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

Abstract

The application relates to an intelligent CTU shelf and a jitter prevention control method, device and terminal thereof. The method comprises the following steps: obtaining a goods placing instruction for controlling the operation of the intelligent CTU shelf; and controlling a telescopic structure to clamp a shelf body according to the goods placing instruction. The goods placing instruction comprises 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 the running time of the fork extension in the shelf body are controlled according to the speed curve to obtain a goods release instruction for the fork extension in the shelf body. The method controls the telescopic structure to clamp the shelf body according to the goods placing instruction to stabilize the shelf body of the intelligent CTU shelf, and then controls the running speed and the running time of the fork extension in the shelf body according to the speed curve to make the fork extension in the shelf body reach the position, so that the impact force generated during the fork extension and retraction of the intelligent CTU shelf is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anti-shaking control of transportation equipment, and particularly to an intelligent CTU (Container Transport Unit) rack, an anti-shaking control method and device thereof, and a terminal. BACKGROUND

[0002] The CTU (Container Transport Unit) rack has the advantages of autonomous navigation, autonomous obstacle avoidance, and an intelligent charging system, and can simultaneously transport multiple containers. The main advantage of the CTU rack is to make full use of the high-density advantage of box storage through the longitudinal space, and to realize instant scheduling and monitoring with various automated devices. Through accurate identification of the containers, the CTU rack can pick and carry multiple containers from the rack area and deliver the required containers to the operator, thereby realizing rapid and efficient inventory turnover.

[0003] Since the CTU rack usually needs to take and place containers from a high position (such as 10 meters) of the rack and carry multiple containers, the CTU rack body is usually high, and when the containers are taken and placed at a high speed, the CTU rack body is prone to shaking and tilting, which may cause the containers to fall and cause danger. SUMMARY

[0004] The present application provides an intelligent CTU rack, an anti-shaking control method and device thereof, and a terminal, which are used to solve the technical problem that the existing CTU rack body is usually high, and when the containers are taken and placed at a high speed, the CTU rack body is prone to shaking and tilting, which may cause the containers to fall.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] In one aspect, an anti-shaking control method of an intelligent CTU rack is provided, which is applied to the intelligent CTU rack, the intelligent CTU rack comprising a rack body and a retractable structure installed below the rack body for stabilizing the rack body, and the anti-shaking control method of the intelligent CTU rack comprising the following steps:

[0007] obtaining a container placing instruction for controlling the operation of the intelligent CTU rack, and controlling the retractable structure to clamp the rack body according to the container placing instruction; the container placing instruction comprising an initial speed, a final speed, and a maximum acceleration of the operation of the intelligent CTU rack;

[0008] processing the initial speed, the final speed, and the maximum acceleration to obtain a speed curve;

[0009] controlling the operation speed and operation time of the fork extension of the rack body according to the speed curve to obtain a container releasing instruction for the fork extension of the rack body.

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

[0011] According to the initial speed, the final speed and the maximum acceleration, a parameter coefficient and an acceleration time are calculated, the parameter coefficient comprising a first coefficient, a second coefficient and a third coefficient;

[0012] According to the parameter coefficient, a speed expression and an acceleration expression are constructed;

[0013] According to the acceleration time, the speed expression and the acceleration expression, a speed curve with speed as the vertical coordinate and time as the horizontal coordinate is constructed;

[0014] Wherein, the running speed of the fork extension in the shelf body is controlled according to the speed curve in the acceleration time, so that the fork extension in the shelf body is extended to the position.

[0015] Preferably, according to the initial speed, the final speed and the maximum acceleration, a parameter coefficient and an acceleration time are calculated, the parameter coefficient comprising a first coefficient, a second coefficient and a third coefficient; the first coefficient and the third coefficient are calculated according to the initial speed and the final speed; the second coefficient and the acceleration time are calculated according to the initial speed, the final speed and the maximum acceleration.

[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 speed, V min is the initial speed, and v is the speed.

[0021] Preferably, the anti-shake control method of the intelligent CTU shelf comprises: according to the release instruction of the goods, the shelf body releases the goods, and the back fork instruction of the fork retraction in the shelf body is obtained; according to the back fork instruction, the extendable structure is controlled to loosen the shelf body and reset, and the fork in the shelf body is controlled to reset.

