Stacker and automatic correction control method

Abstract

The application relates to the technical field of batteries, in particular to a stacking machine and an automatic deviation rectification 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 load carrying assembly mounted on the stand column. The load carrying assembly comprises a load carrying platform and a mounting platform which are oppositely arranged along a first direction. The load carrying platform is used for carrying goods. The detection assembly is arranged on the mounting platform and is used for measuring information of a storage location. The control assembly is electrically connected with the detection assembly and is used for storing the information of the storage location in a database of the stacking machine. In the embodiment of the application, the detection assembly is arranged on the mounting platform, the control assembly is electrically connected with the detection assembly, the information of the storage location measured by the detection assembly can be stored in the database of the stacking machine through the control assembly, the storage location is checked, and the stacking efficiency of the goods is improved.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to a stacker crane and an automatic correction control method. Background Technology

[0002] This section provides only background information relevant to this disclosure and is not necessarily prior art.

[0003] With the rapid development and progress of the global economy, competition among enterprises is becoming increasingly fierce, and production efficiency and warehousing efficiency have become core issues in enterprise competition. The development of modern intelligent logistics has placed higher demands on intelligent warehousing for various enterprises.

[0004] A stacker crane is a specialized crane that uses forks to grab, move, stack, or retrieve unit goods from high-level racks. It is a core piece of equipment in an automated storage and retrieval system (AS / RS). Current stacker crane technologies cannot verify storage locations, reducing the efficiency of goods stacking. Summary of the Invention

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

[0006] The first aspect of this application discloses a stacker crane, which includes:

[0007] Lifting assembly, which includes a column;

[0008] The loading assembly installed on the column includes a loading platform and a mounting platform arranged opposite each other along a first direction, the loading platform being used to carry goods;

[0009] The detection component is mounted on the mounting platform and is used to measure information about the storage location.

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

[0011] In the embodiments of this application, the stacker crane adds a detection component mounted on the mounting platform and electrically connects the control component to the detection component. This allows the control component to store the storage location information measured by the detection component in the stacker crane's database, thereby verifying the storage location and improving the stacking efficiency of goods.

[0012] In some embodiments of this application, the detection component includes a camera mounted on a mounting platform for photographing the storage location. By mounting a camera on the platform to photograph the storage location, the dimensions of the storage location can be detected.

[0013] In some embodiments of this application, two cameras are used, and the mounting platform is located between two spaced-apart columns. The two cameras are spaced apart on the mounting platform along the direction from one column to the other. By setting up a mounting platform between two spaced-apart columns and spaced two cameras on the platform along the direction from one column to the other, the embodiments of this application can take pictures of the storage location using two cameras, achieving a complete photograph of the storage location.

[0014] In some embodiments of this application, the mounting platform is a rectangular plate, and the number of cameras is four, with each camera positioned at one of the four corners of the rectangular plate. By setting the mounting platform as a rectangular plate and placing four cameras at the four corners of the rectangular plate, the storage locations can be photographed and detected by the cameras facing the storage locations, enabling separate detection of storage locations on both sides of the stacker crane's travel direction.

[0015] In some embodiments of this application, the detection component further includes a light source disposed on a mounting platform for providing light to the camera. By adding a light source disposed on the mounting platform to provide light to the camera, the embodiments of this application can provide sufficient light for the camera to capture images of the storage location, thus achieving clear imaging of the storage location.

[0016] In some embodiments of this application, the light source includes a first light source and a second light source, which are located outside different sides of the camera. By setting the first and second light sources outside different sides of the camera, the embodiments of this application can provide light to the camera from different angles, thereby improving the quality of photographing the storage location.

[0017] In some embodiments of this application, the camera is a charge-coupled device (CCD) camera. By employing a CCD camera, the embodiments of this application enable the camera to possess characteristics such as high sensitivity, high resolution, small size, and light weight.

[0018] In some embodiments of this application, the stacker crane further includes forks, which are disposed on a mounting platform and whose extension direction intersects with the extension direction of the uprights. By adding forks disposed on a mounting platform and whose extension direction intersects with the extension direction of the uprights, the embodiments of this application enable the loading and unloading of goods via the forks.

