Warehouse storage location teaching method, electronic equipment and storage medium

Abstract

The invention relates to the field of automatic storage, in particular to a warehouse storage location teaching method, electronic equipment and a storage medium. A plurality of storage positions and a plurality of reflectors are in one-to-one correspondence, each storage position is the same as the reflector corresponding to the storage position in relative position, and the method comprises the steps that a carrying mechanism is controlled to move to the position of a reference storage position, and a photoelectric sensor is fixed to a first position on the carrying mechanism, a light beam emitted by the photoelectric sensor at the first position passes through a second position of the reflecting plate corresponding to the reference storage position; the carrying mechanism is controlled to move to a third position, so that a light beam emitted by the photoelectric sensor passes through a second position of the reflector corresponding to the to-be-demonstrated storage position; and recording the third position so as to complete the teaching of the storage position to be demonstrated.

Description

Technical Field

[0001] The present disclosure relates to the field of automated warehousing, and more specifically, to a method, electronic device, and storage medium for teaching warehouse storage locations. Background Art

[0002] With the rapid development of the manufacturing industry, factories have higher and higher requirements for the automation of product transmission and storage, and the application of automated warehouses has become more and more extensive. Generally, automated warehouses are composed of two parts: stackers and three-dimensional storage locations. At present, each storage location of the automated storage system needs to be taught, that is, the location of each storage location is obtained so that the stacker can automatically store or take out the goods later. However, it is currently necessary to manually teach each storage location, which is very inefficient when there are many storage locations in the warehouse, and the storage location location is determined by the operator's naked eye, which affects the position accuracy. Summary of the invention

[0003] One purpose of the present disclosure is to solve the problem of low efficiency and poor accuracy of manual teaching during storage location teaching in an automated warehouse.

[0004] According to one aspect of the present disclosure, a method for teaching storage locations in a warehouse is provided, wherein a plurality of storage locations correspond one-to-one to a plurality of reflective plates, and each of the storage locations has the same relative position as the reflective plate corresponding to the storage location, and the method comprises: controlling a transport mechanism to move to a position of a reference storage location, and fixing a photoelectric sensor at a first position on the transport mechanism, wherein a light beam emitted by the photoelectric sensor at the first position passes through a second position of the reflective plate corresponding to the reference storage location; controlling the transport mechanism to move to a third position, so that the light beam emitted by the photoelectric sensor passes through the second position of the reflective plate corresponding to the storage location to be taught; and recording the third position to complete the teaching of the storage location to be taught.

[0005] Optionally, controlling the transport mechanism to move to the third position includes: acquiring relevant parameters of the multiple storage locations; controlling the transport mechanism to move to the position of the storage location to be taught according to the relevant parameters; receiving a reflection signal of the light beam emitted by the photoelectric sensor, and adjusting the transport mechanism to the third position according to the reflection signal.

[0006] Optionally, the second position is the center position of the reflective plate, and adjusting the transport mechanism to the third position according to the reflected signal includes: determining the coordinates of the second position according to the reflected signal; and controlling the transport mechanism to operate based on the coordinates of the second position and move to the third position.

[0007] Optionally, determining the coordinates of the second position according to the reflected signal includes: controlling the conveying mechanism to move along a first direction and stopping moving when the reflected signal disappears, recording a first horizontal coordinate of the current position, wherein the first direction is a horizontal direction of the reflective plate; controlling the conveying mechanism to move along a second direction and stopping moving when the reflected signal appears and disappears again, recording a second horizontal coordinate of the current position, wherein the second direction is opposite to the first direction; controlling the conveying mechanism to move along the first direction and moving along a third direction when the reflected signal appears, wherein the third direction is a vertical direction of the reflective plate; stopping moving when the reflected signal disappears, recording a first vertical coordinate of the current position; controlling the conveying mechanism to move along a fourth direction and stopping moving when the reflected signal appears and disappears again, recording a second vertical coordinate of the current position, wherein the fourth direction is opposite to the third direction; determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate, and the second vertical coordinate.