[0022] In another aspect, a jitter control device for a smart CTU rack is provided, which is applied to a smart CTU rack, the smart CTU rack comprising a rack body and a retractable structure installed below the rack body for stabilizing the rack body, the jitter control device for the smart CTU rack comprising an instruction obtaining module, a curve generating module and a first execution module.

[0023] The instruction obtaining module is configured to obtain a goods placing instruction for controlling the operation of the smart CTU rack, and control the retractable structure to clamp the rack body according to the goods placing instruction; the goods placing instruction comprises an initial speed, a final speed and a maximum acceleration of the smart CTU rack.

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

[0025] The first execution module is configured to control the operation speed and operation time of the fork extension of the rack body according to the speed curve to obtain a goods releasing instruction for the fork extension of the rack body.

[0026] Preferably, the jitter control device for the smart CTU rack further comprises a second execution module and a third execution module.

[0027] The second execution module is configured to control the rack body to release goods according to the goods releasing instruction to obtain a fork retraction instruction for the fork retraction of the rack body.

[0028] The third execution module is configured to control the retractable structure to reset after loosening the rack body and control the fork of the rack body to reset.

[0029] Preferably, the curve generating module comprises a calculation submodule, a construction submodule and a curve generating submodule.

[0030] The calculation submodule is configured to calculate the initial speed, the final speed and the maximum acceleration to obtain a parameter coefficient and an acceleration time, the parameter coefficient comprising a first coefficient, a second coefficient and a third coefficient.

[0031] The construction submodule is configured to construct a speed expression and an acceleration expression according to the parameter coefficient.

[0032] The curve generating submodule is configured to construct a speed curve with speed as the vertical coordinate and time as the horizontal coordinate according to the acceleration time, the speed expression and the acceleration expression.

[0033] The running speed of the fork extension in the shelf body is controlled according to the speed curve in the acceleration time, so that the fork extension in the shelf body is extended to the position.

[0034] In another aspect, an intelligent CTU shelf is provided, which comprises a shelf body and a controller for controlling the running of the shelf body, and the bottom end of the shelf body is provided with a telescopic structure for stabilizing the shelf body, the telescopic structure comprises a lifting mechanism and a moving mechanism installed on the lifting mechanism, the moving mechanism comprises a driving source, two telescopic rods connected with the driving source, and a support rod installed at the end of each telescopic rod, and the controller controls the shelf body to take goods according to the anti-shaking control method of the intelligent CTU shelf.

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

[0036] The memory is used for storing program codes and transmitting the program codes to the processor;

[0037] The processor is used for executing the anti-shaking control method of the intelligent CTU shelf according to the instructions in the program codes.

[0038] The intelligent CTU shelf, the anti-shaking control method, device and terminal thereof, the anti-shaking control method of the intelligent CTU shelf comprises obtaining a goods placing instruction for controlling the running of the intelligent CTU shelf, and controlling the telescopic structure to clamp the shelf body according to the goods placing instruction; the goods placing instruction comprises an initial speed, a final speed and a maximum acceleration of the running 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 the running time of the fork extension in the shelf body are controlled according to the speed curve to obtain a goods releasing instruction for the fork extension in the shelf body to extend to the position.

[0039] From the above technical solutions, it can be seen that the present application has the following advantages: the anti-shaking control method of the intelligent CTU shelf first controls the telescopic structure to clamp the shelf body of the intelligent CTU shelf to stabilize the shelf body of the intelligent CTU shelf according to the goods placing instruction, and then controls the running speed and the running time of the fork extension in the shelf body according to the speed curve to make the fork extension in the shelf body extend to the position, so that the intelligent CTU shelf reduces the impact force generated when the fork extends and retracts twice, and solves the technical problem that the existing CTU bin shelf body is usually high, and the bin is easy to shake when the bin is taken and placed at a high speed, resulting in the bin falling.