[0019] A second aspect of this application proposes an automatic deviation correction control method applied to the stacker crane mentioned in the above embodiments. The automatic deviation correction control method includes:

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

[0021] The coordinates of the standard storage location are determined to be (0,0);

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

[0023] Based on L1 within the first preset range and H1 within the second preset range, determine the storage location information of the storage location to be tested;

[0024] Store the location information of the storage location to be tested into the stacker crane's database;

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

[0026] The embodiments of this application obtain the distance L along the first direction and the distance H along the second direction of the standard storage location, and determine the coordinates of the standard storage location as (0,0). Then, based on the distance L1 along the first direction and the distance H1 along the second direction of the storage location to be tested, the storage location information of the storage location to be tested is determined within a first preset range and a second preset range, respectively. The storage location information of the storage location to be tested is stored in the database of the stacker crane, which can realize the verification of the storage location information of the storage location to be tested and improve the stacking efficiency of goods.

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

[0028] In some embodiments of this application, the steps of obtaining the distance L along the first direction and the distance H along the second direction of the standard storage location include controlling the stacker crane to move to the standard storage location and detecting the storage location information of the standard storage location through a detection component; or, reading and obtaining the storage location information of the pre-stored standard storage location. Embodiments of this application can obtain the storage location information of the standard storage location through either controlling the stacker crane to move to the standard storage location and detecting the storage location information of the standard storage location through a detection component, or reading and obtaining the storage location information of the pre-stored standard storage location. This allows for the acquisition of the storage location information of the standard storage location, facilitating the correction of the storage location under test.

[0029] In some embodiments of this 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 horn-shaped pieces in the storage location to be tested;

[0031] Determine the coordinates of the midpoint of the line connecting the two horn-shaped parts in the storage location to be tested, the deviation Δx of 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.

[0033] The embodiments of this application determine the coordinates of the midpoint of the line connecting the two horn-shaped parts of the storage location to be tested, the deviation Δx of the coordinates (0,0) along the first direction, and the deviation Δy along the second direction. The deviations Δx and Δy are then superimposed on the original coordinates of the storage location to be tested to determine the coordinate information of the storage location to be tested, thereby obtaining the verified coordinate information of the storage location to be tested and improving the stacking efficiency of goods.

[0034] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A schematic front view of a stacker crane according to one embodiment of this application is shown.

[0037] Figure 2 for Figure 1 The diagram shows a top view of the stacker crane (the loading platform is not shown).

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

[0039] Figure 4 A schematic flowchart of an automatic correction control method according to one embodiment of this application is shown.

[0040] The attached figures are labeled as follows:

[0041] 100. Stacker crane;

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

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

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

[0045] 40. Forks;

[0046] 200. Vertical warehouse; 201. Standard warehouse location; 2011. First horn-shaped component; 20111. First oval hole; 2012. Second horn-shaped component; 20121. Second oval hole; 202. Goods; 203. Warehouse location to be measured. Detailed Implementation

[0047] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0049] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0052] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0053] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0054] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0055] Currently, judging from market trends, battery packs are being used more and more widely. They are not only used in energy storage systems for hydropower, thermal power, wind power, and solar power plants, but also extensively in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in military equipment and aerospace. As the application areas of battery packs continue to expand, the market demand is also constantly increasing.

[0056] To store related products, such as battery packs, automated storage and retrieval systems (AS / RS) are typically used to save space. For transferring batteries, stacker cranes are usually employed; however, current stacker crane technology cannot verify storage locations, reducing the efficiency of goods stacking.

[0057] To address this technical problem, embodiments of this application provide a stacker crane, which includes a detection component and a control component. The detection component is mounted on a mounting platform and is used to measure storage location information. The control component is electrically connected to the detection component and is used to store the storage location information in the stacker crane's database to verify the storage location.

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

[0059] The structures in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0060] The first aspect of this application proposes a stacker crane 100, such as Figures 1 to 2 As shown, the stacker crane 100 includes a lifting assembly 10, a loading assembly 20 mounted on a column 11, a detection assembly 30, and a control assembly (not shown). The lifting assembly 10 includes a column 11; the loading assembly 20 includes a loading platform 21 and a mounting platform 22 arranged opposite to each other along a first direction, the loading platform 21 being used to carry goods 202; the detection assembly 30 is disposed on the mounting platform 22 and is used to measure storage location information; the control assembly is electrically connected to the detection assembly 30 and is used to store the storage location information in the database of the stacker crane 100.

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

[0062] In the embodiments of this application, the stacker crane 100 has a double-column structure, with two columns 11 arranged parallel to each other. The lifting assembly 10 is generally equipped with a lifting motor (not shown) to realize the vertical movement of the loading assembly 20, effectively utilizing the limited vertical space and improving space utilization. Here, the vertical direction is... Figure 3 The second direction is consistent.

