Stacking goods picking and placing control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of stacking machines, in particular to a stacking goods taking and placing control method, system and equipment and a storage medium, in the goods taking or placing process, before a goods fork stretches out in place, a lifting motor band-type brake is opened, zero-speed hovering is conducted, and the excitation state is kept; in the process that the lifting motor lifts or lowers the cargo carrying table, the fork motor keeps braking, is not closed and is in an excitation state; when the position of the cargo carrying table deviates, the lifting motor pulls the cargo carrying table to adjust in real time, and the cargo carrying table is kept at the set position. Through a zero-speed hovering mode, sequential execution of operation of the lifting shaft and the fork shaft is changed into parallel operation, time wasted in goods taking and placing is shortened, the goods taking and placing efficiency is improved, under the condition that the hardware cost is not changed, the single-machine efficiency of the stacking machine is improved, and the labor intensity of workers is reduced. Or under the condition that the efficiency is not changed, the power of a lifting motor and a horizontal motor is reduced due to the reduction of the circulation time of the pallet fork, so that the selection of a frequency converter, a motor protector, a cable and the like is reduced, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of stackers, and in particular to a stacking picking and placing control method, system, equipment and storage medium. Background Art

[0002] In the prior art, the logical process of picking up goods by a roadway stacker is as follows: the stacker's horizontal mechanism and lifting mechanism move to the target position, the horizontal mechanism is closed, and the lifting motor brakes. The fork opens the brake, extends, moves into position, and closes the brake; the lifting motor is excited, opens the brake, pulls the cargo platform upward to a slightly higher position, and closes the lifting motor brake; after picking up the goods, the fork motor opens the brake, the fork is retracted, and the brake is closed after the fork is retracted into position.

[0003] According to the process of picking up / releasing goods, the fork and lifting are executed in sequence. Since there is positioning overshoot when the fork shaft or lifting shaft moves, the next shaft can only be operated after the fork shaft or lifting shaft moves and positions. In one picking up / releasing time, the motor brake needs to be closed 4 times and opened 3 times. However, the operation of opening and closing the brake will cause delays for each action due to signal transmission, mechanical opening or closing, etc., and the different opening times of the brakes of different motors will affect the efficiency of the picking up / releasing time. The lifting motor is often larger, and it takes longer to open the brake (usually 1-2s). Therefore, the longer picking up / releasing time of the fork will reduce the efficiency of the stacker.

[0004] In the prior art, this problem is usually solved by increasing the maximum speed and acceleration of the horizontal mechanism and the lifting mechanism, which requires the selection of a lifting motor with a larger power size, resulting in an increase in the selection of inverters, motor protectors, cables, etc., leading to an increase in overall costs.

[0005] Based on the problems existing in the prior art, the present invention provides a stacking picking and releasing control method, system, equipment and storage medium. Summary of the invention

[0006] The purpose of the present invention is to provide a stacking picking and placing control method, system, equipment and storage medium to solve the technical problem in the prior art that the fork motor and the lifting motor are executed sequentially, there is an action delay, and the picking and placing efficiency is low.

[0007] The technical solution of the present invention is: a stacking picking and placing control method, including: during the process of picking up or placing goods, before the fork is extended into place, the lifting motor brake is opened, and during the process of extending the fork to pick up goods and retracting the fork, the lifting motor remains in an excitation state and hovers at zero speed; when the lifting motor is running and the cargo platform is lifted or lowered, the fork motor maintains the brake, is not closed, and is in an excitation state; wherein, during the process of picking up or placing goods, when the position of the cargo platform is offset, the lifting motor pulls the cargo platform to adjust in real time to keep the cargo platform in the set position.

[0008] Preferably, the pickup process is: Q1: After the horizontal mechanism and the lifting motor are in place, the lifting motor does not close the brake and hovers at zero speed; Q2: The fork motor opens the brake, the fork extends, and after the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed; Q3: After the fork is extended to the right position, the cargo platform is lifted. After it is lifted to the right position, the lifting motor does not close the brake and hovers at zero speed; Q4: After the cargo platform is slightly lifted into place, the forks are retracted. After the forks are retracted into place, the lifting motor and the fork motor brake are turned off.