[0040] The anti-shake control device of the intelligent CTU shelf controls the intelligent CTU shelf to control the telescopic structure to clamp the shelf body to stabilize the shelf body of the intelligent CTU shelf according to the goods storage instruction through the instruction acquisition module, the curve generation module and the third execution module, and then controls the running speed and running time of the fork extension in the shelf body through the speed curve to make the fork extension in the shelf body reach the position, so that the intelligent CTU shelf reduces the impact force generated when the fork extends and retracts, and improves the reliability of the intelligent CTU shelf in picking goods. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 The step flow chart of the anti-shake control method of the intelligent CTU shelf described in the embodiments of the present application;

[0043] Figure 2 The structure diagram of the intelligent CTU shelf in the anti-shake control method of the intelligent CTU shelf described in the embodiments of the present application;

[0044] Figure 3 The broken line graph of the speed curve in the anti-shake control method of the intelligent CTU shelf described in the embodiments of the present application;

[0045] Figure 4 The frame diagram of the anti-shake control device of the intelligent CTU shelf described in the embodiments of the present application;

[0046] Figure 5 The schematic diagram of the terminal device described in the embodiments of the present application. DETAILED DESCRIPTION

[0047] In order to make the purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the following described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0048] In the description of the embodiments of the present application, the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can 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 explicitly specified and limited.

[0049] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] Term explanation: CTU intelligent warehouse rack is an automatic three-dimensional warehouse system specially designed to cooperate with CTU (Container Transferring Unit, container transfer unit) robot.

[0051] The embodiments of the present application provide an intelligent CTU rack and a method, device and terminal for anti-shaking control of the same, and solve the technical problem that the existing CTU container rack body is usually high, and when the container is taken and placed at a high speed, shaking occurs, causing the container to fall over. The intelligent CTU rack and the anti-shaking control method, device and terminal thereof can not only be applied to intelligent racks, but also be applied to warehouse delivery vehicles. In the present embodiment, the intelligent CTU rack is taken as an example for illustration.

[0052] Embodiment one:

[0053] Figure 1 The step flow chart of the anti-shaking control method of the intelligent CTU rack described in the embodiments of the present application, Figure 2 The structure diagram of the intelligent CTU rack in the anti-shaking control method of the intelligent CTU rack described in the embodiments of the present application.

[0054] As Figure 1 and Figure 2 The embodiments of the present application provide an anti-shaking control method of an intelligent CTU rack, which is used on an intelligent CTU rack.

[0055] As 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 below 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 with the driving source, and a support rod 22 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, the retractable structure 2 is arranged below both sides of the shelf body 1. As shown in Figure 2 As shown, during the working of the intelligent CTU shelf, before taking and placing goods, the telescopic rod 21 is driven to extend the support rod 22 by the driving source of the moving mechanism, and then the lifting mechanism is used to drive the moving mechanism to rise so that the support rods 22 on both sides of the shelf body 1 are rested on the columns of the shelf body 1, and the two support rods 22 are abutted against the columns of the shelf body 1, which can stabilize the shelf body 1 to a certain extent and improve the safety of taking and placing goods of the intelligent CTU shelf. When the intelligent CTU shelf is not working, the lifting mechanism is used to drive the moving mechanism to descend so that the support rods 22 on both sides of the shelf body 1 are lowered to be separated from the columns of the shelf body 1, and the telescopic rod 21 is driven to retract the support rod 22 by the driving source of the moving mechanism. In the embodiment, the driving source can be a pneumatic cylinder, or an electric cylinder or various forms of cylinder or push type power devices. The lifting mechanism is used to drive the moving mechanism to rise or descend, and the moving mechanism is used to control the telescopic movement of the support rod 22. The lifting mechanism can be connected with the moving mechanism through the output shaft of the pneumatic cylinder, or can be other existing structures that can realize the lifting function, which is not limited in the embodiment.

[0057] Figure 3 The speed curve of the anti-shaking control method of the intelligent CTU shelf described in the embodiment of the present application is shown in the following figure.

[0058] As shown in Figure 1 and Figure 3 The anti-shaking control method of the intelligent CTU shelf includes the following steps:

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

[0060] It should be noted that in step S1, the put-away instruction for controlling the operation of the intelligent CTU rack is obtained first, and then the telescopic structure 2 clamps the rack body 1 according to the put-away instruction, thereby improving the anti-shaking ability of the intelligent CTU rack body. In this embodiment, the put-away instruction includes the initial speed, the final speed and the maximum acceleration of the operation of the intelligent CTU rack. The initial speed, the final speed and the maximum acceleration can be set according to requirements, and are not limited here.

