Stacking machine and automatic deviation correction control method

Abstract

The invention relates to the technical field of batteries, in particular to a stacking machine and an automatic deviation correction control method. The stacking machine comprises a lifting assembly, a detection assembly and a control assembly, the lifting assembly comprises a stand column and a carrying assembly mounted on the stand column, the carrying assembly comprises a carrying table and a mounting table which are oppositely arranged in the first direction, and the carrying table is used for carrying goods; the detection assembly is arranged on the mounting table and used for measuring information of the garage location; the control assembly is electrically connected with the detection assembly and used for storing the information of the storage location in a database of the stacking machine. According to the stacking machine in the embodiment of the invention, the detection assembly arranged on the mounting table is additionally arranged, and the control assembly is electrically connected with the detection assembly, so that the storage location information measured by the detection assembly can be stored in the database of the stacking machine through the control assembly, the storage location is verified, and the stacking efficiency of goods is improved.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a stacker and an automatic deviation correction control method. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] With the rapid development and progress of the global economy, competition between enterprises is becoming increasingly fierce, and production efficiency and warehousing efficiency have become the core issues of enterprise competition. The development of modern intelligent logistics has put forward higher requirements for intelligent warehousing by various enterprises.

[0004] A stacker is a special crane that grabs, carries and stacks or retrieves unit goods from high-rise shelves with a fork, and is the core equipment of a complete set of equipment for a three-dimensional storage system. The stacker in the prior art cannot verify the storage position, which reduces the stacking efficiency of goods. Summary of the invention

[0005] In view of the above problems, the present application provides a stacker and an automatic deviation correction control method, which solves the problem that the stacker in the prior art cannot verify the storage position, thereby reducing the stacking efficiency of the goods.

[0006] A first aspect of the present application provides a stacker, the stacker comprising:

[0007] A lifting assembly, the lifting assembly comprising a column;

[0008] A cargo-carrying assembly mounted on the column, the cargo-carrying assembly comprising a cargo-carrying platform and a mounting platform arranged opposite to each other along a first direction, the cargo-carrying platform being used for carrying cargo;

[0009] A detection component is arranged on the mounting table and is used to measure the information of the storage location;

[0010] The control component is electrically connected to the detection component and is used to store the information of the storage location in the database of the stacker.

[0011] The stacker in the embodiment of the present application, by adding a detection component arranged on the mounting table and electrically connecting the control component to the detection component, can store the information of the storage location measured by the detection component in the database of the stacker through the control component, thereby realizing the verification of the storage location and improving the stacking efficiency of the goods.

[0012] In some embodiments of the present application, the detection component includes a camera, which is arranged on the mounting table and used to take pictures of the storage location. In the embodiments of the present application, by arranging a camera for taking pictures of the storage location on the mounting table, the size of the storage location can be detected.

[0013] In some embodiments of the present application, there are two cameras, and the mounting platform is located between two spaced-apart columns, and the two cameras are spaced-apart on the mounting platform along the direction from one column to another column. In the embodiments of the present application, by setting a mounting platform between two spaced-apart columns and setting two cameras on the mounting platform along the direction from one column to another column, the storage location can be photographed by two cameras, thereby achieving complete photography of the storage location.

[0014] In some embodiments of the present application, the mounting platform is a rectangular plate, the number of cameras is four, and the four cameras are respectively arranged at the four end corners of the rectangular plate. In the embodiments of the present application, by setting the mounting platform as a rectangular plate and arranging four cameras at the four end corners of the rectangular plate, the storage location can be photographed and detected by the camera facing the storage location, thereby realizing the separate detection of the storage locations on both sides of the stacker in the direction of travel.

[0015] In some embodiments of the present application, the detection component further includes a light source, which is disposed on the mounting table and is used to provide light for the camera. In the embodiments of the present application, by adding a light source disposed on the mounting table, wherein the light source is used to provide light for the camera, sufficient light can be provided for the camera to shoot, thereby achieving clear shooting of the storage location.