[0009] Preferably, the release process is: F1: The horizontal mechanism and the lifting motor do not close the brakes and hover at zero speed; F2: After the lifting motor is in place, the fork opens the brake and the fork extends. After the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed; F3: After the fork is extended to the right position, the cargo platform descends. After descending to the right position, the lifting motor does not close the brake and hovers at zero speed; F4: After the cargo platform is lowered into place, the forks are retracted. After the forks are retracted into place, the lifting motor and the fork motor brake are closed.

[0010] Preferably, during the lifting process of the cargo platform, the average acceleration of the lifting is set , Maximum speed , the initial speed and final speed are 0, the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo ;but, like ,but ; Distance formula: ; =( ) / , ; like , according to the distance formula: ; ; Calculate the minimum time required to reach the allowable lifting height. If the fork overshoots or moves back within the required minimum time, it is considered safe. If the fork has not reached the set position after exceeding the required minimum time, the movement will stop and an alarm will be issued.

[0011] Preferably, during the descent of the cargo platform, the average descent acceleration is set , Maximum speed , the initial speed and final speed are 0, and the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo , minimum time ; like ;but ; Distance formula: ; ( ) / , ; like ; According to the distance formula ,but, ; Calculate the minimum time required to reach the allowed descent height. If the fork overshoots or moves back within the required minimum time, it is considered safe. If the fork has not reached the set position after the minimum time, an alarm will be triggered and the operation will stop.

[0012] Preferably, when the fork brake is opened and the fork is extended or retracted, the deviation of the cargo platform from the set position is calculated; the lifting motor pulls the cargo platform to the set position in real time. If the deviation of the cargo platform exceeds 5 mm, an alarm is triggered and the operation is stopped.

[0013] A stacker picking and placing control system, used to implement the stacking picking and placing control method, comprising: Detection unit, detecting the real-time position, speed and acceleration of the cargo platform; The data processing unit calculates the distance deviation between the real-time position of the cargo platform and the set position according to the real-time position of the cargo platform; and calculates the shortest time required for the fork to pick up or put down the cargo according to the operating status of the fork; The control unit, the detection unit, the data processing unit, the fork motor, and the lifting motor are electrically connected to the control unit respectively; The control unit controls the fork motor to run or hover at zero speed through instructions, and the fork motor drives the fork to extend or retract; the control unit controls the lifting motor to run through instructions, pulling and adjusting the cargo platform to remain in the set position; the control unit determines whether the fork runs to the set position within the shortest time required for the fork to pick up or put down the goods. When the fork does not reach the set position, an alarm is issued, and the fork motor and lifting motor are controlled to stop running.

[0014] An electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the stacking picking and releasing control method.

[0015] A computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the stacking picking and releasing control method.

[0016] Compared with the prior art, the advantages of the present invention are: (1) The embodiment of the present invention changes the two motors of the lifting and fork from sequential execution to parallel operation by means of zero-speed hovering. When one axis (the fork axis or the lifting axis) is running, the other axis does not simply wait for the previous process to be completed, but completes the preparation work before the action in advance, thereby implementing the parallel operation of the two axes, saving the time of opening and closing the brakes of the motors during sequential execution. The fork axis and the lifting axis run in parallel, making the stacker's picking and releasing actions smoother, reducing the pause time caused by sequential execution, and improving the efficiency of picking and releasing.

[0017] (2) The efficiency of a single stacker is mainly affected by the speed and acceleration of the lifting and horizontal movements, as well as the time for picking up and placing goods. By reducing the time for picking up and placing goods, the acceleration and speed of the horizontal movement and the lifting can be reduced. This can improve the efficiency of a single stacker without changing the hardware cost. Alternatively, the power of the lifting and horizontal motors can be reduced without changing the efficiency because the fork cycle time is reduced, thereby reducing the models of related components such as the inverter, motor protector, and cable, thereby achieving cost reduction.

[0018] (3) If there is a minor overshoot during lifting or fork operation, it will not affect the movement of the next axis and will not affect the overall efficiency, thus increasing the stability of the mechanical operation.