[0008] Optionally, determining the coordinates of the second position based on the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate includes: determining the horizontal coordinate of the second position, the horizontal coordinate of the second position is the product of the difference between the first horizontal coordinate and the second horizontal coordinate and one half; determining the vertical coordinate of the second position, the vertical coordinate of the second position is the product of the difference between the first vertical coordinate and the second vertical coordinate and one half.

[0009] Optionally, before determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate, the method further includes: determining a reflective range according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate; and when a difference between the reflective range and a preset size of the reflective board is less than or equal to a preset error range, executing the step of determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate.

[0010] Optionally, before determining the coordinates of the second position according to the reflection signal, the step includes: in a case where the reflection signal is not received, controlling the conveying mechanism to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective board; in a case where the reflection signal is detected, controlling the conveying mechanism to stop moving, and executing the step of determining the coordinates of the second position according to the reflection signal.

[0011] Optionally, the preset size of the reflective board includes a preset length and a preset width, and the controlling the conveying mechanism to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective board includes: step one, controlling the conveying mechanism to move a first distance along a fifth direction, the fifth direction being a horizontal direction, the first distance being the product of a first parameter and the preset length, and the first parameter being the number of movements of the conveying mechanism in the horizontal direction; step two, controlling the conveying mechanism to move a second distance along a sixth direction, the sixth direction being a vertical direction, the second distance being the product of a second parameter and the preset width, and the second parameter being the number of movements of the conveying mechanism in the vertical direction; step three, controlling the conveying mechanism to move a first distance along a seventh direction, the seventh direction being opposite to the fifth direction; step four, controlling the conveying mechanism to move a second distance along an eighth direction, the eighth direction being opposite to the sixth direction; and repeating steps one to four.

[0012] According to a second aspect of the present disclosure, an electronic device is provided, comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of any one of the methods described in the first aspect are implemented.

[0013] According to a third aspect of the present disclosure, there is provided a storage medium on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0014] One technical effect of the present disclosure is that a method for warehouse teaching is provided, in which each storage position has a one-to-one corresponding reflective plate, and the relative position of each storage position and its corresponding reflective plate is the same. This method can control the conveying mechanism to move to the position of the reference storage position, and fix the photoelectric sensor on the first position of the conveying mechanism, and the light beam emitted by the photoelectric sensor at the first position passes through the second position of the reflective plate corresponding to the reference storage position. After that, the conveying mechanism is controlled to move to the third position, so that the light beam emitted by the photoelectric sensor coincides with the second position of the reflective plate of the storage position to be taught, and the third position is recorded as the position of the storage position. In the above manner, after the photoelectric sensor is fixed at the reference storage position, the same position between the storage position and the reflective plate, and the fixed position of the photoelectric sensor and the conveying mechanism can be used to control the conveying mechanism to move automatically, accurately reach the storage position to be taught, and record the position to complete the teaching. The problem of low efficiency and poor accuracy of manual teaching is solved.

[0015] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0017] Figure 1 is a flow chart of a method for teaching warehouse storage locations according to one embodiment;

[0018] Figure 2 is a schematic diagram of an example of a method for teaching warehouse storage locations according to an embodiment;

[0019] Figure 3 is a schematic diagram of an example of a method for teaching warehouse storage locations according to an embodiment;

[0020] Figure 4 is a block diagram of an electronic device according to one embodiment; DETAILED DESCRIPTION

[0021] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0022] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0023] Techniques and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the techniques and equipment should be considered part of the specification.

[0024] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0025] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0026] The present application embodiment discloses a method for teaching warehouse storage locations, specifically, Figure 1 As shown, it includes steps S11 to S13.

[0027] Step S11, controlling the transport mechanism to move to the reference storage position, and fixing the photoelectric sensor at a first position on the transport mechanism, wherein the light beam emitted by the photoelectric sensor at the first position passes through the second position of the reflector corresponding to the reference storage position.

[0028] In an embodiment, a plurality of storage locations and a plurality of reflective plates corresponding to the plurality of storage locations may be provided in the warehouse, and the relative position of each storage location and the reflective plate corresponding to the storage location is the same, such as Figure 2 As shown, there may be multiple storage locations in the warehouse, a reflective plate may be provided on the right side of each storage location, and the relative position of each storage location and its corresponding reflective plate is fixed and the same.