[0016] In some embodiments of the present application, the light source includes a first light source and a second light source, and the first light source and the second light source are respectively located outside different sides of the camera. In the embodiments of the present application, by setting the first light source and the second light source respectively located outside different sides of the camera, light can be provided to the camera from different angles to improve the quality of photographing the storage location.

[0017] In some embodiments of the present application, the camera is a charge coupled device camera. The embodiments of the present application adopt a charge coupled device camera, so that the camera has the characteristics of high sensitivity, high resolution, small size and light weight.

[0018] In some embodiments of the present application, the stacker further comprises a fork, which is arranged on the mounting platform, and the extension direction of the fork intersects with the extension direction of the column. In the embodiments of the present application, by adding a fork arranged on the mounting platform, and the extension direction of the fork intersects with the extension direction of the column, the fork can be used to load and unload goods.

[0019] In a second aspect of the present application, an automatic deviation correction control method is proposed, which is applied to the stacker mentioned in the above embodiment. The automatic deviation correction control method includes:

[0020] Obtaining a distance L of the standard storage location along a first direction and a distance H along a second direction;

[0021] Determine the coordinates of the standard storage location information as (0,0);

[0022] Control the stacker to move to the storage location to be tested, and detect the distance L1 of the storage location to be tested along the first direction and the distance H1 along the second direction;

[0023] Determine the storage location information of the storage location to be measured according to L1 being within the first preset range and H1 being within the second preset range;

[0024] The storage location information of the storage location to be tested is stored in the database of the stacker;

[0025] The first preset range is related to L, and the second preset range is related to H.

[0026] The embodiment of the present application obtains the distance L of the standard storage location along the first direction and the distance H along the second direction, and determines the coordinates of the storage location information of the standard storage location as (0,0), and then determines the storage location information of the storage location to be measured within the first preset range and the second preset range according to the distance L1 of the storage location to be measured along the first direction and the distance H1 along the second direction, respectively, and stores the storage location information of the storage location to be measured in the database of the stacker, so as to realize the verification of the storage location information of the storage location to be measured, thereby improving the stacking efficiency of goods.

[0027] In some embodiments of the present application, the automatic deviation correction control method further includes re-detecting the distance L1 of the storage location to be measured along the first direction and the distance H1 along the second direction according to L1 not being within the first preset range and / or H1 not being within the second preset range. The embodiments of the present application can reduce the probability of false detection by re-detecting the distance L1 of the storage location to be measured along the first direction and the distance H1 along the second direction according to L1 not being within the first preset range and / or H1 not being within the second preset range.

[0028] In some embodiments of the present application, the step of obtaining the distance L of the standard storage location along the first direction and the distance H along the second direction includes controlling the stacker to move to the standard storage location, detecting the storage location information of the standard storage location through the detection component; or, reading and obtaining the storage location information of the pre-stored standard storage location. The embodiments of the present application can obtain the storage location information of the standard storage location by controlling the stacker to move to the standard storage location, detecting the storage location information of the standard storage location through the detection component, or reading and obtaining the storage location information of the pre-stored standard storage location. The storage location information of the standard storage location can be obtained to facilitate the correction of the storage location to be tested.

[0029] In some embodiments of the present application, determining the storage location information of the storage location to be tested specifically includes:

[0030] Obtain the coordinates of the midpoint of the line connecting the two horns of the storage location to be measured;

[0031] Determine the deviation Δx of the coordinate of the midpoint of the line connecting the two horns of the storage location to be measured and the coordinate (0,0) along the first direction and the deviation Δy along the second direction;

[0032] The deviations Δx and Δy are superimposed on the original coordinates of the storage location to be measured to determine the coordinate information of the storage location to be measured.

[0033] The embodiment of the present application determines the deviation Δx between the coordinates of the midpoint of the line connecting the two horns of the storage location to be measured and the coordinate (0,0) along the first direction and the deviation Δy along the second direction, and superimposes the deviations Δx and Δy with the original coordinates of the storage location to be measured, thereby determining the coordinate information of the storage location to be measured, obtaining the verified coordinate information of the storage location to be measured, and improving the stacking efficiency of goods.