[0019] (4) When the rigidity of the cargo platform device is insufficient and the movement of the forks with load will cause the cargo platform to shift, the lifting shaft can adjust the cargo platform to the set position in real time without affecting the normal operation of the fork shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 This is a flow chart of the stacker fork picking method of the present invention; Figure 2 This is a flow chart of the method for placing goods by a stacker fork according to the present invention; Figure 3 This is a block diagram of the stacker picking and placing control system of the present invention; Figure 4 This is a comparison diagram of the efficiency of different fork cycle times in the first embodiment of the present invention; Figure 5 This is a schematic diagram comparing the effects of different fork cycle times on lifting level requirements under the same efficiency in the first embodiment of the present invention; Figure 6 This is a comparison diagram of the efficiency of different fork cycle times in the second embodiment of the present invention; Figure 7 This is a schematic diagram comparing the effects of different fork cycle times on lifting level requirements under the same efficiency in the second embodiment of the present invention; Figure 8 This is a schematic diagram of a fork picking up goods in the embodiment of the present invention; Fig. 9 This is a schematic diagram of a fork releasing cargo in the embodiment of the present invention; Among them: 1. Cargo; 2. Shelves; 3. Forks. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with specific embodiments: At present, the stacker's pick-up / drop-out logic is as follows: the stacker moves horizontally and upwards to the target position, and during the process of extending and retracting the fork, the brake needs to be closed or opened for each action. When closing or opening the brake, the signal transmission and mechanical closing action take time, which will cause action delay. In one pick-up / drop-out time, the motor brake needs to be closed 4 times and opened 3 times. Each delayed action will result in a long action time for a complete cycle of a single machine, which is inefficient.

[0022] The embodiment of the present invention provides a stacking picking and placing control method, including: a complete picking process, and a complete placing process, such as Figure 1 As shown, the pickup process is: Q1: After the horizontal mechanism and the lifting motor are in place, the lifting motor does not close the brake and hovers at zero speed (the motor still has torque output); Q2: The fork motor opens the brake and the fork extends.

[0023] Before the fork is extended to the right position, the lifting brake is opened. In the lifting direction, the cargo platform will move downward due to gravity, and if there is an abnormality that causes the cargo platform to deviate (insufficient rigidity of the cargo platform, etc.), the lifting motor is at zero speed but still has torque output and is in an excitation state. Once the cargo platform deviates, the lifting motor can pull the cargo platform to adjust in real time to keep the cargo platform in the set position. During this process, if the cargo platform deviation is detected to exceed 5mm, an alarm will be triggered.

[0024] After the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed (the motor still has torque output) and is in the excitation state.

[0025] Q3: After the fork is extended into place, the lifting motor starts to drive the cargo platform to rise.

[0026] Before the fork is in place, the lifting motor brake is opened and in an excitation state. After the fork is in place, the lifting motor does not need to spend time opening the brake again and can immediately run and lift slightly upward, saving the time for the lifting motor to open the brake. At this time, the shortest time for the fork to run to contact the goods is calculated.

[0027] Since there are many shelves in the warehouse, when the fork is suspended at zero speed and the brake is paused, there will be slight fluctuations in displacement. Therefore, there is a difference in the distance between the fork and the lower surface of the goods each time it is extended (ideally, the distance between the fork and the goods is equal each time it is extended). The distance value fluctuates within a range. If the shortest time the fork contacts the goods is used as a benchmark to confirm whether the fork contacts the goods (or the pallet carrying the goods), the fork is allowed to move within this time and must be able to contact the pallet. If the fork moves beyond the shortest time, an alarm will be issued (after the fork moves into place within the specified time, it is locked and no longer allowed to move).

[0028] Specifically, during the lifting process of the cargo platform, set the average acceleration of the lifting , Maximum speed , the initial speed and final speed are 0, the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo ; Minimum distance To determine the value, refer to the attached Figure 8A schematic diagram of the movement of the fork when picking up goods is provided. The distance ① in the figure represents the moving distance of the fork 3 in contact with the goods 1 when picking up goods. The fork can move freely within this distance. The operating status of the fork during the picking process is as follows: like , the lifting action first accelerates uniformly from 0 to the maximum speed , then at maximum speed Constant speed, and finally the maximum speed decelerate to 0; , distance formula: , =( ) / , ; like , the lifting action first accelerates uniformly from 0, and before reaching the maximum speed, it decelerates uniformly to 0. According to the distance formula: ; ; Calculate the shortest time required to reach the allowed lifting height.