[0029] In the embodiment of the present application, the transport mechanism may be a stacker, and a servo motor may be provided in the stacker to perform left and right movement and lifting and lowering.

[0030] In one example, the reference storage location may be a storage location that has been taught in advance. Since the control system already knows the location of the reference storage location, it can directly control the transport mechanism to move to the location of the reference storage location.

[0031] In an example of the present embodiment, when the reference storage position has not been taught, the reference storage position can be taught by manual control. Specifically, the transport mechanism can be manually operated to the position of the reference storage position, and the position of the stacker can be fine-tuned to place the material tray in the reference storage position, and the current position of the transport mechanism can be taught as the position of the reference storage position.

[0032] In one example, the transport mechanism may also be provided with a bracket with an adjustable position, and a photoelectric sensor may be provided on the bracket. In this embodiment, after the transport mechanism reaches the reference storage position, the position of the photoelectric sensor may be adjusted by adjusting the position of the bracket, so that the light beam emitted by the photoelectric sensor coincides with the specific position of the reflector, and the reflected light beam can be received at the same time. After the photoelectric sensor is adjusted to the position, the position of the sensor may be fixed. In another example, the photoelectric sensor may be set at the first position by manual installation or other means.

[0033] In this embodiment, the second position can be arbitrarily set on the reflective plate according to actual needs. In one example, for the convenience of determination, the second position can be the center position of the reflective plate.

[0034] Step S12, controlling the transport mechanism to move to the third position so that the light beam emitted by the photoelectric sensor passes through the second position of the reflective plate corresponding to the storage position to be taught.

[0035] In one example of this embodiment, controlling the transport mechanism to move to the third position includes: obtaining relevant parameters of multiple storage locations; controlling the transport mechanism to move to the position of the storage location to be taught according to the relevant parameters; receiving a reflection signal of a light beam emitted by a photoelectric sensor, and adjusting the transport mechanism to the third position according to the reflection signal. The storage location to be taught can be any one of the multiple storage locations that has not been taught.

[0036] After the photoelectric sensor is fixed on the transport mechanism, the transport mechanism can be controlled to move and teach other untaught positions. In one example, relevant parameters of multiple storage locations can be obtained, such as the height, width, number of layers, number of columns, etc. of the storage location, and the location of the storage location to be taught can be determined based on the storage location parameters.

[0037] In one example, the transport mechanism may first teach the storage locations that have not been taught in the same column, and after the teaching of the storage locations in the column is completed, the teaching of the storage locations in the next column may be continued. Figure 2 , the height of the storage position is A, the width is B, the number of layers is 2, and the number of columns is 3. The transport mechanism can first rise up by A to reach the position of the storage position to be taught. However, since there may be errors in the transport mechanism and the shelves of the storage position, after reaching the position of the storage position to be taught, due to the photoelectric sensor, the position of the transport mechanism can also be fine-tuned by the photoelectric sensor, so that the photoelectric sensor receives the light beam reflected back from the specific position of the reflector corresponding to the storage position to be taught.

[0038] In an example of this embodiment, before determining the coordinates of the second position according to the reflection signal, it includes: when no reflection signal is received, controlling the conveying mechanism to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective plate; when a reflection signal is detected, controlling the conveying mechanism to stop moving, and executing the step of determining the coordinates of the second position according to the reflection signal.

[0039] In one example, after the transport mechanism is controlled to move to the position of the storage location to be taught, if no reflection signal is detected, the transport mechanism can be controlled to move outward layer by layer based on the position of the storage location to be taught and the preset size of the reflector, for example, in a circular motion, to search layer by layer. The spacing of each layer can be determined based on the size of the reflector to avoid missed detection. The specific position of the reflector is searched, and after the search is performed, the subsequent steps are executed.

[0040] In an example of the present embodiment, the preset size of the reflective plate includes a preset length and a preset width, and the conveying mechanism is controlled to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective plate, including: step one, controlling the conveying mechanism to move a first distance along a fifth direction, the fifth direction is a horizontal direction, the first distance is the product of a first parameter and a preset length, and the first parameter is the number of movements of the conveying mechanism in the horizontal direction; step two, controlling the conveying mechanism to move a second distance along a sixth direction, the sixth direction is a vertical direction, the second distance is the product of a second parameter and a preset width, and the second parameter is the number of movements of the conveying mechanism in the vertical direction; step three, controlling the conveying mechanism to move a first distance along a seventh direction, the seventh direction is opposite to the fifth direction; step four, controlling the conveying mechanism to move a second distance along an eighth direction, the eighth direction is opposite to the sixth direction; repeating steps one to four.