[0034] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0036] Figure 1 Schematically shows a front view structural diagram of a stacker according to an embodiment of the present application;

[0037] Figure 2 for Figure 1 A schematic diagram of the top view of the stacker shown in FIG. 1 (the cargo platform is not shown);

[0038] Figure 3 for Figure 1 The stacker shown in ;

[0039] Figure 4 The figure schematically shows a flow chart of an automatic deviation correction control method according to an embodiment of the present application.

[0040] The reference numerals are as follows:

[0041] 100. Stacker;

[0042] 10. Lifting assembly; 11. Column;

[0043] 20. Cargo loading assembly; 21. Cargo loading platform; 22. Installation platform;

[0044] 30. Detection component; 31. Camera; 32. Light source; 321. First light source; 322. Second light source;

[0045] 40. Fork;

[0046] 200, vertical warehouse; 201, standard storage location; 2011, first horn piece; 20111, first elliptical hole; 2012, second horn piece; 20121, second elliptical hole; 202, goods; 203, storage location to be measured. DETAILED DESCRIPTION

[0047] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0049] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0050] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0053] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0054] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0055] At present, judging from the development of the market situation, the application of battery packs is becoming more and more extensive. Battery packs are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but also widely used in electric vehicles such as electric bicycles, electric motorcycles, electric cars, as well as military equipment and aerospace and other fields. With the continuous expansion of the application field of battery packs, the market demand is also constantly expanding.

[0056] In order to store related products, such as battery packs, vertical warehouses are usually used to save space. In order to transport batteries, stackers are usually used. However, stackers in the prior art cannot verify the storage location, which reduces the stacking efficiency of goods.

[0057] In order to solve this technical problem, an embodiment of the present application provides a stacker, which includes a detection component and a control component, wherein the detection component is arranged on a mounting table and is used to measure the information of the storage location; the control component is electrically connected to the detection component and is used to store the information of the storage location in a database of the stacker to realize the verification of the storage location.

[0058] The stacker in this application can be used in vertical warehouses in the lithium battery industry and warehouses in other industries to realize the transfer of goods.

[0059] The structure in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0060] The first aspect of the present application provides a stacker 100, such as Figure 1 to Figure 2 As shown, the stacker 100 includes a lifting component 10, a loading component 20 installed on a column 11, a detection component 30 and a control component (not shown), wherein the lifting component 10 includes the column 11; the loading component 20 includes a cargo platform 21 and a mounting platform 22 arranged relatively to each other along a first direction, and the cargo platform 21 is used to carry cargo 202; the detection component 30 is arranged on the mounting platform 22, and is used to measure the information of the storage location; the control component is electrically connected to the detection component 30, and is used to store the information of the storage location in the database of the stacker 100.

[0061] It should be noted that the storage location here can be a standard storage location 201 or a storage location to be tested 203, wherein the standard storage location 201 is a storage location that has passed the manual verification.

[0062] In the embodiment of the present application, the stacker 100 is a double-column structure, the number of columns 11 is two, and the two columns 11 are relatively parallel. The lifting assembly 10 is generally provided with a lifting motor (not shown) to realize the movement of the load assembly 20 in the vertical direction, effectively utilize the narrow height space, and improve the utilization rate of the space. The vertical direction here is Figure 3 The second direction in is consistent.

[0063] In order to realize the vertical movement of the carrier assembly 20, a lifting guide rail and a synchronous belt are generally provided, and the lifting motor drives the synchronous belt to move in the vertical direction, wherein the carrier assembly 20 is connected to the lifting assembly 10 through the synchronous belt and can move relative to the lifting assembly 10. Among them, the lifting motor, the lifting guide rail and the synchronous belt are common components of the stacker 100, and will not be introduced in detail here.