[0029] Problems such as old fork machinery and electrical parameters may cause overshoot or retraction, causing the fork to be out of the set position range. Since the fork is always in an excitation state, it can continue to run and adjust to the set position without interrupting the overall process. Therefore, if the fork overshoots or moves back within the required minimum time, it is considered safe; if the fork has not reached the set position after exceeding the required minimum time, it will stop moving and an alarm will be issued.

[0030] After lifting to the right position, the lifting motor does not close the brake and hovers at zero speed; Q4: After the loading platform rises slightly to its proper position, the forks are retracted.

[0031] The fork brake opening time coincides with the micro-lift time. After the micro-lift is in place, the fork motor is in the excitation state. Therefore, the fork motor does not need to spend time opening the brake again, and can immediately retract the fork, saving the time of opening the brake of the fork motor. To prevent the cargo platform from tilting, the cargo moves with the fork. The speed of the fork is 0 at this time, but the output torque is not 0.

[0032] Due to old machinery, motor parameters and other problems, the cargo platform overshoots or retracts, causing the cargo platform to be out of the set range. Therefore, the maximum allowable deviation of the cargo platform is calculated at this time. If there is an abnormality (heavy cargo, insufficient rigidity of the cargo platform, etc.) that causes the cargo platform to deviate, during the fork retraction process, if the cargo platform is within the maximum allowable deviation range, it will continue to move. Synchronously, the lifting motor is always in an excitation state and can pull and adjust the position of the cargo platform in real time without interrupting the overall process. However, if the cargo platform offset exceeds 5 mm during this process, an alarm will be issued and the operation will stop.

[0033] After the fork is retracted into place, turn off the lifting motor and fork motor brake.

[0034] Refer to the attached Figure 2 , the release process is: F1: After the horizontal mechanism and the lifting motor reach the target position, the lifting motor does not close the brake and hovers at zero speed (the motor still has torque output).

[0035] F2: After the lifting motor is in place, the fork opens the brake and extends.

[0036] Before the fork is extended to the right position, the lifting brake is opened synchronously. Although the lifting motor is at zero speed, it still has torque output and the motor is always in the excitation state. In the lifting direction, due to the effect of gravity, the cargo platform moves downward, causing the cargo platform position to shift, or there is an abnormality at this time (heavy cargo, insufficient rigidity of the cargo platform, etc.), causing the cargo platform to shift. Once the cargo platform shifts, the lifting motor can pull the cargo platform to adjust to the set position in real time. During this process, if the cargo platform offset is detected to exceed 5mm, an alarm will be issued.

[0037] After the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed (the motor still has torque output).

[0038] F3: After the forks are extended to the right position, the fork motor brake is not closed. To prevent the cargo platform from tilting, the cargo moves with the forks. At this time, the fork speed is 0, but the output torque is not 0.

[0039] The lifting brake opening time coincides with the fork operation time. After the fork is in place, since the lifting motor is in an excitation state, the lifting motor does not need to spend time opening the brake again. The lifting motor can run and drive the cargo platform to descend, saving the lifting brake opening time.

[0040] During the descent of the cargo platform, set the average descent acceleration , Maximum speed , the initial speed and final speed are 0, and the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo ; Minimum distance To determine the value, refer to the attached Fig. 9 , which is opposite to picking up goods, provides a schematic diagram of the movement posture of the fork when placing goods. The spacing ③ in the figure represents the distance that the goods touch the shelf, and the fork can move freely within this distance.

[0041] like ; The lifting action first accelerates uniformly from 0 to the maximum speed , then at maximum speed Uniform motion, finally from the maximum speed decelerate to 0; ; Distance formula: ; ( ) / ; ; like ; Then, the lifting action first accelerates uniformly from 0, and before reaching the maximum speed, it decelerates uniformly to 0; According to the distance formula ,but, ; Calculate the shortest time required to reach the permitted descent altitude.