[0041] In an example, Figure 3 As shown in the figure, the center position is the position of the storage position to be taught. The conveying mechanism can be controlled to move along one side of the horizontal direction, that is, the fifth direction. In this example, it can be moved to the right by a first distance. The first distance is the number of times the conveying mechanism moves in the horizontal direction, that is, the product of 1 and the preset length a of the reflector. After that, the conveying mechanism is controlled to move along the vertical sixth direction by a second distance. The second distance is the number of times the conveying mechanism moves in the vertical direction, that is, the product of 1 and the preset width b of the reflector. Then, the conveying mechanism is controlled to move along the seventh direction opposite to the fifth direction by a first distance. Since the number of times the conveying mechanism moves in the horizontal direction, that is, the first parameter, becomes 2, the first distance of this movement is 2a. Similarly, the conveying mechanism is controlled to move along the eighth direction opposite to the sixth direction by a first distance. Since the number of times the conveying mechanism moves in the vertical direction, that is, the second parameter, becomes 2, the second distance of this movement is 2b. Since the above distances are all determined based on the size of the reflector, the above method can effectively avoid the occurrence of missed detection.

[0042] Repeat the above operation until the reflection signal is detected, then stop moving and execute the subsequent steps. Or when the number of times the transport mechanism runs exceeds the preset range and the reflection signal is not detected, stop moving and call for manual access to avoid danger.

[0043] In an example of this embodiment, adjusting the transport mechanism to the third position according to the reflection signal includes: determining the coordinates of the second position according to the reflection signal; and controlling the transport mechanism to operate based on the coordinates of the second position and move to the third position.

[0044] In this embodiment, the coordinates of the second position are determined according to the reflection signal, including: controlling the transport mechanism to move along the first direction, and stopping the movement when the reflection signal disappears, recording the first horizontal coordinate of the current position, where the first direction is the horizontal direction of the reflective plate; controlling the transport mechanism to move along the second direction, and stopping the movement when the reflection signal appears and then disappears again, recording the second horizontal coordinate of the current position, where the second direction is opposite to the first direction; controlling the transport mechanism to move along the first direction, and moving along the third direction when the reflection signal appears, where the third direction is the vertical direction of the reflective plate; stopping the movement when the reflection signal disappears, recording the first vertical coordinate of the current position; controlling the transport mechanism to move along the fourth direction, and stopping the movement when the reflection signal appears and then disappears again, recording the second vertical coordinate of the current position, where the fourth direction is opposite to the third direction; determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate, and the second vertical coordinate.

[0045] In this embodiment, the second position is the center position of the reflector. After receiving the reflection signal, the coordinates of the second position can be determined according to the reflection signal. For example, the transport mechanism can be controlled to move slowly along any side of the horizontal direction of the reflector. When the reflection signal disappears, the movement stops, and the horizontal coordinate X1 of the current position is recorded. After that, the transport mechanism is controlled to move in the opposite direction of the previous direction. When the reflection signal appears and then disappears, the movement stops, and the horizontal coordinate X2 of the current position is recorded. After that, the transport mechanism can be controlled to move in the opposite direction again. When the reflection signal is detected, the movement in the horizontal direction is stopped again, and the movement is carried out along any side of the numerical direction. The vertical coordinate Y1 until the signal disappears is recorded. Similarly, another vertical coordinate Y2 is obtained. After that, the midpoint of the reflector is calculated according to the coordinates X1, X2, Y1 and Y2.

[0046] In an example of the present embodiment, determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate includes: determining the horizontal coordinate of the second position, the horizontal coordinate of the second position is the product of the difference between the first horizontal coordinate and the second horizontal coordinate and one half; determining the vertical coordinate of the second position, the vertical coordinate of the second position is the product of the difference between the first vertical coordinate and the second vertical coordinate and one half.