[0064] The detection component 30 mentioned here is arranged on the mounting table 22, and can measure the storage location. The control component is electrically connected to the detection component 30, and can store the information of the storage location in the database of the stacker 100, thereby realizing automatic verification of the storage location. Compared with the manual verification method, the stacker 100 in the embodiment of the present application can realize automatic verification, thereby improving the stacking efficiency of the goods 202.

[0065] The stacker 100 in the embodiment of the present application, by adding a detection component 30 disposed on the mounting platform 22 and electrically connecting the control component to the detection component 30, can store the information of the storage location measured by the detection component 30 in the database of the stacker 100 through the control component, thereby realizing the verification of the storage location and improving the stacking efficiency of the goods 202.

[0066] In addition, the control component mentioned here mainly refers to the control panel of the stacker 100, which can be a PLC (Programmable Logic Controller) to realize the control of various signals of the stacker 100, such as movement, taking pictures, judgment and other functions.

[0067] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the detection component 30 includes a camera 31, which is arranged on the mounting table 22 and is used to take pictures of the storage location. It should be noted that the camera 31 here can also be replaced by other structures, such as a rangefinder, etc. The viewing angle of the camera 31 can cover the entire storage location to achieve the measurement of the size of the storage location. The measurement here can be the result of direct measurement, or the measurement result obtained after signal conversion, which will not be explained here.

[0068] In the embodiment of the present application, by arranging a camera 31 for taking pictures of the storage location on the mounting platform 22, the size of the storage location can be detected.

[0069] Optionally, the number of cameras 31 is two, and the mounting platform 22 is located between two columns 11 spaced apart, along the direction from one column 11 to the other column 11, that is, along Figure 1 In the horizontal direction, two cameras 31 are arranged on the mounting platform 22 at intervals.

[0070] In the embodiment of the present application, a mounting platform 22 is set between two spaced-apart columns 11, and two cameras 31 are spaced-apart on the mounting platform 22 along a direction from one column 11 to another column 11. The storage location can be photographed by the two cameras 31, thereby achieving complete photography of the storage location.

[0071] It should be noted that the two cameras 31 here are used in conjunction with each other to achieve complete shooting of the storage location.

[0072] Alternatively, if Figure 1 and Figure 2 As shown, the mounting platform 22 is a rectangular plate, and the number of cameras 31 is four, and the four cameras 31 are respectively arranged at the four end corners of the rectangular plate. Among them, the four cameras 31 do not need to work at the same time, and the camera 31 facing the storage position can be used for photo detection.

[0073] In the embodiment of the present application, the mounting platform 22 is configured as a rectangular plate, and four cameras 31 are disposed at the four end corners of the rectangular plate. The storage locations can be photographed and detected by the cameras 31 facing the storage locations, thereby separately detecting the storage locations on both sides of the moving direction of the stacker 100.

[0074] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the detection component 30 also includes a light source 32 , which is disposed on the mounting platform 22 and is used to provide light for the camera 31 .

[0075] The embodiment of the present application adds a light source 32 disposed on the mounting platform 22, wherein the light source 32 is used to provide light for the camera 31, thereby providing sufficient light for the camera 31 to shoot, thereby achieving clear shooting of the storage location.

[0076] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the light source 32 includes a first light source 321 and a second light source 322, and the first light source 321 and the second light source 322 are respectively located outside different sides of the camera 31. The first light source 321 and the second light source 322 are arranged in different directions, such as the first light source 321 can be arranged horizontally and the second light source 322 can be arranged vertically.

[0077] The embodiment of the present application provides a first light source 321 and a second light source 322 respectively located outside different sides of the camera 31, so that light can be provided to the camera 31 from different angles, thereby improving the quality of photographing the storage location.

[0078] In some embodiments of the present application, the camera 31 is a charge coupled device (CCD) camera 31. The embodiments of the present application use a charge coupled device camera 31, so that the camera 31 has the characteristics of high sensitivity, high resolution, small size and light weight.

[0079] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the stacker 100 further includes a fork 40, which is disposed on the mounting platform 22, and the extension direction of the fork 40 intersects with the extension direction of the column 11. The number of forks 40 is generally two, and in other cases, it can also be one or more than three. The extension direction of the fork 40 is generally horizontal, and the extension direction of the column 11 is generally vertical, and the fork 40 is used to disassemble the goods 202.

