Device and method for automatically measuring coordinates of goods grids by stacking machine

Abstract

The invention provides a device and method for a stacker to automatically measure the coordinates of goods lattices, the device comprises goods shelves, the stacker and a positioning measurement device, a plurality of goods shelves are arranged at intervals in the Z-axis direction, each goods shelf is provided with a plurality of goods lattices in a rectangular array, and the Z-axis direction is the same as the depth direction of the goods lattices; the stacking machine is provided with a cargo carrying table and a telescopic pallet fork, the telescopic pallet fork is arranged on the cargo carrying table, the stacking machine can drive the cargo carrying table to move in the X-axis direction, the cargo carrying table can do lifting motion in the Y-axis direction so as to move the telescopic pallet fork to a cargo lattice at a target position, and the telescopic pallet fork can do reciprocating motion in the Z-axis direction so as to stretch into the cargo lattice or retract from the cargo lattice; the X-axis direction is the length direction of the goods shelf, and the Y-axis direction is the height direction of the goods shelf; the positioning measurement device is arranged on the stacking machine and comprises a photoelectric detection module and a distance measurement module, and the photoelectric detection module is used for confirming that the telescopic pallet fork is located in a safe telescopic fork space in a pallet grid and used for calibrating Z-direction coordinates in the pallet grid; the distance measuring module is used for measuring the X coordinate, the Y coordinate and the Z coordinate of the goods lattice at the target position, and reading the X coordinate and the horizontal walking speed of the goods carrying table when the goods carrying table moves in the X-axis direction and the Y coordinate and the lifting speed of the goods carrying table when the goods carrying table moves in the Y-axis direction in real time; the system improves the warehouse management precision, improves the measurement efficiency, guarantees the operation safety, and adapts to the intelligent warehouse development trend.

Description

Technical Field

[0001] The present invention relates to the technical field of coordinate measurement for storage compartments of stackers, and particularly to an apparatus and method for automatically measuring the coordinates of storage compartments of a stacker. Background Art

[0002] A stacker is a lifting and transporting device for moving goods between the aisles of shelves in an automated warehouse. The automated warehouse uses the storage compartments formed between the crossbeams and columns of the shelves to store goods, making full use of the vertical space and increasing the storage density.

[0003] The existing three-dimensional coordinates of the storage compartments are often measured manually. Manual operation is affected by the senses, the on-site environment, and operation skills, which will cause measurement errors. Moreover, the installation accuracy and processing accuracy of the shelves and the forklifts will also introduce errors in the measurement. When the measurement error value between the measured coordinates of the storage compartment and the actual coordinates is too large, it will lead to the forklift and the goods hitting the shelves, posing risks of equipment damage and goods falling, endangering the safety of employees and causing economic losses due to equipment damage.

[0004] Therefore, the intensive storage space poses a major challenge to the positioning accuracy of the storage compartments. Summary of the Invention

[0005] The present invention provides an apparatus and method for automatically measuring the coordinates of storage compartments of a stacker to solve the problem in the prior art that relying on manual measurement of the coordinates of storage compartments to achieve the access of goods in the storage compartments is prone to measurement errors caused by human and environmental factors.

[0006] In a first aspect, the present invention provides an apparatus for automatically measuring the coordinates of storage compartments of a stacker, including: Shelves, multiple shelves are provided, and the multiple shelves are arranged at intervals along the Z-axis direction. A plurality of storage compartments are arranged in a rectangular array on each shelf, and the Z-axis direction is the same as the depth direction of the storage compartments; A stacker, which is provided with a load platform and a telescopic forklift. The telescopic forklift is arranged on the load platform. The stacker can drive the load platform to move along the X-axis direction, and the load platform can move up and down along the Y-axis direction to move the telescopic forklift to the storage compartment at the target position. The telescopic forklift can move back and forth along the Z-axis direction to extend into or retract from the storage compartment; the X-axis direction is the length direction of the shelf, and the Y-axis direction is the height direction of the shelf; A positioning and measuring device, which is arranged on the stacker and includes an optoelectronic detection module and a ranging module. The optoelectronic detection module is used to confirm that the telescopic forklift is in the safe forkable space within the storage compartment and is used to calibrate the Z-direction coordinate within the storage compartment; the ranging module is used to measure the X coordinate, Y coordinate, and Z coordinate of the storage compartment at the target position, and is used to read in real time the X coordinate and horizontal walking speed of the load platform when moving along the X-axis direction, and the Y coordinate and lifting speed when moving along the Y-axis direction.

[0007] According to the device for automatically measuring the coordinates of storage bins of a stacker provided by the present invention, the shelf includes a first cross beam, a second cross beam and columns. The length directions of the first cross beam and the second cross beam are the same as the X-axis direction, and the length direction of the columns is the same as the Y-axis direction. The number of the first cross beams is the same as that of the second cross beams, and they are arranged at equal intervals along the Y-axis direction; a plurality of the columns are vertically connected to the first cross beam and the second cross beam along the X-axis direction, and the plurality of columns are arranged at equal intervals. The storage bin is a storage space surrounded by two adjacent first cross beams, two second cross beams and four columns.