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

[0062] It should be noted that in step S2, the speed curve as shown in Figure 3 is constructed according to the three parameters of the initial speed, the final speed and the maximum acceleration contained in the put-away instruction of step S1, thereby providing data for subsequent control of the operation of the rack body.

[0063] S3. Controlling the operation speed and operation time of the fork extension in the rack body according to the speed curve to obtain a goods release instruction for the fork extension in the rack body.

[0064] It should be noted that in step S3, the fork in the rack body and the goods carried by the fork are extended together according to the speed curve obtained in step S2, thereby facilitating the removal of the goods from the intelligent CTU rack. In order to reduce the impact force caused by the sudden change of acceleration when the intelligent CTU rack starts or stops, the extension or retraction of the fork in the rack body is controlled through the speed curve, so as to alleviate the impact force of the fork extension, avoid damage to the fork and improve the service life of the intelligent CTU rack.

[0065] In this embodiment, the anti-shaking control method of the intelligent CTU rack includes: S4. Controlling the rack body to release the goods according to the goods release instruction to obtain a fork retraction instruction for the fork in the rack body; and controlling the telescopic structure to release the rack body and control the fork in the rack body to return to the original position according to the fork retraction instruction.

[0066] It should be noted that in step S4, the goods carried by the fork in the intelligent CTU rack are released according to the goods release instruction of step S3. It can be understood that the fork in the rack body obtained in step S3 indicates that the fork of the intelligent CTU rack extends the goods, and the goods are in a state of unloading. After the goods carried by the fork in the intelligent CTU rack are unloaded, the fork retraction instruction is obtained, and then the fork in the intelligent CTU rack is controlled to retract to the original position according to the fork retraction instruction, thereby completing the process of once goods picking of the intelligent CTU rack.

[0067] In the embodiment of the present application, the anti-shake control method of the intelligent CTU rack first controls the telescopic structure to clamp the rack body to stabilize the rack body of the intelligent CTU rack according to the put-in instruction, and then controls the running speed and running time of the fork extension in the rack body to make the fork extension in the rack body reach the position, thereby reducing the impact force generated when the fork is extended and retracted.

[0068] The anti-shake control method of the intelligent CTU rack provided in the present application comprises the following steps: obtaining a put-in instruction for controlling the operation of an intelligent CTU rack; clamping a rack body according to the put-in instruction; the put-in instruction comprises an initial speed, a final speed and a maximum acceleration of the operation of the intelligent CTU rack; processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve; and controlling the running speed and running time of the fork extension in the rack body according to the speed curve to obtain a put-in instruction for the fork extension in the rack body to reach the position. The anti-shake control method of the intelligent CTU rack first controls the telescopic structure to clamp the rack body to stabilize the rack body of the intelligent CTU rack according to the put-in instruction, and then controls the running speed and running time of the fork extension in the rack body to make the fork extension in the rack body reach the position, thereby reducing the impact force generated when the fork is extended and retracted; and the technical problem of the existing CTU bin rack body being usually high and being prone to shaking and tilting when the bin is taken out or put in at a high speed, thereby causing the bin to fall, is solved.

[0069] In one embodiment of the present application, processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve comprises the following steps:

[0070] According to the calculation of the initial speed, the final speed and the maximum acceleration, a parameter coefficient and an acceleration time are obtained, and the parameter coefficient comprises a first coefficient, a second coefficient and a third coefficient;

[0071] A speed expression and an acceleration expression are constructed according to the parameter coefficient;

[0072] A speed curve with speed as the vertical coordinate and time as the horizontal coordinate is constructed according to the acceleration time, the speed expression and the acceleration expression;

[0073] In the acceleration time, the running speed of the fork extension in the rack body is controlled to run according to the speed curve, so that the fork extension in the rack body reaches the position.

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

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

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

[0077] In an 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 speed, V min is the initial speed, and v is the speed.