[0042] Problems such as old fork machinery and electrical parameters can easily lead to overshoot or backlash, causing the fork to be out of the set position range. Since the fork is always in an excited state, it can continue to run and adjust to the set position without interrupting the overall process. Therefore, the shortest time is used to confirm that the fork contacts the goods (or the pallet carrying the goods). Within the required shortest time, the fork is allowed to move, and overshoot or back-movement of the fork are considered safe; however, if the fork has not run to the set position after the shortest time required, or the fork moves after the shortest time required, an alarm will be issued.

[0043] After the fork is lowered into place, the lifting motor does not close the brake and hovers at zero speed. Since the fork motor is in the excitation state, it does not need to open the brake to execute the fork retraction movement. The time for the fork motor to open the brake is saved. At this time, the deviation between the real-time position and the set position of the cargo platform is calculated again, especially the maximum allowable deviation. During the fork retraction and reset process, if the cargo platform is within the maximum allowable deviation range, it can continue to run without interrupting the entire process.

[0044] F4: After the loading platform is lowered into place, the forks are retracted.

[0045] If the position of the cargo platform is offset during the fork retraction process (due to insufficient rigidity of the cargo platform, etc.), the lifting motor will pull the cargo platform to adjust in real time. If the deviation of the cargo platform exceeds 5mm, an alarm will be sounded and the operation will stop.

[0046] After the fork is retracted into place, turn off the lifting motor and fork motor brake.

[0047] For further information, see Attachment Figure 3 This embodiment provides a stacker pick-up and release control system, which is used to implement the above-mentioned stacking pick-up and release control method, including: Detection unit, detecting the real-time position, speed and acceleration of the cargo platform; The data processing unit calculates the distance deviation between the real-time position of the cargo platform and the set position according to the real-time position of the cargo platform; and calculates the shortest time required for the fork to pick up or put down the cargo according to the operating status of the fork; The control unit, the detection unit, the data processing unit, the fork motor, and the lifting motor are electrically connected to the control unit respectively; The control unit controls the fork motor to run or hover at zero speed through instructions, and the fork motor drives the fork to extend or retract; the control unit controls the lifting motor to run through instructions, pulling and adjusting the cargo platform to remain in the set position; the control unit determines whether the fork runs to the set position within the shortest time required for the fork to pick up or put down the goods. When the fork does not reach the set position, an alarm is issued, and the fork motor and lifting motor are controlled to stop running.

[0048] The embodiment of the present invention avoids the time for closing and braking by means of zero-speed hovering. When one axis (fork shaft or lifting shaft) is running, the other axis does not simply wait for the completion of the previous process, but completes the preparatory work before the action in advance. The fork shaft and the lifting shaft run in parallel, making the stacker's picking up and releasing actions smoother, reducing the pause time caused by sequential execution, and improving the efficiency of picking up and releasing.

[0049] The efficiency of a single stacker is mainly affected by the lifting and horizontal speeds and accelerations, as well as the time it takes to pick up or put away goods. Long fork pick up and put away time will lead to lower efficiency of the single stacker, which can only be compensated by increasing the horizontal and maximum lifting speeds and accelerations. At this time, the horizontal and lifting motors will be larger, which will lead to larger selections of inverters, motor protectors, cables, etc., resulting in an increase in overall costs.

[0050] In one implementation (Example 1), a project 1 is provided, and the scenario conditions of the project are: The stacker can move 80 meters in the horizontal direction (X-axis direction), with an initial horizontal speed of 160 m / min (the motor accelerates from zero to the maximum speed, i.e. the rated speed of the motor), and a horizontal acceleration of 0.5. (in and Indicates the acceleration corresponding to the acceleration and deceleration in the horizontal direction); the height of the stacker in the lifting direction (Y-axis direction) is 20 meters, the maximum vertical speed is 40m / min (the lifting motor accelerates from zero to the maximum speed, that is, the rated speed of the motor), and the vertical acceleration is 0.5 ( and represent the acceleration corresponding to the acceleration and deceleration in the vertical direction respectively).