[0008] According to the device for automatically measuring the coordinates of storage bins of a stacker provided by the present invention, the distance measuring module includes an encoder, and the encoder is arranged on the driving motors of the stacker, the load platform and the telescopic fork respectively.

[0009] According to the device for automatically measuring the coordinates of storage bins of a stacker provided by the present invention, the photoelectric detection module includes a first photoelectric detection switch, a second photoelectric detection switch, a third photoelectric detection switch and a fourth photoelectric detection switch. Each photoelectric detection switch is electrically connected to the controller of the stacker; the first photoelectric detection switch and the second photoelectric detection switch are arranged at intervals along the Z-axis direction on the telescopic fork and are used for calibrating the Z-direction coordinate in the storage bin. The distance between the first photoelectric detection switch and the second photoelectric detection switch is equal to the distance between the inner walls or outer walls of the first cross beam and the second cross beam. The third photoelectric detection switch and the fourth photoelectric detection switch are arranged at intervals along the X-axis direction on the side of the load platform facing the shelf and are used for corresponding the fork to the adjacent storage bin so that the fork is in the safe forkable space in the storage bin.

[0010] According to the device for automatically measuring the coordinates of storage bins of a stacker provided by the present invention, it further includes a fifth photoelectric detection switch and a sixth photoelectric detection switch. The fifth photoelectric detection switch and the sixth photoelectric detection switch are arranged at intervals along the X-axis direction on the other side of the load platform and are used for corresponding the fork to the storage bins on the other row of the shelf.

[0011] According to the device for automatically measuring the coordinates of storage bins of a stacker provided by the present invention, the telescopic fork includes a first fork and a second fork. The first fork and the second fork are arranged at intervals along the X-axis direction, and the length directions of the first fork and the second fork are both the same as the Z-axis direction. The first photoelectric detection switch and the second photoelectric detection switch are arranged at intervals along the Z-axis direction on the first fork and / or the second fork.

[0012] According to the device for automatically measuring the coordinates of a storage bin of a stacker provided by the present invention, the ranging module further includes a first ranging sensor, a second ranging sensor, and a third ranging sensor, and the communication interfaces of each ranging sensor are connected to the controller of the stacker; the first ranging sensor is installed on the outer wall of the first fork near the end close to the load platform, the second ranging sensor is installed on the outer wall of the second fork near the end close to the load platform, and the third ranging sensor is installed on the inner or outer wall of the free end of the first fork or the second fork, and is used for measuring the distance between the first fork or the second fork and the first crossbeam when the third ranging sensor is directly opposite to the first crossbeam.

[0013] According to the device for automatically measuring the coordinates of a storage bin of a stacker provided by the present invention, the distance between the third photoelectric detection switch and the fourth photoelectric detection switch is greater than the distance between the outer walls of the first fork and the second fork.

[0014] According to the device for automatically measuring the coordinates of a storage bin of a stacker provided by the present invention, the installation positions of the third photoelectric detection switch and the fourth photoelectric detection switch in the Y-axis direction are different, and the height difference between the third photoelectric detection switch and the fourth photoelectric detection switch is the height of the second crossbeam in the Y-axis direction.

[0015] In a second aspect, the present invention also provides a method for automatically measuring the coordinates of a storage bin of a stacker. Using the device for automatically measuring the coordinates of a storage bin of a stacker described in the first aspect, the method includes the following steps: Step 1: Place the stacker at the origin (X 0 , Y 0 , Z 0 ). Step 2: The stacker travels uniformly along the X-axis direction to the storage bin located in the first row, first column, and first layer. When the photoelectric detection module detects the column, the stacker decelerates until it stops walking after the telescopic fork is completely between the two columns on both sides of the storage bin. Step 3: The load platform rises along the Y-axis direction and enters the range of the storage bin located in the first row, first column, and first layer. When the photoelectric detection module detects the second crossbeam outside the bottom layer of the storage bin, the load platform decelerates until it stops rising after the telescopic fork is in the safe forkable space inside the storage bin. Step 4: Start the telescopic fork to enter the storage bin located in the first row, first column, and first layer. When the telescopic fork extends a distance of Z p , stop, and there is no signal feedback from the photoelectric detection module. Step 5: The stacker controller records the reading X of the first ranging sensor at this time through communication 11 , the reading X of the second ranging sensor 12, the distance X of the stacker from the origin 10 , the height Y of the load platform from the origin 10 and the telescopic fork data Z 1 ; Calculate the X-direction coordinate of the storage bin as X 1 , the Y-direction coordinate is Y 1 , and store the coordinates (X 1 , Y 1 , Z 1 ) of this storage bin into the controller of the stacker; Step Six: Retract the telescopic fork, and loop through Steps Three to Five to measure the coordinates of the storage bins on the next layer until all the storage bins on all layers of the first row and first column are measured; Step Seven: Lower the load platform to the origin Y of the Y-axis 0 , execute Step Two, start measuring the coordinates of the storage bins in the first row and second column, and loop through Steps Three to Six until all the coordinates of the storage bins in the first row and second column are measured; Step Eight: Execute sequentially downwards until all the coordinates of the storage bins in the first row are measured.