[0082] Embodiment two:

[0083] Figure 4 is a schematic diagram of the frame of the anti-shake control device of the intelligent CTU shelf according to the embodiment of the present application.

[0084] As shown in Figure 4 , the present application provides an anti-shake control device of an intelligent CTU shelf, which is applied to an intelligent CTU shelf, and the intelligent CTU shelf includes a shelf body and a telescopic structure installed below the shelf body for stabilizing the shelf body. The anti-shake control device of 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 for acquiring a goods placing instruction for controlling the operation of the intelligent CTU shelf, and controls the telescopic structure to clamp the shelf body according to the goods placing instruction. The goods placing instruction includes an initial speed, a final speed and a maximum acceleration of the operation of the intelligent CTU shelf.

[0086] The curve generation module 20 is used for processing the initial speed, the final speed and the maximum acceleration to obtain a speed curve.

[0087] The first execution module 30 is configured to control the running speed and running time of the fork extension in the goods shelf body according to the speed curve, and obtain a goods release instruction of the fork extension to the position in the goods shelf body.

[0088] It should be noted that the module content of the anti-shake control device of the intelligent CTU goods shelf corresponds to the content of the steps in the embodiment one method. The steps of the anti-shake control method of the intelligent CTU goods shelf have been described in detail in the embodiment one. The module content of the anti-shake control device of the intelligent CTU goods shelf will not be repeated in this embodiment. The anti-shake control device of the intelligent CTU goods shelf controls the stable goods shelf body of the intelligent CTU goods shelf through the instruction acquisition module 10, the curve generation module 20 and the third execution module 30. Then, the running speed and running time of the fork extension in the goods shelf body are controlled by the speed curve to make the fork extension to the position in the goods shelf body. The impact force generated when the fork is extended and retracted is reduced twice, and the reliability of the intelligent CTU goods shelf is improved.

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

[0090] The second execution module is configured to control the goods shelf body to release goods according to the goods release instruction, and obtain a back fork instruction of the fork retraction in the goods shelf body.

[0091] The third execution module is configured to control the goods shelf body to reset after the goods shelf body is loosened by the telescopic structure, and control the fork in the goods shelf body to reset.

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

[0093] The calculation submodule is configured to calculate the parameter coefficient and the acceleration time according to the initial speed, the final speed and the maximum acceleration, and the parameter coefficient comprises a first coefficient, a second coefficient and a third coefficient.

[0094] The construction submodule is configured to construct a speed expression and an acceleration expression according to the parameter coefficient.

[0095] The curve generation submodule is configured to construct a speed curve with speed as the vertical coordinate and time as the horizontal coordinate according to the acceleration time, the speed expression and the acceleration expression.

[0096] In the acceleration time, the running speed of the fork extension in the goods shelf body is controlled according to the speed curve, so that the fork extension in the goods shelf body is extended to the position.

[0097] Embodiment three:

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

[0099] It needs to be explained that the content of the anti-shake control method of the intelligent CTU shelf has been described in embodiment one, 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, to improve the anti-shaking ability of shelf body 1 itself, telescopic structure 2 is arranged below the two sides of shelf body 1.As Figure 2 shown, when intelligent CTU shelf works, support rod 22 is extended by the drive source of moving mechanism before taking and placing goods, then lifting mechanism drives moving mechanism to rise, and support rod 22 on the two sides of shelf body 1 is rested on the column of shelf body 1, two support rods 22 resist the column of shelf body 1, when the body of shelf body 1 shakes, it can stabilize to a certain extent, improve the safety of intelligent CTU shelf when taking and placing box.In the case of not working, lifting mechanism drives moving mechanism to descend, and support rod 22 on the two sides of shelf body 1 is lowered and separated from the column of shelf body 1, and support rod 22 is retracted by the drive source of moving mechanism.In this embodiment, drive source can be air cylinder, or electric or various forms of cylinder or push type power device.Lifting mechanism is used to drive moving mechanism to rise or descend, and moving mechanism is used to control the telescopic of support rod 22.The intelligent CTU shelf takes goods by the anti-shake control method of the intelligent CTU shelf, and reduces the impact force generated when fork in shelf body 1 telescopes.

[0100] Embodiment four:

[0101] Figure 5 The schematic diagram of terminal equipment described in the embodiment of the present application.