[0047] In an example, after obtaining the first horizontal coordinate X1, the second horizontal coordinate X2, the first vertical coordinate Y1, and the second vertical coordinate Y2, the midpoint of the reflector can be determined based on the coordinates. Specifically, the horizontal coordinate of the midpoint of the reflector can be half the value of X1 minus X2, and the vertical coordinate can be half the value of Y1 minus Y2.

[0048] After the coordinates of the second position are determined, the transport mechanism can be controlled to operate in combination with the coordinates of the current position so that the light beam emitted by the photoelectric sensor passes through the midpoint of the corresponding reflector, which is the teaching position of the storage position to be taught.

[0049] In an example of the present embodiment, before determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate, the method further includes: determining the reflective range according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate; when the difference between the reflective range and the preset size of the reflective plate is less than or equal to the preset error range, executing the step of determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate.

[0050] Before determining the coordinates of the second position, it is also possible to determine whether the reflected signal is reflected by the corresponding reflector according to the first horizontal coordinate X1, the second horizontal coordinate X2, the first vertical coordinate Y1, and the second vertical coordinate Y2. For example, the horizontal length of the reflective range can be determined according to the value of X1-X2, and the vertical length of the reflective range can be determined according to the value of Y1-Y2. When the difference between the reflective range and the preset size of the reflector is relatively small and is less than or equal to the possible error range, it is determined that the reflective signal is obtained through the reflector, and the subsequent steps can be performed. When the difference between the reflective range and the preset size of the reflector is relatively large and is greater than the possible error range, it can be determined that the reflective signal is not obtained through the reflector. At this time, an alarm can be issued and manual intervention can be called to avoid danger.

[0051] Step S13, recording the third position, and completing the teaching of the storage position to be taught.

[0052] In this embodiment, after the teaching of a storage position to be taught is completed, step S12 and step S13 may be repeatedly executed to continue the teaching of the storage position to be taught.

[0053] In this example, a method for warehouse teaching is provided, in which each storage position has a one-to-one corresponding reflective plate, and the relative position of each storage position and its corresponding reflective plate is the same. This method can first control the conveying mechanism to move to the position of the reference storage position, and then fix the photoelectric sensor on the first position of the conveying mechanism, and the light beam emitted by the photoelectric sensor at the first position passes through the second position of the reflective plate corresponding to the reference storage position. After that, the conveying mechanism is controlled to move to the third position, so that the light beam emitted by the photoelectric sensor coincides with the second position of the reflective plate of the storage position to be taught, and the third position is recorded as the position of the storage position. In the above manner, after fixing the photoelectric sensor at the reference storage position, the same position between the storage position and the reflective plate, and the fixed position of the photoelectric sensor and the conveying mechanism can be used to control the conveying mechanism to move automatically, accurately reach the storage position to be taught, and record the position to complete the teaching. Solve the problem of low efficiency and poor accuracy of manual teaching.

[0054] The present application embodiment also provides an electronic device 300, such as Figure 4 As shown, the electronic device has a processor 301 and a memory 302, and the memory 302 stores computer instructions. When the computer instructions are executed by the processor 301, any one of the warehouse storage location teaching methods in the warehouse storage location teaching method embodiments is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0055] An embodiment of the present application also provides a storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, any one of the above-mentioned warehouse storage location teaching method embodiments is implemented and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0056] Each embodiment in the present disclosure 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 and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0057] The above describes specific embodiments of the present disclosure. 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.

[0058] The embodiments of the present disclosure may be systems, methods and / or computer program products. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present disclosure.

[0059] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0060] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0061] The computer program instructions for performing the operation of the embodiments of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of a computer-readable program instruction, and the electronic circuit may execute a computer-readable program instruction, thereby realizing various aspects of the embodiments of the present disclosure.