[0016] According to the method for automatically measuring the coordinates of storage bins provided by the present invention, it further includes: Jump to Step One and execute sequentially downwards to measure the coordinates of the storage bins in the second row in the Z-axis direction.

[0017] An apparatus and method for automatically measuring the coordinates of storage bins provided by the present invention, by installing a photoelectric detection sensor on the load platform and a photoelectric detection sensor and a ranging sensor on the fork, judging the approximate range of the storage bin through the photoelectric detection switch, and then extending the ranging sensor into the storage bin through the telescopic fork for measurement, so as to calculate the accurate three-dimensional coordinates of the storage bin. It can not only improve the storage accuracy of goods in the stereoscopic warehouse, reduce the measurement errors caused by manual measurement, the manufacturing and installation of the shelf fork, and reduce problems such as difficult goods search and misdelivery caused by coordinate errors, greatly improving the accuracy of warehouse management; but also improve the operation efficiency. The automatic measurement system can achieve fast and continuous measurement. Compared with manually measuring each storage bin with a measuring tool, the speed is greatly increased, reducing the dependence on manual measurement. Only a small number of technical personnel are required to monitor and maintain the automatic measurement system.

[0018] In addition, it can also ensure operation safety. Since during manual measurement, employees need to climb the shelves, work at heights, or shuttle in narrow aisles, there are many potential safety hazards such as falling and collision. Automatic measurement eliminates these risks. The equipment runs on the preset track or area by itself, away from the crowded area of personnel, fundamentally ensuring the personal safety of warehouse operators.

[0019] As a key part of intelligent warehousing, the automatic measurement of the grid coordinates can be seamlessly connected with intelligent logistics equipment such as automatic stackers and AGV cars. These devices cooperate based on accurate grid coordinate information to achieve intelligent control of the entire process from warehousing, storage to outbound, promoting the intelligent advancement of the warehousing industry to a higher level. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 The front view of a device for automatically measuring the grid coordinates of a stacker according to an embodiment of the present invention.

[0022] Figure 2 The top view of a single-pallet grid shelf of a device for automatically measuring the grid coordinates of a stacker according to an embodiment of the present invention.

[0023] Figure 3 The top view of a double-pallet grid shelf of a device for automatically measuring the grid coordinates of a stacker according to another embodiment of the present invention.

[0024] Reference Signs: 1, shelf; 11, grid; 12, first cross beam; 13, second cross beam; 14, column; 2, telescopic fork; 21, first fork; 22, second fork; 23, first photoelectric detection switch; 24, second photoelectric detection switch; 25, first distance measuring sensor; 26, second distance measuring sensor; 27, third distance measuring sensor; 3, load platform; 31, third photoelectric detection switch; 32, fourth photoelectric detection switch; 33, fifth photoelectric detection switch; 34, sixth photoelectric detection switch; 4, pallet; 5, stacker. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] The following will be combined with Figures 1 - 3Device and method for automatically measuring coordinates of storage bins of a stacker crane according to the present invention.

[0027] A device for automatically measuring the coordinates of storage bins of a stacker crane provided in this embodiment includes: a shelf 1, a stacker crane 5, and a positioning and measuring device.

[0028] Among them, a plurality of shelves 1 are provided, and the plurality of shelves 1 are arranged at intervals in the Z-axis direction. A plurality of storage bins 11 are arranged in a rectangular array on each shelf 1, and the Z-axis direction is the same as the depth direction of the storage bins 11; The stacker crane 5 is provided with a load platform 3 and a telescopic fork 2. The telescopic fork 2 is arranged on the load platform 3. The stacker crane 5 can drive the load platform 3 to move in the X-axis direction, and the load platform 3 can move up and down in the Y-axis direction to move the telescopic fork 2 to the storage bin 11 at the target position. The telescopic fork 2 can reciprocate in the Z-axis direction to extend into or retract from the storage bin 11; the X-axis direction is the length direction of the shelf 1, and the Y-axis direction is the height direction of the shelf 1.

[0029] The positioning and measuring device is arranged on the stacker crane 5 and includes a photoelectric detection module and a ranging module. The photoelectric detection module is used to confirm that the telescopic fork 2 is in a safe extendable fork space in the storage bin 11 and is used to calibrate the Z-direction coordinate in the storage bin 11; the ranging module is used to measure the X coordinate, Y coordinate, and Z coordinate of the storage bin 11 at the target position, and is used to read in real time the X coordinate and horizontal walking speed when the load platform 3 moves in the X-axis direction, and the Y coordinate and lifting speed when moving in the Y-axis direction.