[0051] Refer to the attached Figure 4 , provides a comparison chart of the efficiency and time required for different fork cycles, which specifically shows the efficiency and corresponding time required for a single cycle, as well as the efficiency and corresponding time required for a compound cycle.

[0052] Among them, a single cycle refers to the journey of the fork taking the goods from the shelf to the outside of the shelf, or the journey of taking the goods from the outside of the shelf to the inside of the shelf. A compound cycle refers to the journey of taking the goods from the shelf to an undetermined location outside the shelf, and then taking the goods from the area outside the shelf to the shelf.

[0053] The stroke of the compound cycle is longer than that of the single cycle, the route is more complicated, and the time required is longer. In this implementation, the zero-speed hovering method is adopted, which can save the time of opening and closing the brake, and the compound cycle is more efficient.

[0054] Refer to the attached Figure 5 In this embodiment - Project 1, the single cycle efficiency is set to be fixed (48Tu / h) and the compound cycle efficiency is set to be fixed (58Tu / h). Under the same horizontal length L=80m and lifting length 20m, the same single cycle efficiency, required cycle time, and requirements for fork level, lifting speed and acceleration are achieved.

[0055] Take the first and sixth columns of data as an example. In the first column of data, the horizontal speed is 160m / min and the acceleration is 0.5 , lifting speed 40m / min, lifting acceleration 0.5 , the required cycle time is 14s; in the sixth column of data, the horizontal speed is 120m / min, and the horizontal acceleration is 0.5 , lifting speed 36m / min, lifting acceleration 0.5 , the required cycle time is 9s. Comparative analysis shows that the desired cycle efficiency can be achieved without the need for higher horizontal and lifting speeds, and the cycle time is reduced and the efficiency is improved, which is particularly evident in the changes in horizontal speed and acceleration.

[0056] In this embodiment, under the condition of unchanged cost, the efficiency of single cycle and compound cycle (efficiency unit: drag / hour, Tu / h) increased by 15% and 21% respectively. Under the condition of unchanged efficiency, the horizontal speed can be reduced by 25%, the acceleration can be reduced by 40%, and the lifting speed can be reduced by 10%, reducing the high requirements of related components such as inverters, motor protectors, cables, etc., and no longer limited to high-cost devices or equipment, thus reducing costs.

[0057] In another embodiment, a second project is provided, wherein the scenario conditions of the project are: The stacker can move 30 meters in the horizontal direction (X-axis direction), with a maximum horizontal speed of 160 m / min (acceleration from zero to maximum speed, i.e. the rated speed of the motor), and a horizontal acceleration of 0.5 ; The height in the lifting direction (Y-axis direction) is 6 meters, the maximum vertical speed is 40m / min, and the vertical acceleration is 0.5 .

[0058] See attached Figure 6 , the efficiency comparison chart of different fork cycle times, which specifically shows the efficiency of a single cycle and the corresponding time required, as well as the efficiency of a compound cycle and the corresponding time required.

[0059] See attached Figure 7 In this embodiment - Project 2, the single cycle efficiency is set to be fixed (74Tu / h) and the compound cycle efficiency is set to be fixed (82Tu / h). Under the same horizontal length L=20m and lifting length 6m, the same single cycle efficiency, required cycle time, and requirements for fork level, lifting speed and acceleration are achieved.

[0060] Take the first and sixth columns of data as an example. In the first column of data, the horizontal speed is 160m / min and the acceleration is 0.5 , lifting speed 40m / min, lifting acceleration 0.5 , the cycle time is 14s; in the sixth column of data, the horizontal speed is 90m / min, and the horizontal acceleration is 0.3 , lifting speed 20m / min, lifting acceleration 0.5 , the required cycle time is 9s. Comparative analysis shows that the desired cycle efficiency can be achieved without the need for higher horizontal and lifting speeds, and the cycle time is reduced and the efficiency is improved, which is particularly evident in the changes in horizontal speed and acceleration.

[0061] It can be seen that with the cost remaining unchanged, the efficiency of single cycle and compound cycle increased by 27% and 29% respectively; while with the efficiency remaining unchanged, the horizontal speed can be reduced by 44%, the acceleration by 40%, and the lifting speed by 50%.