[0062] Various aspects of the embodiments of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0063] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0064] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0065] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of a module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0066] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for teaching warehouse storage locations, characterized in that: The plurality of storage positions correspond to the plurality of reflective plates one by one, and each storage position has the same relative position as the reflective plate corresponding to the storage position. The method comprises: Controlling the transport mechanism to move to the position of the reference storage position, and fixing the photoelectric sensor at a first position on the transport mechanism, wherein the light beam emitted by the photoelectric sensor at the first position passes through a second position of the reflector corresponding to the reference storage position; Controlling the transport mechanism to move to a third position so that the light beam emitted by the photoelectric sensor passes through the second position of the reflector corresponding to the storage position to be taught; The third position is recorded to complete the teaching of the storage position to be taught.

2. The method according to claim 1, characterized in that The controlling the transport mechanism to move to the third position comprises: Acquiring relevant parameters of the multiple storage locations; Control the transport mechanism to move to the position of the storage location to be taught according to the relevant parameters; A reflection signal of the light beam emitted by the photoelectric sensor is received, and the transport mechanism is adjusted to the third position according to the reflection signal.

3. The method according to claim 2, characterized in that The second position is the center position of the reflector, and the step of adjusting the transport mechanism to the third position according to the reflection signal includes: determining the coordinates of the second position according to the reflected signal; The transport mechanism is controlled to operate based on the coordinates of the second position and move to the third position.

4. The method according to claim 3, characterized in that Determining the coordinates of the second position according to the reflected signal includes: Controlling the transport mechanism to move along a first direction, and stop moving when the reflection signal disappears, and recording a first horizontal coordinate of a current position, wherein the first direction is a horizontal direction of the reflective plate; Controlling the transport mechanism to move along a second direction, and stopping the movement when the reflection signal disappears again after appearing, and recording a second horizontal coordinate of the current position, wherein the second direction is opposite to the first direction; Controlling the transport mechanism to move along a first direction, and in the case where the reflection signal appears, to move along a third direction, wherein the third direction is a vertical direction of the reflective plate; When the reflected signal disappears, stop moving and record the first ordinate of the current position; Controlling the transport mechanism to move along a fourth direction, and stopping the movement when the reflection signal disappears again after appearing, and recording a second longitudinal coordinate of the current position, wherein the fourth direction is opposite to the third direction; The coordinates of the second position are determined according to the first abscissa, the second abscissa, the first ordinate, and the second ordinate.

5. The method according to claim 4, characterized in that The determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate comprises: Determine a horizontal coordinate of the second position, where the horizontal coordinate of the second position is the product of a difference between the first horizontal coordinate and the second horizontal coordinate and one half; The ordinate of the second position is determined, where the ordinate of the second position is the product of a difference between the first ordinate and the second ordinate and one-half.

6. The method according to claim 4, characterized in that Before determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate, the method further includes: determining a reflection range according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate, and the second vertical coordinate; When the difference between the reflection range and the preset size of the reflection plate is less than or equal to the preset error range, the step of determining the coordinates of the second position according to the first horizontal coordinate, the second horizontal coordinate, the first vertical coordinate and the second vertical coordinate is performed.

7. The method according to claim 3, characterized in that Before determining the coordinates of the second position according to the reflected signal, the method further comprises: In the case where the reflection signal is not received, the transport mechanism is controlled to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective plate; When the reflection signal is detected, the conveying mechanism is controlled to stop moving, and a step of determining the coordinates of the second position according to the reflection signal is performed.

8. The method according to claim 7, characterized in that The preset size of the reflective plate includes a preset length and a preset width, and the controlling the transport mechanism to move outward layer by layer based on the position of the storage position to be taught and the preset size of the reflective plate includes: Step 1, controlling the transport mechanism to move a first distance along a fifth direction, wherein the fifth direction is a horizontal direction, the first distance is a product of a first parameter and the preset length, and the first parameter is the number of times the transport mechanism moves in the horizontal direction; Step 2, controlling the transport mechanism to move a second distance along a sixth direction, wherein the sixth direction is a vertical direction, the second distance is a product of a second parameter and the preset width, and the second parameter is the number of times the transport mechanism moves in the vertical direction; Step 3, controlling the transport mechanism to move a first distance along a seventh direction, wherein the seventh direction is opposite to the fifth direction; Step 4, controlling the transport mechanism to move a second distance along an eighth direction, wherein the eighth direction is opposite to the sixth direction; Repeat step 1 to step 4.

9. An electronic device comprising a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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