[0030] The above-mentioned load platform 3 is arranged on the lifting track of the stacker crane 5 through traction. As a platform for installing the fork and the photoelectric detection module and driving to carry and transport goods, it should be noted that the stacker crane 5 is a product in the prior art. The lifting structure and principle of the load platform 3 and the telescopic fork 2 are not the focus of this article and will not be elaborated here.

[0031] In this embodiment, the positioning and measuring device includes an encoder, and the encoder is respectively arranged on the driving motors of the stacker crane 5, the load platform 3, and the telescopic fork 2. Of course, a laser position sensor can also be used to replace the encoder, and the laser position sensor is respectively arranged on the stacker crane 5, the load platform 3, and the telescopic fork 2, and the same function can also be achieved.

[0032] Optionally, the load platform 3 moves in the X direction together with the stacker crane 5 by driving the running motor, and uses a laser position sensor or an encoder to measure the X coordinate of the storage bin 11 and read in real time the current X-direction coordinate and running speed of the load platform 3; the load platform 3 realizes the rising and falling movement of the load platform 3 in the Y direction through the traction of the lifting motor, and uses a laser position sensor or an encoder to measure the Y coordinate of the storage bin 11 and read in real time the current Y-direction coordinate and lifting speed of the load platform 3, where the origin X on the X-axis 0Refers to the minimum coordinate that the stacker 5 can reach in the X-axis direction, and the origin Y on the Y-axis 0 Refers to the minimum coordinate that the load platform 3 can reach in the Y-axis direction.

[0033] In this embodiment, the extension distance Z of the telescopic fork 2 p Is the same as the depth of the storage bin 11. For the convenience of manufacturing, installation, and management of the shelf 1, the storage bins 11 can adopt a unified specification, so that the extension distance of the telescopic fork 2 in the Z direction is fixed, that is, the coordinate in the Z direction Is fixed.

[0034] In some specific embodiments, the shelf 1 includes a first crossbeam 12, a second crossbeam 13, and columns 14. The length directions of the first crossbeam 12 and the second crossbeam 13 are the same as the X-axis direction, and the length direction of the columns 14 is the same as the Y-axis direction. The number of the first crossbeam 12 and the second crossbeam 13 is the same and they are arranged at equal intervals along the Y-axis direction; a plurality of columns 14 are perpendicularly connected to the first crossbeam 12 and the second crossbeam 13 in the X-axis direction, and the plurality of columns 14 are arranged at equal intervals. The storage bin 11 is a storage space surrounded by two adjacent first crossbeams 12, two second crossbeams 13, and four columns 14.

[0035] In this embodiment, the positioning and measuring device includes a photoelectric detection module. The photoelectric detection module includes a first photoelectric detection switch 23, a second photoelectric detection switch 24, a third photoelectric detection switch 31, and a fourth photoelectric detection switch 32. Each photoelectric detection switch is electrically connected to the controller of the stacker 5; the first photoelectric detection switch 23 and the second photoelectric detection switch 24 are arranged at intervals along the Z-axis direction on the telescopic fork 2, and are used to calibrate the coordinate in the Z direction in the storage bin 11. The distance between the first photoelectric detection switch 23 and the second photoelectric detection switch 24 is equal to the distance between the inner wall or outer wall of the first crossbeam 12 and the second crossbeam 13. The inner wall refers to the surface where the two forks are closest in the X direction, and the outer wall refers to the surface where the two forks are farthest in the X direction. The third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are arranged at intervals along the X-axis direction on the side of the load platform 3 facing the shelf 1, and are used to correspond the fork to the storage bin 11, so that the fork is in a safe extendable fork space in the storage bin 11.

[0036] That is to say, when the distance between the first photoelectric detection switch 23 and the second photoelectric detection switch 24 is fixed, the extension distance of the telescopic fork 2 is Z p When, the first photoelectric detection switch 23 and the second photoelectric detection switch 24 exactly have no reflection signal. When the first photoelectric detection switch 23 or the second photoelectric detection switch 24 has a reflection signal, there is a processing or installation error in the shelf 1. Adjust the extension distance of the fork so that the first photoelectric detection switch 23 and the second photoelectric detection switch 24 have no signal. By reading the encoder value, obtain the actual coordinate of the storage bin 11 in the Z direction , and store it in the controller.

[0037] Further, it further includes a fifth photoelectric detection switch 33 and a sixth photoelectric detection switch 34. The fifth photoelectric detection switch 33 and the sixth photoelectric detection switch 34 are arranged at intervals along the X-axis direction on the other side of the loading platform 3, and are used to correspond the forklift forks to the storage compartments 11 on another row of shelves 1.