[0063] To enable the vertical movement of the carrying assembly 20, a lifting guide rail and a synchronous belt are typically provided. The lifting motor drives the synchronous belt to move vertically. The carrying assembly 20 is connected to the lifting assembly 10 via the synchronous belt and can move relative to the lifting assembly 10. The lifting motor, lifting guide rail, and synchronous belt are common components of the stacker crane 100 and will not be described in detail here.

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

[0065] In the embodiments of this application, the stacker crane 100 adds a detection component 30 set on the mounting platform 22 and electrically connects the control component to the detection component 30. The control component can then store the storage location information measured by the detection component 30 in the database of the stacker crane 100, thereby verifying the storage location and improving the stacking efficiency of the goods 202.

[0066] In addition, the control components mentioned here mainly refer to the control board of the stacker crane 100, which can be a PLC (Programmable Logic Controller) to control various signals of the stacker crane 100, such as movement, taking pictures, and judgment.

[0067] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the detection component 30 includes a camera 31, which is mounted on the mounting platform 22 and used to photograph the storage location. It should be noted that the camera 31 can also be replaced by other structures, such as a rangefinder. The camera 31's field of view can cover the entire storage location, enabling the measurement of its dimensions. The measurement can be a direct measurement or a result obtained after signal conversion; this will not be discussed in detail here.

[0068] The embodiments of this application can detect the size of the storage location by setting a camera 31 on the mounting platform 22 to take pictures of the storage location.

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

[0070] The embodiments of this application provide that by setting up an installation platform 22 between two spaced columns 11 and spaced two cameras 31 on the installation platform 22 along the direction from one column 11 to the other, the storage location can be photographed by the two cameras 31, thus achieving a complete photograph of the storage location.

[0071] It should be noted that the two cameras 31 here are used together to achieve a complete shot of the warehouse location.

[0072] Optionally, such as Figure 1 and Figure 2 As shown, the mounting platform 22 is a rectangular plate, and there are four cameras 31, which are respectively set at the four corners of the rectangular plate. The four cameras 31 do not need to operate simultaneously; they can take pictures and detect objects by facing the storage location.

[0073] In the embodiments of this application, by setting the mounting platform 22 as a rectangular plate and setting four cameras 31 at the four corners of the rectangular plate, the storage location can be photographed and detected by the cameras 31 facing the storage location, so that the storage locations on both sides of the stacker crane 100 in the direction of travel can be detected separately.

[0074] In some embodiments of this application, such as 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 to the camera 31.

[0075] The embodiments of this application add a light source 32 set on the mounting platform 22, wherein the light source 32 is used to provide light for the camera 31, so that the camera 31 can provide sufficient light for shooting and achieve clear shooting of the warehouse location.

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

[0077] The embodiments of this application, by setting a first light source 321 and a second light source 322 located on different sides of the camera 31, can provide light to the camera 31 from different angles, thereby improving the quality of photographing the storage location.

[0078] In some embodiments of this application, the camera 31 is a charge-coupled device (CCD) camera 31. By employing a CCD camera 31, the embodiments of this application enable the camera 31 to have characteristics such as high sensitivity, high resolution, small size, and light weight.

[0079] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the stacker crane 100 also includes forks 40, which are mounted on the mounting platform 22, and the extension direction of the forks 40 intersects with the extension direction of the column 11. Generally, there are two forks 40, but in other cases, there may be one or more. The extension direction of the forks 40 is generally horizontal, while the extension direction of the column 11 is usually vertical. The forks 40 are used to disassemble the goods 202.

[0080] In the embodiments of this application, by adding a fork 40 set on the mounting platform 22, and the extension direction of the fork 40 intersects with the extension direction of the column 11, the loading and unloading of goods 202 can be achieved by the fork 40.

[0081] Optionally, the cargo-carrying component 20 is movably mounted 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] A second aspect of the embodiments of this application proposes an automatic correction control method, applied to the stacker crane 100 mentioned in the above embodiments, such as... Figure 3 and Figure 4 As shown, the automatic correction control method includes:

[0083] S41. Obtain the distance L along the first direction and the distance H along the second direction of the standard storage location 201;

[0084] S42. Determine the coordinates of the storage location information of standard storage location 201 as (0,0);

[0085] S43. Control the stacker crane 100 to move to the storage location 203 to be tested, and detect the distance L1 of the storage location 203 to be tested along the first direction and the distance H1 along the second direction.