[0062] Usually, the motor drives the fork from zero acceleration to the maximum speed (rated speed). The higher the initial speed requirement for speed and acceleration (the larger the value), the more stringent and limited the motor selection is. However, this embodiment can shorten the cycle time and improve efficiency by setting the zero-speed hovering method, and reduce the speed and acceleration requirements of the motor. The motor selection requirements are reduced, and the selection options are broadened. At a relatively low cost, the efficiency is significantly improved, thereby achieving the efficiency of reducing costs and increasing efficiency.

[0063] Therefore, the embodiments of the present invention reduce the time for picking up / placing goods, reduce the acceleration and speed of horizontal and lifting, thereby reducing the power of lifting and horizontal motors, and further reducing the specifications of a series of components such as inverters, motor protectors, cables, etc., to achieve cost reduction.

[0064] If there is a minor overshoot during lifting or fork operation, it will not affect the movement of the next axis or the overall efficiency, thus improving the stability of equipment operation. For example, when the fork is extended to the right position during picking up goods, there is an overshoot but it does not exceed the limit. At this time, the lifting axis can still operate. Under this control mode, the fork will always move to the set position, so when the lifting axis is lifted, the fork will continue to move to the target position after overshooting (the overshoot can be limited on the premise that the overshoot does not exceed the limit).

[0065] Since the lifting motor is stationary when the fork is extended, when the fork moves with load, the cargo platform device is not rigid enough and the position may shift, which may cause the fork operation logic to be interrupted and the stacker to alarm and shut down. In severe cases, the goods may scratch the shelf beam and fall.

[0066] Moreover, if the cargo is heavy, the cargo platform offset exceeds the set value after the fork is extended with the load, and the stacker will not be able to proceed to the next step.

[0067] In the embodiment of the present invention, when the rigidity of the cargo platform device is insufficient and the movement of the fork with load will cause the cargo platform to shift, the lifting motor can hover at zero speed and maintain the excitation state, and the lifting shaft can adjust the current position of the cargo platform to the set position in real time without affecting the normal operation of the fork shaft.

[0068] An embodiment of the present invention also provides an electronic device, which includes a processor and a memory; the memory stores one or more instructions, and the one or more instructions are suitable for the processor to load and execute to implement a stacking picking and releasing control method as described in the above method embodiment.

[0069] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs required for the function, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0070] The internal structure of the electronic device provided by the embodiment of the present invention may include but is not limited to: a processor, a memory and a communication interface, wherein the processor, memory and communication interface in the electronic device may be connected via a bus or other means. In the embodiments of this specification, connection via a bus is taken as an example.

[0071] Among them, the processor (or CPU, Central Processing Unit) is the computing core and control core of the electronic device. The communication interface is used for communication between the memory and the processor. The memory is used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device or a non-volatile memory device (non-volatile memory), such as at least one disk storage device; optionally, it can also be at least one storage device located away from the aforementioned processor. The memory provides a storage space, which stores the operating system of the electronic device, which may include but is not limited to: Windows system (an operating system), Linux system (an operating system), etc., and the present invention is not limited to this; and, the storage space also stores a computer program (including program code) suitable for being loaded and executed by the processor. In the embodiment of this specification, the processor loads and executes the computer program stored in the memory to implement a stacking and picking control method provided in the above method embodiment.

[0072] An embodiment of the present invention also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction, at least one program, code set or instruction set related to the AGV scheduling method of the photovoltaic cell workshop in the method embodiment. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by the processor of the electronic device to implement a stacking and picking control method provided in the above method embodiment.

[0073] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0074] It should be noted that the sequence of the embodiments of the present invention described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of this specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0075] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0076] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by programs instructing related hardware to accomplish the steps. The programs may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0077] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A stacking picking and releasing control method, characterized in that: include: During the process of picking up or putting down goods, before the fork is extended to the right position, the lifting motor brake is opened. During the process of extending the fork to pick up goods and retracting the fork, the lifting motor remains in the excitation state and hovers at zero speed; When the lifting motor is running and the cargo platform is being raised or lowered, the fork motor remains braked and is not closed, and is in an excitation state; Among them, during the process of picking up or putting away goods, when the position of the cargo platform is offset, the lifting motor pulls the cargo platform to adjust in real time to keep the cargo platform in the set position.