[0038] In this embodiment, the telescopic forklift forks 2 include a first forklift fork 21, a second forklift fork 22, a motor and an encoder. The first forklift fork 21 and the second forklift fork 22 are arranged at intervals along the X-axis direction, and the length directions of the first forklift fork 21 and the second forklift fork 22 are both the same as the Z-axis direction. The first photoelectric detection switch 23 and the second photoelectric detection switch 24 are arranged at intervals along the Z-axis direction on the first forklift fork 21 and / or the second forklift fork 22.

[0039] In this embodiment, the positioning and measuring device includes a ranging module. The ranging module includes a first ranging sensor 25, a second ranging sensor 26 and a third ranging sensor 27. The communication interfaces of each ranging sensor are all connected to the controller of the stacker 5; the first ranging sensor 25 is installed on the outer wall of the end of the first forklift fork 21 close to the loading platform 3, and the second ranging sensor 26 is installed on the outer wall of the end of the second forklift fork 22 close to the loading platform 3, and both can correspond to the position of the column after the forklift forks extend a distance of Z, ensuring that the sensors can measure data; the third ranging sensor 27 is installed on the inner wall or outer wall of the free end of the first forklift fork 21 or the second forklift fork 22, and is used to measure the distance between the first forklift fork 21 or the second forklift fork 22 and the first cross beam 12 when the third ranging sensor 27 is directly opposite to the first cross beam 12. p After that, its position corresponds to the column, ensuring that the sensor can measure data; the third ranging sensor 27 is installed on the inner wall or outer wall of the free end of the first forklift fork 21 or the second forklift fork 22, and is used to measure the distance between the first forklift fork 21 or the second forklift fork 22 and the first cross beam 12 when the third ranging sensor 27 is directly opposite to the first cross beam 12.

[0040] Preferably, the distance between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is greater than the distance between the outer walls of the first forklift fork 21 and the second forklift fork 22.

[0041] In some embodiments, the installation position of the third photoelectric detection switch 31 is lower than the installation position of the fourth photoelectric detection switch 32, and the installation position of the third photoelectric detection switch 31 is flush with the bottom of the first forklift fork 21; and the height difference between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is the height of the second cross beam 13 in the Y-axis direction. When the loading platform 3 is at the starting point in the Y-axis direction, the positions of the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are both lower than the bottommost second cross beam 13.

[0042] In some other embodiments, the installation position of the fourth photoelectric detection switch 32 is lower than that of the third photoelectric detection switch 31, and the installation position of the fourth photoelectric detection switch 32 is flush with the bottom of the first fork 21; and the height difference between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is the height of the second cross beam 13 in the Y-axis direction. When the cargo platform 3 is at the starting point in the Y-axis direction, the positions of both the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are lower than the bottommost second cross beam 13.

[0043] An embodiment of the present invention also provides a method for automatically measuring the coordinates of a cargo grid by a stacker, which is applied to a shelf 1 where a pallet 4 is placed in each cargo grid 11. Refer to Figure 1 and Figure 2 , in this example, the installation height of the third photoelectric detection switch 31 in the Y direction is lower than that of the fourth photoelectric detection switch 32, and the relative positions of the other photoelectric detection switches and the ranging sensors are as Figure 2 shown, and specifically include the following steps.

[0044] Step 1, place the stacker 5 at the origin (X 0 , Y 0 , Z 0 ).

[0045] Step 2, the controller of the stacker 5 controls the stacker 5 to move uniformly along the X direction and go to the cargo grid 11 on the first layer of the first row and the first column. After the fourth photoelectric detection switch 32 detects the left column 14 of the target position cargo grid 11 of the column 14, it runs at a low speed until the third photoelectric detection switch 31 stops walking after passing through the column 14.

[0046] Step 3, the cargo platform 3 rises along the Y-axis direction and enters the range of the cargo grid 11 on the first layer of the first row and the first column. When the fourth photoelectric detection switch 32 detects the second cross beam 13 outside the bottom layer of the cargo grid 11, the cargo platform 3 decelerates and rises until the emission signal of the lowest-positioned third photoelectric detection switch 31 passes through the second cross beam 13, and stops lifting after confirming that there is no signal from both the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32.

[0047] Step 4, start the telescopic fork 2 to enter the cargo grid 11 on the first layer of the first row and the first column. When the telescopic fork 2 extends by Z p and then stops. If there is a signal from the first photoelectric detection switch 23 or the second photoelectric detection switch 24, fine-tune at a low speed until there is no signal feedback from both the first photoelectric detection switch 23 and the second photoelectric detection switch 24.