[0080] In the embodiment of the present application, by adding a fork 40 disposed on the mounting platform 22 , and the extension direction of the fork 40 is arranged to intersect with the extension direction of the column 11 , the cargo 202 can be loaded and unloaded by the fork 40 .

[0081] Optionally, the cargo carrying assembly 20 is movably disposed on the column 11 and can move upward or downward relative to the column 11 , thereby adjusting the cargo 202 in the height direction.

[0082] In a second aspect of the embodiments of the present application, an automatic deviation correction control method is proposed, which is applied to the stacker 100 mentioned in the above embodiments. Figure 3 and Figure 4 As shown, the automatic deviation correction control method includes:

[0083] S41, obtaining a distance L of the standard storage location 201 along a first direction and a distance H along a second direction;

[0084] S42, determining that the coordinates of the storage location information of the standard storage location 201 are (0,0);

[0085] S43, controlling the stacker 100 to move to the storage location to be measured 203, and detecting the distance L1 of the storage location to be measured 203 along the first direction and the distance H1 along the second direction;

[0086] S44, determining the storage location information of the storage location to be measured 203 according to L1 being within the first preset range and H1 being within the second preset range;

[0087] S45 , storing the storage location information of the storage location to be measured 203 in the database of the stacker 100 ; wherein the first preset range is related to L, and the second preset range is related to H.

[0088] exist Figure 3 In the vertical warehouse 200, a plurality of storage locations are set, including a standard storage location 201 and a storage location to be tested 203, wherein the standard storage location 201 is a qualified storage location determined by manual verification. Considering that horns are usually set in the storage location, the embodiment of the present application determines the size information of the standard storage location 201 by measuring the distance L along the first direction between the center of the first elliptical hole 20111 of the first horn 2011 and the center of the second elliptical hole 20121 of the second horn 2012, and the distance H along the second direction.

[0089] Among them, the center of the first elliptical hole 20111 is A, the center of the second elliptical hole 20121 is B, the midpoint of the line connecting A and B is C, and the coordinates of C are used to represent the coordinate information (0,0) of the standard storage location 201.

[0090] In the same way, the stacker 100 is moved to the position of the storage location 203 to be tested above the standard storage location 201, and the distance L1 along the first direction and the distance H1 along the second direction of the storage location 203 to be tested are detected to determine whether L1 is within the first preset range and whether H1 is within the second preset range. If both are qualified, the storage location information of the storage location 203 to be tested is determined, and the storage location information of the storage location 203 to be tested is stored in the database of the stacker 100. In other words, the verified storage location information of the storage location 203 to be tested is stored in the database of the stacker 100 to achieve automatic verification of the storage location 203 to be tested.

[0091] It should be noted that the first preset range may be L±1mm, or L±2mm, and the second preset range may be H±1mm or H±2mm. The specific tolerance may be determined according to the size of the storage location, and it is also feasible to select preset values ​​in other ranges.

[0092] The embodiment of the present application obtains the distance L of the standard storage location 201 along the first direction and the distance H along the second direction, and determines that the coordinates of the storage location information of the standard storage location 201 are (0,0), and then determines the storage location information of the storage location 203 to be tested within the first preset range and the second preset range according to the distance L1 of the storage location 203 to be tested along the first direction and the distance H1 along the second direction, respectively, and stores the storage location information of the storage location 203 to be tested in the database of the stacker 100, so that the storage location information of the storage location 203 to be tested can be verified, thereby improving the stacking efficiency of the goods 202.

[0093] In some embodiments of the present application, the automatic deviation correction control method further includes re-detecting the distance L1 of the storage location 203 to be tested along the first direction and the distance H1 along the second direction according to L1 not being within the first preset range and / or H1 not being within the second preset range, and issuing a warning message. The embodiments of the present application can reduce the probability of false detection by re-detecting the distance L1 of the storage location 203 to be tested along the first direction and the distance H1 along the second direction according to L1 not being within the first preset range and / or H1 not being within the second preset range. In addition, by issuing a warning message, manual intervention can be prompted.