[0086] S44. Based on L1 within the first preset range and H1 within the second preset range, determine the storage location information of the storage location 203 to be tested;

[0087] S45. Store the storage location information of the storage location 203 to be tested into the database of the stacker crane 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 storage unit 200, multiple storage locations are provided, including standard storage location 201 and storage location to be tested 203. Standard storage location 201 is a qualified storage location determined through manual verification. Considering that horn-shaped fittings are typically installed in the storage locations, this embodiment determines the dimensional information of the standard storage location 201 by measuring the distance L along a first direction between the center of the first elliptical hole 20111 of the first horn-shaped fitting 2011 and the center of the second elliptical hole 20121 of the second horn-shaped fitting 2012, and the distance H along a 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] Using the same method, the stacker crane 100 is moved to the position of the storage location 203 to be tested above the standard storage location 201. 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. It is determined 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 stored in the database of the stacker crane 100. In other words, the storage location information of the verified storage location 203 to be tested is stored in the database of the stacker crane 100 to realize the automatic verification of the storage location 203 to be tested.

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

[0092] The embodiments of this application obtain the distance L along the first direction and the distance H along the second direction of the standard storage location 201, and determine the coordinates of the storage location information of the standard storage location 201 as (0,0). Then, based on the distance L1 along the first direction and the distance H1 along the second direction of the storage location to be tested 203, the storage location information of the storage location to be tested 203 is determined within a first preset range and a second preset range, respectively. The storage location information of the storage location to be tested 203 is stored in the database of the stacker crane 100, which can realize the verification of the storage location information of the storage location to be tested 203 and improve the stacking efficiency of goods 202.

[0093] In some embodiments of this application, the automatic correction control method further includes re-detecting the distance L1 along the first direction and the distance H1 along the second direction of the storage location 203 under test based on L1 not being within the first preset range and / or H1 not being within the second preset range, and issuing a warning message. By re-detecting the distance L1 along the first direction and the distance H1 along the second direction of the storage location 203 under test based on L1 not being within the first preset range and / or H1 not being within the second preset range, the embodiments of this application can reduce the probability of false detection. Furthermore, issuing a warning message can remind manual intervention.

[0094] If one or both of the results of the retest are still outside the preset range, an alert will be issued and manual verification will be performed.

[0095] In some embodiments of this application, the steps of obtaining the distance L along the first direction and the distance H along the second direction of the standard storage location include controlling the stacker crane 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 this application can obtain the storage information of the standard storage location 201 by controlling the stacker crane 100 to move to the standard storage location 201, detecting the storage location information of the standard storage location 201 by the detection component 30, or reading the pre-stored storage location information of the standard storage location 201. This allows for the acquisition of the storage location information of the standard storage location 201, which is convenient for correcting the deviation of the storage location 203 to be tested.

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

[0098] Determine the coordinates of the midpoint of the line connecting the two horn pieces in the storage location 203 to be tested, the deviation Δx of 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 tested to determine the coordinate information of the storage location 203. In this embodiment, the coordinates of the midpoint of the line connecting the two horn-shaped parts of the storage location 203 to be tested, the deviation Δx along the first direction from the coordinate (0,0), and the deviation Δy along the second direction are determined. These deviations Δx and Δy are then superimposed on the original coordinates of the storage location 203 to determine the coordinate information of the storage location 203 to be tested, thus obtaining the verified coordinate information of the storage location 203 and improving the stacking efficiency of goods 202.

[0100] To better illustrate the automatic deviation control method in the embodiments of this application, specific data will be used for further explanation.

[0101] The stacker crane 100 is controlled to move to the standard storage location 201, and the storage location information of the standard storage location 201 is detected by the detection component 30, or the storage location information of the pre-stored standard storage location 201 is read.

[0102] Obtain the distance L along the first direction and the distance H along the second direction of the standard storage location 201. Assuming that L is 100mm and H is 10mm, determine the coordinates of the storage location information of the standard storage location 201 as (0, 0).

[0103] The stacker crane 100 is moved to the adjacent test location 203 above the standard storage location 201. The distance L1 along the first direction and the distance H1 along the second direction of the test location 203 are detected. Assuming L1 is 101mm and H1 is 9mm, where L1 is within a first preset range of 100±1mm and H1 is within a second preset range of 10±1mm, and both L1 and H1 are within acceptable ranges, the deviations Δx and Δy between the coordinates of the test location 203 and the coordinates of the standard storage location 201 (0, 0) are determined. When the two coordinates coincide, Δx and Δy are both 0; when they do not coincide, the data for Δx and Δy are obtained. Here, Δx is assumed to be -1mm and Δy to be 1mm.