[0048] Step 5, the controller of the stacker 5 records the readings of the first ranging sensor 25 as X 11 , the readings of the second ranging sensor 26 as X 12 , and the readings of the third ranging sensor 27 as Y11 、The distance X of the stacker 5 from the origin 10 、The height Y of the load platform 3 from the origin 10 and the telescopic fork data Z 1 ; Calculate the coordinate of the storage cell 11 in the X direction as X 1 and the coordinate in the Y direction as Y 1 and store the coordinates X 1 and Y 1 and Z 1 of the storage cell 11 into the controller of the stacker 5

[0049] Among them, , ,Z 1 Z p ,Y 12 is the ideal height difference between the telescopic fork 2 and the bottom cross beam of the storage cell 11

[0050] Step Six: Retract the telescopic fork 2, and loop through Steps Three to Five to measure the coordinates of the storage cells 11 on the next layer until all layers of the storage cells 11 in the first row and first column are measured

[0051] Step Seven: Lower the load platform 3 to the origin Y of the Y-axis 0 and execute Step Two to start measuring the coordinates of the storage cells 11 in the first row and second column, and loop through Steps Three to Six until all the coordinates of the storage cells 11 in the first row and second column are measured

[0052] Step Eight: Execute sequentially downwards until all the coordinates of the storage cells 11 in the first row are measured

[0053] Furthermore, when measuring the coordinates of the storage cells 11 in the second row in the Z direction, jump to Step One and execute sequentially downwards, where the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 in Step Two and Step Three are respectively replaced by the fifth photoelectric detection switch 33 and the sixth photoelectric detection switch 34 until all the coordinates of the storage cells 11 in the second row are measured

[0054] In the present invention, by installing the third photoelectric detection switch 31, the fourth photoelectric detection switch 32, the fifth photoelectric detection switch 33, and the sixth photoelectric detection switch 34 on the load platform 3, the approximate ranges in the X direction and Y direction of the storage cell 11 can be determined to ensure a safe telescopic fork space for the telescopic fork 2; the theoretical fork extension distance Z is calibrated by using the first photoelectric detection switch 23 and the second photoelectric detection switch 24 installed on the telescopic fork 2 p and then the precise coordinate in the X direction of the storage cell 11 is calculated through the readings of the first distance measuring sensor 25 and the second distance measuring sensor 26 installed on the telescopic fork 2, and the precise coordinate in the Y direction of the storage cell 11 is calculated through the reading of the third distance measuring sensor 27

[0055] Among them, the first photoelectric detection switch 23 and the second photoelectric detection switch 24 can be used to accurately measure the Z-direction coordinate of the storage grid 11, reducing the influence caused by the manufacturing and installation errors between the first cross beam 12 and the second cross beam 13 of the shelf 1. The X-direction coordinate of the storage grid 11 can be accurately obtained through the readings of the first distance measurement sensor 25 and the second distance measurement sensor 26, avoiding the influence of the manufacturing and installation errors between two adjacent storage grids of the shelf 1. The Y-direction coordinate of the storage grid 11 can be accurately obtained by using the reading of the third sensor, reserving an accurate safety space between the telescopic fork 2, the first cross beam 12 and the second cross beam 13.

[0056] An embodiment of the present invention further provides a method for automatically measuring the coordinates of the storage grid of a stacker, which is applied to a shelf 1 with double pallets placed in each storage grid 11. Refer to Figure 3 , in this example, two pallets 4 are placed in a storage grid 11, and it is required that there is a sufficient safety distance between the upright posts 14 on both sides of the storage grid 11 and the two pallets 4 , specifically including the following steps.

[0057] Step 1: Place the stacker 5 at the origin (X 0 , Y 0 , Z 0 ).

[0058] Step 2: The stacker 5 travels uniformly along the X-axis direction and goes to the storage grid 11 located on the first layer of the first row and the first column. When the fourth photoelectric detection switch 32 detects the upright post 14, the stacker 5 decelerates until it stops walking after the third photoelectric detection switch 31 passes the upright post 14.

[0059] Step 3: The load platform 3 rises along the Y-axis direction and enters the range of the storage grid 11 located on the first layer of the first row and the first column. When the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 detect the second cross beam 13 on the outside of the bottom layer of the storage grid 11, the load platform 3 decelerates and rises until the emission signal of the lowest-positioned third photoelectric detection switch 31 or fourth photoelectric detection switch 32 passes through the second cross beam 13, and stops lifting after confirming that there is no signal from both the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32.

[0060] Step 4: Start the telescopic fork 2 to enter the storage grid 11 located on the first layer of the first row and the first column, and stop when the telescopic fork 2 extends by Z p . If the first photoelectric detection switch 23 or the second photoelectric detection switch 24 has a signal, make a low-speed fine adjustment until there is no signal feedback from both the first photoelectric detection switch 23 and the second photoelectric detection switch 24.

