module 10, the curve generation module 20 and the third execution module 30 to control the retractable structure to clamp the shelf body and stabilize the shelf body of the intelligent CTU shelf according to the cargo release instruction, and then controls the running speed and running time of the fork in the shelf body through the speed curve so that the fork in the shelf body is extended into place, so that the intelligent CTU shelf can double reduce the impact force generated when the fork is extended and retracted, and improve the reliability of picking up goods on the intelligent CTU shelf.

[0089] In the embodiment of the present application, the anti-shake control device of the intelligent CTU shelf also includes a second execution module and a third execution module;

[0090] The second execution module is used to control the shelf body to release the goods according to the goods release instruction, and obtain a fork return instruction for retracting the fork in the shelf body;

[0091] The third execution module is used to control the retractable structure to reset after releasing the shelf body and control the fork in the shelf body to reset according to the fork return instruction.

[0092] In the embodiment of the present application, the curve generation module includes a calculation submodule, a construction submodule and a curve generation submodule;

[0093] The calculation submodule is used to calculate according to the initial speed, the final speed and the maximum acceleration to obtain parameter coefficients and acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient and a third coefficient;

[0094] The construction submodule is used to construct a velocity expression and an acceleration expression according to the parameter coefficients;

[0095] The curve generating submodule is used to construct a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, the speed expression and the acceleration expression;

[0096] Wherein, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body extends out to the right position.

[0097] Embodiment three:

[0098] like Figure 2 As shown, an embodiment of the present application provides an intelligent CTU shelf, including a shelf body 1 and a controller for controlling the operation of the shelf body 1. A retractable structure 2 for stabilizing the shelf body is provided at the bottom end of the shelf body 1. The retractable structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism. The moving mechanism includes a driving source, two telescopic rods 21 connected to the driving source, and a support rod 22 is installed at the end of each telescopic rod 21. The controller controls the shelf body to pick up goods according to the above-mentioned anti-shake control method of the intelligent CTU shelf.

[0099] It should be noted that the content of the anti-shake control method of the intelligent CTU shelf has been described in the first embodiment, and the module content of the anti-shake control method of the intelligent CTU shelf will not be repeated in this embodiment. In this embodiment, in order to improve the anti-shake ability of the shelf body 1 itself, a retractable structure 2 is set below both sides of the shelf body 1. Figure 2 As shown, when the intelligent CTU shelf is working, before picking up and placing goods, the telescopic rod 21 is driven by the driving source of the mobile mechanism to extend the support rod 22, and then the lifting mechanism is used to drive the mobile mechanism to rise and place the support rods 22 on both sides of the shelf body 1 on the pillars of the shelf body 1. The two support rods 22 are against the pillars of the shelf body 1. When the body of the shelf body 1 shakes, it can play a stabilizing role to a certain extent, thereby improving the safety of the intelligent CTU shelf in picking up and placing the material box. When the intelligent CTU shelf is not working, the lifting mechanism is then used to drive the mobile mechanism to rise and lower the support rods 22 on both sides of the shelf body 1 to separate from the pillars of the shelf body 1, and the telescopic rod 21 is driven by the driving source of the mobile mechanism to retract the support rod 22. In this embodiment, the driving source can be a cylinder, or it can be electric or various forms of cylinders or push-type power devices. The lifting mechanism is used to drive the mobile mechanism to rise or fall, and the mobile mechanism is used to control the extension and retraction of the support rod 22. The intelligent CTU shelf controls the shelf body to pick up goods through the anti-shake control method of the intelligent CTU shelf, thereby reducing the impact force generated when the fork in the shelf body 1 is extended and retracted.

[0100] Embodiment 4:

[0101] Figure 5 A schematic diagram of a terminal device described in an embodiment of the present application.

[0102] like Figure 5 As shown, an embodiment of the present application provides a terminal device, including a processor and a memory;

[0103] A memory, used for storing program codes and transmitting the program codes to a processor;

[0104] The processor is used to execute the anti-shake control method of the intelligent CTU shelf according to the instructions in the program code.

[0105] It should be noted that the processor is used to execute the steps in the above-mentioned anti-shake control method embodiment of a smart CTU shelf according to the instructions in the program code. Alternatively, the processor implements the functions of each module / unit in the above-mentioned system / device embodiments when executing the computer program.

[0106] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program in a terminal device.