[0094] If one or both of the results of the retest are still outside the preset range, a warning message is issued and verification is performed using manual intervention.

[0095] In some embodiments of the present application, the step of obtaining the distance L of the standard storage location along the first direction and the distance H along the second direction includes controlling the stacker 100 to move to the standard storage location 201, detecting the storage location information of the standard storage location 201 through the detection component 30; or, reading and obtaining the pre-stored storage location information of the standard storage location 201.

[0096] The embodiments of the present application can obtain the storage location information of the standard storage location 201 by controlling the stacker 100 to move to the standard storage location 201, detecting the storage location information of the standard storage location 201 through the detection component 30, or reading and obtaining the pre-stored storage location information of the standard storage location 201. The storage location information of the standard storage location 201 can be obtained to facilitate the correction of the storage location 203 to be tested.

[0097] In some embodiments of the present application, determining the storage location information of the storage location to be measured 203 specifically includes obtaining the coordinates of the midpoint of the line connecting the two horn pieces of the storage location to be measured 203;

[0098] Determine the deviation Δx of the coordinates of the midpoint of the line connecting the two horns of the storage location 203 to be measured and the coordinate (0,0) along the first direction and the deviation Δy along the second direction;

[0099] The deviations Δx and Δy are superimposed on the original coordinates of the storage location 203 to be measured to determine the coordinate information of the storage location 203 to be measured. In the embodiment of the present application, the coordinate information of the storage location 203 to be measured is determined by determining the deviation Δx along the first direction and the deviation Δy along the second direction between the coordinates of the midpoint of the line connecting the two horns of the storage location 203 to be measured and the coordinates (0,0), and superimposing the deviations Δx and Δy on the original coordinates of the storage location 203 to be measured, thereby obtaining the coordinate information of the storage location 203 to be measured after verification, thereby improving the stacking efficiency of the goods 202.

[0100] In order to better illustrate the automatic deviation correction control method in the embodiment of the present application, specific data will be used for detailed description.

[0101] Control the stacker 100 to move to the standard storage location 201, detect the storage location information of the standard storage location 201 through the detection component 30, or read and obtain the pre-stored storage location information of the standard storage location 201;

[0102] The distance L of the standard storage location 201 along the first direction and the distance H of the second direction are obtained. Assuming that L is 100 mm and H is 10 mm, the coordinates of the storage location information of the standard storage location 201 are determined to be (0, 0).

[0103] The stacker 100 is controlled to move to the adjacent storage location 203 to be tested above the standard storage location 201, and the distance L1 of the storage location 203 to be tested along the first direction and the distance H1 along the second direction are detected. Assume that L1 is 101mm and H1 is 9mm, wherein L1 is within the first preset range of 100±1mm and H1 is within the second preset range of 10±1mm, and both L1 and H1 are within the qualified range. The coordinates of the storage location information of the storage location 203 to be tested and the coordinates of the storage location information of the standard storage location 201 are determined to be (0, 0) and the deviations Δx and Δy, wherein when the two coordinates coincide, Δx and Δy are both 0, and when the two coordinates do not coincide, the data of Δx and Δy are obtained. It is assumed here that Δx is -1mm and Δy is 1mm.

[0104] Δx is -1 mm and Δy is 1 mm, which is transmitted to the control component. The control component superimposes the original coordinates of the storage location 203 to be measured with Δx and Δy respectively to obtain new storage location coordinates of the storage location 203 to be measured, and stores them in the database of the stacker 100 .

[0105] The original coordinates of the storage location 203 to be measured are the storage location coordinates under an ideal state, and its horizontal coordinate is the same as the standard storage location 201, and the vertical coordinate is the distance between two adjacent storage locations. For example, in this embodiment, assuming that the original coordinates of the storage location 203 to be measured are (0, 10), the new storage location coordinates of the storage location 203 to be measured are (-1, 11), and the new storage location coordinates (-1, 11) are stored in the database of the stacker 100.