[0061] Step 5: The controller of the stacker 5 records the reading X of the first distance measurement sensor 25 at this time through communication 11 , the reading X of the second distance measurement sensor 2612 , the reading Y of the third distance measuring sensor 27 11 , the distance X of the stacker 5 from the origin 10 , the height Y of the load platform 3 from the origin 10 and the telescopic fork data Z 1 ; calculate the X-direction coordinate of the left pallet 4 in the storage bin 11 on the first layer of the first row and first column as X 1 , the X-direction coordinate of the right pallet 4 is X 2 , the Y-direction coordinate is Y 1 , and store the coordinates X 1 , Y 1 , Z 1 and X 2 , Y 1 , Z 1 of this storage bin 11 to the controller of the stacker 5

[0062] Among them, , , , Z 1 Z p , Y 12 is the ideal height difference between the telescopic fork 2 and the bottom crossbeam of the storage bin 11

[0063] Step Six: Retract the telescopic fork 2, and loop through Steps Three to Five to measure the coordinates of the storage bins 11 on the next layer until the coordinates of all the storage bins 11 in both columns of this storage bin 11 have been measured

[0064] Step Seven: Lower the load platform 3 to the origin Y of the Y-axis 0 , execute Step Two, start measuring the coordinates of the two pallets 4 in the storage bin 11 of the first row and second column, and loop through Steps Three to Six until the coordinates of all the storage bins 11 in the first row and second column have been measured

[0065] Step Eight: Execute sequentially downwards until the coordinates of all the storage bins 11 in the first row have been measured

[0066] Furthermore, when measuring the coordinates of the storage bins 11 in the second row in the Z direction, jump to Step One and execute sequentially downwards, where the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 in Step Two and Step Three are respectively replaced by the fifth photoelectric detection switch 33 and the sixth photoelectric detection switch 34 until the coordinates of all the storage bins 11 in the second row have been measured

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A device for automatically measuring cargo grid coordinates for a stacker, characterized in that: include: A plurality of shelves (1) are provided, wherein the plurality of shelves (1) are arranged at intervals along the Z-axis direction, and each shelf (1) is provided with a plurality of cargo compartments (11) in a rectangular array, wherein the Z-axis direction is the same as the depth direction of the cargo compartments (11); A stacker (5) is provided with a cargo platform (3) and a telescopic fork (2), wherein the telescopic fork (2) is arranged on the cargo platform (3), the stacker (5) can drive the cargo platform (3) to move along the X-axis direction, the cargo platform (3) can perform lifting movement along the Y-axis direction to move the telescopic fork (2) to the cargo grid (11) at the target position, and the telescopic fork (2) can reciprocate along the Z-axis direction to extend into the cargo grid (11) or retract from the cargo grid (11); the X-axis direction is the length direction of the shelf (1), and the Y-axis direction is the height direction of the shelf (1); a positioning and measuring device, arranged on the stacker (5), comprising a photoelectric detection module and a distance measurement module, wherein the photoelectric detection module is used to confirm that the telescopic fork (2) is in a safe extendable fork space in the cargo box (11) and is used to calibrate the Z-direction coordinate in the cargo box (11); The distance measuring module is used to measure the X coordinate, Y coordinate and Z coordinate of the cargo grid (11) at the target position, and is used to read in real time the X coordinate and horizontal walking speed of the cargo platform (3) when it moves along the X-axis direction, and the Y coordinate and lifting speed when it moves along the Y-axis direction.

2. The device for automatically measuring cargo grid coordinates of a stacker according to claim 1, characterized in that: The shelf (1) comprises a first crossbeam (12), a second crossbeam (13) and a column (14); the length direction of the first crossbeam (12) and the second crossbeam (13) is the same as the X-axis direction; the length direction of the column (14) is the same as the Y-axis direction; the first crossbeam (12) and the second crossbeam (13) are the same in number and are arranged at equal intervals along the Y-axis direction; a plurality of the columns (14) are vertically connected to the first crossbeam (12) and the second crossbeam (13) along the X-axis direction, and the plurality of the columns (14) are arranged at equal intervals; the cargo compartment (11) is a storage space surrounded by two adjacent first crossbeams (12), two adjacent second crossbeams (13) and four adjacent columns (14).

3. The device for automatically measuring cargo grid coordinates of a stacker according to claim 2, characterized in that: The distance measuring module comprises an encoder, and the encoder is respectively arranged on the drive motors of the stacker (5), the cargo platform (3) and the telescopic fork (2).

4. The device for automatically measuring cargo grid coordinates of a stacker according to claim 2, characterized in that: The photoelectric detection module comprises a first photoelectric detection switch (23), a second photoelectric detection switch (24), a third photoelectric detection switch (31) and a fourth photoelectric detection switch (32), each of which is electrically connected to a controller of the stacker (5); the first photoelectric detection switch (23) and the second photoelectric detection switch (24) are arranged at intervals along the Z-axis direction on the telescopic fork (2) for calibrating the Z-direction coordinate in the cargo compartment (11), and the spacing between the first photoelectric detection switch (23) and the second photoelectric detection switch (24) is equal to the spacing between the inner wall or the outer wall of the first beam (12) and the second beam (13); the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) are arranged at intervals along the X-axis direction on a side of the cargo platform (3) facing the shelf (1) for aligning the fork with the adjacent cargo compartment (11) so that the fork is in a safe fork-extending space in the cargo compartment (11).