[0107] The terminal device may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that this does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0108] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (dSIC), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0109] The memory may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Furthermore, the memory may include both an internal storage unit of the terminal device and an external storage device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0115] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An anti-shake control method for an intelligent CTU shelf, applied to an intelligent CTU shelf, characterized in that: The smart CTU shelf includes a shelf body and a retractable structure installed under the shelf body for stabilizing the shelf body. The anti-shake control method of the smart CTU shelf includes the following steps: Obtaining a cargo release instruction for controlling the operation of the intelligent CTU shelf, and controlling the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes an initial speed, a final speed, and a maximum acceleration of the operation of the intelligent CTU shelf; Processing the initial velocity, the final velocity and the maximum acceleration to obtain a velocity curve; The running speed and running time of the fork in the shelf body being extended are controlled according to the speed curve, and a cargo release instruction is obtained when the fork in the shelf body is extended into place.

2. The anti-shake control method of the intelligent CTU shelf according to claim 1 is characterized in that: The initial velocity, the final velocity and the maximum acceleration are processed to obtain a velocity curve including: Calculating according to the initial speed, the final speed and the maximum acceleration, obtaining parameter coefficients and acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient and a third coefficient; Constructing a velocity expression and an acceleration expression according to the parameter coefficients; Constructing a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, the speed expression and the acceleration expression; Wherein, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body extends out to the right position.

3. The anti-shake control method of the intelligent CTU shelf according to claim 2 is characterized in that: Calculating according to the initial speed, the final speed and the maximum acceleration to obtain parameter coefficients and acceleration time includes: calculating according to the initial speed and the final speed to obtain the first coefficient and the third coefficient; calculating according to the initial speed, the final speed and the maximum acceleration to obtain the second coefficient and the acceleration time.

4. The anti-shake control method of the intelligent CTU shelf according to claim 2 is characterized in that: The speed expression is: The acceleration expression is: In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, a is the acceleration, a max is the maximum acceleration, V max is the final velocity, V min is the initial velocity and v is the velocity.

5. The anti-shake control method of the intelligent CTU shelf according to any one of claims 1 to 4, characterized in that: include: According to the cargo release instruction, the shelf body is controlled to release the cargo, and a fork return instruction for retracting the fork in the shelf body is obtained; according to the fork return instruction, the retractable structure is controlled to reset after releasing the shelf body and control the fork in the shelf body to reset.

6. An anti-shake control device for an intelligent CTU shelf, applied to an intelligent CTU shelf, characterized in that: The smart CTU shelf includes a shelf body and a retractable structure installed under the shelf body for stabilizing the shelf body. The anti-shake control device of the smart CTU shelf includes an instruction acquisition module, a curve generation module and a first execution module; The instruction acquisition module is used to acquire a cargo release instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the cargo release instruction; the cargo release instruction includes the initial speed, final speed and maximum acceleration of the operation of the intelligent CTU shelf; The curve generating module is used to process the initial speed, the final speed and the maximum acceleration to obtain a speed curve; The first execution module is used to control the running speed and running time of the fork in the shelf body extending according to the speed curve, and obtain the cargo release instruction when the fork in the shelf body is extended into place.

7. The anti-shake control device for the intelligent CTU shelf according to claim 6 is characterized in that: Also includes a second execution module and a third execution module; The second execution module is used to control the shelf body to release the goods according to the goods release instruction, and obtain a fork return instruction for retracting the fork in the shelf body; The third execution module is used to control the retractable structure to reset after releasing the shelf body and control the fork in the shelf body to reset according to the fork return instruction.

8. The anti-shake control device for the intelligent CTU shelf according to claim 6 is characterized in that: The curve generation module includes a calculation submodule, a construction submodule and a curve generation submodule; The calculation submodule is used to calculate according to the initial speed, the final speed and the maximum acceleration to obtain parameter coefficients and acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient and a third coefficient; The construction submodule is used to construct a velocity expression and an acceleration expression according to the parameter coefficients; The curve generating submodule is used to construct a speed curve with speed as the ordinate and time as the abscissa according to the acceleration time, the speed expression and the acceleration expression; Wherein, the running speed of the fork in the shelf body extending out is controlled to run according to the speed curve during the acceleration time, so that the fork in the shelf body extends out to the right position.

9. An intelligent CTU shelf, characterized in that: It includes a shelf body and a controller for controlling the operation of the shelf body, a retractable structure for stabilizing the shelf body is arranged at the bottom end of the shelf body, the retractable structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism, the moving mechanism includes a driving source, two telescopic rods connected to the driving source and a support rod installed at the end of each of the telescopic rods, and the controller controls the shelf body to pick up goods according to the anti-shake control method of the smart CTU shelf as described in any one of claims 1-5.

10. A terminal device, characterized in that: including a processor and a memory; The memory is used to store program codes and transmit the program codes to the processor; The processor is used to execute the anti-shake control method of the smart CTU shelf as described in any one of claims 1 to 5 according to the instructions in the program code.

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