[0104] The coordinates of Δx (-1mm) and Δy (1mm) are transmitted to the control component. The control component then superimposes the original coordinates of the storage location 203 to be measured with Δx and Δy respectively to obtain the new storage location coordinates of the storage location 203 to be measured, and saves them in the database of the stacker crane 100.

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

[0106] Using the same method, after verifying each of the other storage locations 203 to be tested in the automated warehouse 200, the verified storage location coordinates are stored in the database of the stacker crane 100, and stacking is carried out according to the verified storage location coordinates to improve the stacking efficiency of goods 202.

[0107] It should be noted that the stacker crane 100 can also move horizontally to inspect the storage location 203 adjacent to the standard storage location 201 along the second direction. The horizontal movement of the stacker crane 100 can be achieved along guide rails.

[0108] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic deviation correction control method, applied to a stacker crane, characterized in that, The stacker crane includes a lifting assembly, and the lifting assembly includes columns; The loading assembly installed on the column includes a loading platform and a mounting platform arranged opposite each other along a first direction, the loading platform being used to carry goods; A detection component, which is mounted on the mounting platform, is used to measure information about the storage location; A control component, electrically connected to the detection component, is used to store the storage location information in the stacker crane's database; The automatic correction control method includes: Obtain the distance L along the first direction and the distance H along the second direction of the standard storage location; The coordinates of the standard storage location are determined to be (0,0). Control the stacker crane 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; Based on L1 within a first preset range and H1 within a second preset range, the storage location information of the storage location to be tested is determined; The storage location information of the storage location to be tested is stored in the database of the stacker crane; Wherein, the first preset range is related to L, and the second preset range is related to H.

2. The automatic deviation correction control method as described in claim 1, characterized in that, The automatic correction control method further includes: Based on the fact that L1 is not within the first preset range and / or H1 is not within the second preset range, the distance L1 along the first direction and the distance H1 along the second direction of the storage location to be tested are detected again.

3. The automatic deviation correction control method as described in claim 1, characterized in that, The steps to obtain the distance L along the first direction and the distance H along the second direction of the standard storage location include: The stacker crane is controlled to move to a standard storage location, and the storage location information of the standard storage location is detected by a detection component; Alternatively, you can read and obtain the storage location information of the pre-stored standard storage location.

4. The automatic deviation correction control method as described in claim 1, 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 horn-shaped pieces in the storage location to be tested; Determine the coordinates of the midpoint of the line connecting the two horn pieces in the storage location to be tested, the deviation Δx of the coordinates (0,0) along the first direction, and the deviation Δy along the second direction. 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.

5. A stacker crane, said stacker crane being used to implement the automatic deviation correction control method as described in any one of claims 1 to 4, characterized in that, The stacker crane includes: Lifting assembly, the lifting assembly including a column; The loading assembly installed on the column includes a loading platform and a mounting platform arranged opposite each other along a first direction, the loading platform being used to carry goods; A detection component, which is mounted on the mounting platform, is used to measure information about the storage location; A control component, electrically connected to the detection component, is used to store the location information in the stacker crane's database.

6. The stacker crane as described in claim 5, characterized in that, The detection component includes a camera, which is mounted on the mounting platform and is used to take pictures of the storage location.

7. The stacker crane as described in claim 6, characterized in that, The number of cameras is two, and the mounting platform is located between two spaced-apart columns. The two cameras are spaced-apart on the mounting platform along the direction from one column to the other.

8. The stacker crane as described in claim 6, characterized in that, The mounting platform is a rectangular plate, and the number of cameras is four, with the four cameras respectively located at the four corners of the rectangular plate.

9. The stacker crane as described in claim 6, characterized in that, The detection component also includes a light source, which is disposed on the mounting platform and is used to provide light to the camera.

10. The stacker crane as described in claim 9, characterized in that, The light source includes a first light source and a second light source, which are located on different sides of the camera.

11. The stacker crane as described in claim 6, characterized in that, The camera is a charge-coupled device (CCD) camera.

12. The stacker crane as described in any one of claims 5 to 11, characterized in that, The stacker crane also includes forks, which are disposed on the mounting platform and whose extension direction intersects with the extension direction of the column.

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