2. A stacking and picking control method according to claim 1, characterized in that: The pickup process is: Q1: After the horizontal mechanism and the lifting motor are in place, the lifting motor does not close the brake and hovers at zero speed; Q2: The fork motor opens the brake, the fork extends, and after the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed; Q3: After the fork is extended to the right position, the cargo platform is lifted. After it is lifted to the right position, the lifting motor does not close the brake and hovers at zero speed; Q4: After the cargo platform is slightly lifted into place, the forks are retracted. After the forks are retracted into place, the lifting motor and the fork motor brake are closed.

3. A stacking and picking control method according to claim 2, characterized in that: The process of releasing goods is: F1: The horizontal mechanism and the lifting motor do not close the brakes and hover at zero speed; F2: After the lifting motor is in place, the fork opens the brake and the fork extends. After the fork is extended to the right position, the fork motor does not close the brake and hovers at zero speed; F3: After the fork is extended to the right position, the cargo platform descends. After descending to the right position, the lifting motor does not close the brake and hovers at zero speed; F4: After the cargo platform is lowered into place, the forks are retracted. After the forks are retracted into place, the lifting motor and the fork motor brake are closed.

4. A stacking and picking and releasing control method according to claim 2, characterized in that: During the lifting process of the cargo platform, set the average acceleration of the lifting , Maximum speed , the initial speed and final speed are 0, the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo ;but, like ,but ; Distance formula: ; =( ) / ， ； like , according to the distance formula: ; ; Calculate the minimum time required to reach the allowable lifting height. If the fork overshoots or moves back within the required minimum time, it is considered safe. If the fork has not reached the set position after exceeding the required minimum time, the movement will stop and an alarm will be issued.

5. A stacking and picking and releasing control method according to claim 3, characterized in that: During the descent of the cargo platform, set the average descent acceleration , Maximum speed , the initial speed and final speed are 0, and the running distance from 0 to the maximum speed and from the maximum speed to 0 is The running time from 0 to the maximum speed and from the maximum speed to 0 is The uniform motion time is , the minimum distance from the fork to the bottom surface of the cargo , minimum time ; like ;but ; Distance formula: ; ( ) / ， ； like ; According to the distance formula ,but, ; Calculate the minimum time required to reach the allowed descent height. If the fork overshoots or moves back within the required minimum time, it is considered safe. If the fork has not reached the set position after the minimum time, an alarm will be triggered and the operation will stop.

6. A stacking cargo picking and releasing control method according to any one of claims 1 to 5, characterized in that: When the fork opens the brake and the fork is extended or retracted, the deviation between the cargo platform and the set position is calculated; the lifting motor pulls the cargo platform to the set position in real time. If the deviation of the cargo platform exceeds 5 mm, an alarm is triggered and the operation is stopped.

7. A stacker pick-up and release control system, used to implement a stacker pick-up and release control method according to any one of claims 1 to 5, characterized in that: include: Detection unit, detecting the real-time position, speed and acceleration of the cargo platform; The data processing unit calculates the distance deviation between the real-time position of the cargo platform and the set position according to the real-time position of the cargo platform; and calculates the shortest time required for the fork to pick up or put down the cargo according to the operating status of the fork; The control unit, the detection unit, the data processing unit, the fork motor, and the lifting motor are electrically connected to the control unit respectively; The control unit controls the fork motor to run or hover at zero speed through instructions, and the fork motor drives the fork to extend or retract; the control unit controls the lifting motor to run through instructions, pulling and adjusting the cargo platform to remain in the set position; the control unit determines whether the fork runs to the set position within the shortest time required for the fork to pick up or put down the goods. When the fork does not reach the set position, an alarm is issued, and the fork motor and lifting motor are controlled to stop running.

8. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement a stacking picking and releasing control method as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a stacking picking and releasing control method as described in any one of claims 1-5.

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