5. The device for automatically measuring cargo grid coordinates of a stacker according to claim 4, characterized in that: It also includes a fifth photoelectric detection switch (33) and a sixth photoelectric detection switch (34), wherein the fifth photoelectric detection switch (33) and the sixth photoelectric detection switch (34) are arranged at intervals along the X-axis direction on the other side of the cargo platform (3) and are used to make the cargo fork correspond to the cargo grid (11) on another row of the shelves (1).

6. The device for automatically measuring cargo grid coordinates of a stacker according to claim 4, characterized in that: The telescopic fork (2) comprises a first fork (21) and a second fork (22), the first fork (21) and the second fork (22) being arranged at intervals along the X-axis direction, and the length directions of the first fork (21) and the second fork (22) are both the same as the Z-axis direction, and the first photoelectric detection switch (23) and the second photoelectric detection switch (24) are arranged at intervals along the Z-axis direction on the first fork (21) and / or the second fork (22).

7. The device for automatically measuring cargo grid coordinates of a stacker according to claim 6, characterized in that: The distance measuring module further comprises a first distance measuring sensor (25), a second distance measuring sensor (26) and a third distance measuring sensor (27), wherein the communication interfaces of the respective distance measuring sensors are connected to the controller of the stacker (5); the first distance measuring sensor (25) is mounted on the outer wall of the first fork (21) close to the end of the cargo platform (3), the second distance measuring sensor (26) is mounted on the outer wall of the second fork (22) close to the end of the cargo platform (3), and the third distance measuring sensor (27) is mounted on the inner wall or outer wall of the free end of the first fork (21) or the second fork (22), and is used for measuring the distance between the first fork (21) or the second fork (22) and the first crossbeam (12) when the third distance measuring sensor (27) is directly opposite to the first crossbeam (12).

8. The device for automatically measuring cargo grid coordinates of a stacker according to claim 6, characterized in that: The distance between the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) is greater than the distance between the outer walls of the first fork (21) and the second fork (22).

9. The device for automatically measuring cargo grid coordinates of a stacker according to claim 8, characterized in that: The third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) are installed at different positions in the Y-axis direction, and the height difference between the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) is the height of the second beam (13) in the Y-axis direction.

10. A method for automatically measuring cargo grid coordinates by a stacker, using the device for automatically measuring cargo grid coordinates by a stacker as claimed in any one of claims 2 to 9, characterized in that: The following steps are involved: Step 1: Place the stacker (5) at the origin (X0, Y0, Z0); Step 2: The stacker (5) moves at a constant speed along the X-axis direction to the cargo box (11) located at the first row, first column, first layer. When the photoelectric detection module detects the column (14), the stacker (5) slows down and stops moving until the telescopic fork (2) is completely between the two columns (14) on both sides of the cargo box (11); Step 3: The cargo platform (3) rises along the Y-axis direction and enters the range of the cargo grid (11) located in the first row, first column, and first layer. When the photoelectric detection module detects the second crossbeam (13) on the outer side of the bottom layer of the cargo grid (11), the cargo platform (3) slows down and rises until the telescopic fork (2) is in a safe fork-extending space in the cargo grid (11), and then stops rising or falling; Step 4: Start the telescopic fork (2) to enter the cargo compartment (11) located at the first row, first column, first layer. When the telescopic fork (2) is extended to a distance Z p Then it stops, and there is no signal feedback from the photoelectric detection module; Step 5: The stacker (5) controller records the reading X of the first distance measuring sensor (25) at this time through communication. 11 , the reading of the second distance measuring sensor (26) X 12 、The distance X between stacker (5) and the origin 10 、Height Y of the cargo platform (3) from the origin 10 and fork extension data Z p ; Calculate the coordinates of the cargo grid (11) in the X direction as X1 and the coordinates of the Y direction as Y1, and store the coordinates (X1, Y1, Z1) of the cargo grid (11) in the controller of the stacker (5); Step 6, retract the telescopic fork (2), and loop through steps 3 to 5 to measure the coordinates of the next level of cargo compartments (11), until all levels of cargo compartments (11) in the first row and first column are measured; Step 7: The cargo platform (3) descends to the Y-axis origin Y0, and step 2 is executed to start measuring the coordinates of the cargo compartments (11) in the first row and second column, and steps 3 to 6 are executed repeatedly until the coordinates of all cargo compartments (11) in the first row and second column are measured; Step 8: Continue in sequence until the coordinates of all cargo compartments (11) in the first row are measured.

11. The method for automatically measuring cargo grid coordinates by a stacker according to claim 10, characterized in that: Also includes: Jump to step 1 and continue to measure the coordinates of the second row of shelves (11) in the Z-axis direction.

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