[0106] Using the same method, after checking other storage locations 203 to be tested in the counter storage 200 one by one, the checked storage location coordinates are stored in the database of the stacker 100, and stacking is performed according to the checked storage location coordinates, thereby improving the stacking efficiency of the goods 202.

[0107] It should be noted that the stacker 100 can also move in the horizontal direction, so as to detect the to-be-tested storage location 203 adjacent to the standard storage location 201 along the second direction. The horizontal movement of the stacker 100 can be achieved along the guide rail.

[0108] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A stacker, characterized in that: The stacker comprises: A lifting assembly, the lifting assembly comprising a column; A cargo-carrying assembly mounted on the column, the cargo-carrying assembly comprising a cargo-carrying platform and a mounting platform arranged opposite to each other in a first direction, the cargo-carrying platform being used for carrying cargo; A detection component, which is arranged on the mounting platform and is used to measure the information of the storage location; A control component is electrically connected to the detection component and is used to store the information of the storage location in a database of the stacker.

2. The stacker according to claim 1, characterized in that: The detection component includes a camera, which is arranged on the mounting platform and is used to take pictures of the storage location.

3. The stacker according to claim 2, characterized in that: The number of the cameras is two, and the mounting platform is located between the two columns that are spaced apart. Along the direction from one column to the other column, the two cameras are spaced apart on the mounting platform.

4. The stacker according to claim 2, characterized in that: The mounting platform is a rectangular plate, the number of the cameras is four, and the four cameras are respectively arranged on the four end corners of the rectangular plate.

5. The stacker according to claim 2, characterized in that: The detection component also includes a light source, which is arranged on the mounting platform and is used to provide light for the camera.

6. The stacker according to claim 5, characterized in that: The light source includes a first light source and a second light source, and the first light source and the second light source are respectively located outside different sides of the camera.

7. The stacker according to claim 2, characterized in that: The camera is a charge coupled device camera.

8. The stacker according to any one of claims 1 to 7, characterized in that: The stacker further comprises a fork, which is arranged on the mounting platform, and an extending direction of the fork intersects with an extending direction of the column.

9. An automatic deviation correction control method, applied to the stacker according to any one of claims 1 to 8, characterized in that: The automatic deviation correction control method comprises: Obtaining a distance L of the standard storage location along a first direction and a distance H along a second direction; Determine that the coordinates of the storage location information of the standard storage location are (0,0); Control the stacker to move to the storage location to be measured, and detect the distance L1 of the storage location to be measured along the first direction and the distance H1 along the second direction; Determine the storage location information of the storage location to be measured according to L1 being within the first preset range and H1 being within the second preset range; Storing the storage location information of the storage location to be measured in the database of the stacker; The first preset range is related to L, and the second preset range is related to H.

10. The automatic deviation correction control method according to claim 9, characterized in that: The automatic deviation correction control method also includes: According to L1 not being within the first preset range and / or H1 not being within the second preset range, the distance L1 of the storage location to be measured along the first direction and the distance H1 along the second direction are detected again.

11. The automatic deviation correction control method according to claim 9, characterized in that: The step of obtaining the distance L of the standard storage location along the first direction and the distance H along the second direction includes: Control the stacker to move to a standard storage location, and detect the storage location information of the standard storage location through the detection component; Alternatively, read and obtain the storage location information of the pre-stored standard storage location.

12. The automatic deviation correction control method according to claim 9, characterized in that: Determining the storage location information of the storage location to be tested specifically includes: Obtain the coordinates of the midpoint of the line connecting the two horns of the storage location to be measured; Determine the deviation Δx of the coordinates of the midpoint of the line connecting the two horns of the storage location to be measured and the coordinate (0,0) along the first direction and the deviation Δy along the second direction; The deviations Δx and Δy are respectively superimposed on the original coordinates of the storage location to be measured to determine the coordinate information of the storage location to be measured.

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