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

[0103] Memory, for storing program code, and transmitting program code to processor;

[0104] The processor is configured 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 configured to execute the anti-shake control method of the intelligent CTU shelf according to the instructions in the program code. Alternatively, the processor executes the computer program to realize the functions of the modules / units in the above-mentioned system / device embodiments.

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

[0107] The terminal device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The terminal device can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the terminal device is not limited, and can include more or fewer components, or combine certain components, or different components, for example, the terminal device can also include an input / output device, a network access device, a bus, and the like.

[0108] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0109] The memory can be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory can 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, and the like. Further, the memory can include both the internal storage unit and the external storage device of the terminal device. The memory is used to store the computer program and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will 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 above-mentioned system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0111] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0112] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0113] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0114] The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application, essentially or the part that makes a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

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

Claims

1. A method for anti-shake control of intelligent CTU shelves, applied to intelligent CTU shelves, characterized in that, The intelligent CTU rack includes a rack body and a retractable structure installed below the rack body for stabilizing the rack body. The anti-shake control method of the intelligent CTU rack includes the following steps: The system acquires a delivery command to control the operation of the intelligent CTU shelf, and controls the retractable structure to clamp the shelf body according to the delivery command; the delivery command includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation; The initial velocity, the final velocity, and the maximum acceleration are processed to obtain a velocity curve; Based on the speed curve, the operating speed and operating time of the forks extending in the rack body are controlled to obtain the cargo release command when the forks in the rack body are extended into place; Specifically, parameter coefficients and acceleration time are calculated based on the initial velocity, the final velocity, and the maximum acceleration. A velocity curve with velocity as the vertical axis and time as the horizontal axis is constructed based on the acceleration time and the parameter coefficients.

2. The anti-shake control method for the intelligent CTU shelf according to claim 1, characterized in that, The parameter coefficients include a first coefficient, a second coefficient, and a third coefficient; the velocity curve constructed based on the acceleration time and the parameter coefficients, with velocity as the vertical axis and time as the horizontal axis, includes: Construct velocity and acceleration expressions based on the parameter coefficients; Construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression; Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

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

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

5. The anti-shake control method for the intelligent CTU shelf according to any one of claims 1-4, characterized in that, include: According to the cargo release command, the rack body is controlled to release the cargo, and a fork retraction command is obtained in the rack body to retract the forks; according to the fork retraction command, the retractable structure is controlled to release the rack body and then reset, and the forks in the rack body are controlled to reset.

6. A vibration control device for an intelligent CTU shelf, applied to an intelligent CTU shelf, characterized in that, The intelligent CTU rack includes a rack body and a retractable structure installed below the rack body for stabilizing the rack body. The anti-shake control device of the intelligent CTU rack includes an instruction acquisition module, a curve generation module and a first execution module. The instruction acquisition module is used to acquire the delivery instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the delivery instruction; the delivery instruction includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation; The curve generation module is used to process the initial velocity, the final velocity, and the maximum acceleration to obtain a velocity curve; The first execution module is used to control the running speed and running time of the forks extending in the rack body according to the speed curve, and to obtain a cargo release command when the forks in the rack body are extended into place; The curve generation module includes a calculation submodule; the calculation submodule is used to calculate the parameter coefficients and acceleration time based on the initial velocity, the final velocity and the maximum acceleration. The curve generation module is also used to construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time and the parameter coefficients.

7. The anti-shake control device for the intelligent CTU shelf according to claim 6, characterized in that, It also includes a second execution module and a third execution module; The second execution module is used to control the rack body to release goods according to the goods release command, and to obtain a fork retraction command for the forks in the rack body; The third execution module is used to control the retractable structure to release the rack body and reset it according to the return fork command, and to control the forks in the rack body to reset.

8. The anti-shake control device for the intelligent CTU shelf according to claim 6, characterized in that, The parameter coefficients include a first coefficient, a second coefficient, and a third coefficient; the curve generation module further includes a construction submodule and a curve generation submodule; The construction submodule is used to construct velocity expressions and acceleration expressions based on the parameter coefficients; The curve generation submodule is used to construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression. Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

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

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

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