Shelf system and positioning method thereof, electronic device, readable medium and program product

Abstract

The embodiment of the invention provides a shelf system, a positioning method thereof, electronic equipment, a readable medium and a program product. The goods shelf system comprises a goods shelf, the goods shelf comprises a plurality of layers of storage positions, rails are arranged on the two sides of the bottom of the same layer of storage positions respectively, a plurality of positioning holes are formed in the rails, and the positioning holes are used for indicating the positions of the storage positions; and the shuttle vehicle is matched with the two opposite tracks of the same layer of storage positions of the adjacent goods shelf through walking wheels to move along the tracks, and the two opposite tracks form a roadway along the adjacent goods shelf, and the shuttle vehicle is configured to position the storage positions on the adjacent goods shelf based on the positioning holes in the two opposite tracks respectively. According to the embodiment of the invention, the positioning accuracy of the storage positions on the adjacent goods shelves can be effectively ensured.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of logistics warehousing, and in particular, to a shelf system, a positioning method thereof, an electronic device, a readable medium, and a program product. Background Art

[0002] A shuttle car is an automated storage device used in combination with special shelves, and it can be applied to warehousing scenarios with high-density storage and high-efficiency access. Usually, the storage locations on the same layer of the shelves on both sides of the aisle formed by adjacent shelves are aligned with each other, and positioning holes for indicating the storage locations are only provided on the shelves on one side of the aisle. After the shuttle car reaches the positioning holes, it can pick up and place goods at the storage locations on the shelves on one side of the aisle, or pick up and place goods at the storage locations on the shelves on the other side of the aisle.

[0003] Since there will be errors and deviations during the installation of the shelves, it is easy to cause the misalignment of the storage locations on both sides of the aisle. In this case, when the shuttle car stops for picking up and placing goods according to the positioning of the positioning holes, there is no problem in picking up and placing goods at the storage locations on the side where the positioning holes are set. However, when picking up and placing goods at the storage locations on the side where no positioning holes are set, due to the deviation of the storage locations, faults such as the forklift hitting the goods may occur. Summary of the Invention

[0004] Embodiments of the present disclosure provide a shelf system, a positioning method thereof, an electronic device, a readable medium, and a program product.

[0005] In a first aspect, embodiments of the present disclosure provide a shelf system, including: shelves, including multiple layers of storage locations, with tracks respectively arranged on both sides of the bottom of the storage locations on the same layer, and a plurality of positioning holes are provided on each of the tracks, and the positioning holes are used to indicate the positions of the storage locations; a shuttle car, which is configured to move along the tracks in cooperation with two tracks opposite to the storage locations on the same layer of adjacent shelves through traveling wheels, and is configured to move along the aisle formed by the adjacent shelves through the two opposite tracks, and is configured to respectively position the storage locations on the adjacent shelves based on the positioning holes on the two opposite tracks.

[0006] In an embodiment of the present disclosure, the shuttle car includes: a vehicle body, both sides of the vehicle body are respectively configured to move along the tracks in cooperation with two tracks opposite to the storage locations on the same layer of adjacent shelves through traveling wheels; two positioning sensors, which are respectively arranged on both sides of the vehicle body and are configured to respectively detect the positioning holes on the two opposite tracks; a controller, which is arranged on the vehicle body and is configured to respectively accumulate the positioning holes detected by the two positioning sensors, and respectively position the storage locations on the adjacent shelves according to the accumulated values on each side.

[0007] In an embodiment of the present disclosure, the shelf further includes a limiting structure, and two limiting structures arranged along a first direction are provided in one storage location, where the first direction is the extending direction of the track; the shuttle vehicle further includes two forks arranged along the first direction on the vehicle body; wherein, the distance between the positioning hole and the two limiting structures in the storage location indicated by the positioning hole in the first direction is equal, and the distance between the positioning sensor and the two forks of the shuttle vehicle in the first direction is equal.

[0008] In an embodiment of the present disclosure, one positioning sensor includes two first photoelectric sensors, and the two first photoelectric sensors are arranged along the first direction on one side of the vehicle body, and the distance between the two first photoelectric sensors is less than the length of the positioning hole in the first direction.

[0009] In an embodiment of the present disclosure, the first photoelectric sensor is configured to generate two signals respectively based on the two edges of the detected positioning hole; The controller is configured to accumulate the two signals generated by the first photoelectric sensor respectively with a predetermined value.

[0010] In an embodiment of the present disclosure, the positioning holes on each track are square holes with the same size.

[0011] In an embodiment of the present disclosure, the shelf further includes an origin hole provided at one end of the track, and the origin hole is used to indicate the starting point of the movement of the shuttle vehicle; the shuttle vehicle further includes two origin sensors respectively provided on both sides of the vehicle body, and is configured to respectively detect the origin holes on the opposite two tracks; the controller is further configured to respectively position the starting points of the movement of the shuttle vehicle on the opposite two tracks according to the origin holes detected by the two origin sensors.

[0012] In an embodiment of the present disclosure, the origin holes on each track are square holes with the same size, and at least one origin hole on the opposite two tracks includes a reflective film; the origin sensor includes two second photoelectric sensors arranged side by side along the first direction on one side of the vehicle body, and the distance between the two second photoelectric sensors is less than the length of the origin hole in the first direction.

[0013] In an embodiment of the present disclosure, the controller is configured to, in response to the shuttle vehicle moving away from the origin hole, perform cumulative counting on the two signals generated by the first photoelectric sensor, and in response to the shuttle vehicle moving closer to the origin hole, perform subtractive counting on the two signals generated by the first photoelectric sensor.

[0014] In a second aspect, an embodiment of the present disclosure provides a positioning method, which is applied to a shuttle vehicle of the shelf system described in the first aspect. The positioning method includes: moving from the current position on the shelf to the target storage location according to the position information of the target storage location in the picking and placing instruction, and respectively accumulating the positioning holes on two opposite tracks detected during the movement; determining the position alignment deviation between the shuttle vehicle and the target storage location based on the accumulated values of the positioning holes on the shelf where the target storage location is located; and moving to the picking and placing position corresponding to the target storage location based on the position alignment deviation.

[0015] In an embodiment of the present disclosure, it further includes: correcting the current position of the shuttle vehicle based on the position alignment deviation.

[0016] In an embodiment of the present disclosure, the step of respectively accumulating the positioning holes on two opposite tracks detected during the movement includes: in response to the shuttle vehicle moving in the first direction, performing cumulative counting on the detected positioning holes; in response to the shuttle vehicle moving in the second direction, performing subtractive counting on the detected positioning holes, where the second direction is opposite to the first direction.

[0017] In an embodiment of the present disclosure, the shuttle vehicle includes two positioning sensors, which are respectively arranged on both sides of the vehicle body of the shuttle vehicle and are used to respectively detect the positioning holes on the two opposite tracks. One positioning sensor includes two first photoelectric sensors, and the two first photoelectric sensors are arranged along the first direction on one side of the vehicle body. The distance between the two first photoelectric sensors is less than the length of the positioning hole in the first direction. The step of respectively accumulating the positioning holes on two opposite tracks detected during the movement includes: respectively accumulating the positioning holes detected by the two first photoelectric sensors included in the positioning sensor during the movement, where the first photoelectric sensor respectively generates two signals based on the two edges of the detected positioning hole, and respectively accumulating the two signals generated by the first photoelectric sensor with a predetermined value. The step of determining the position alignment deviation between the shuttle vehicle and the target storage location based on the accumulated values of the positioning holes on the shelf where the target storage location is located includes: for the shelf where the target storage location is located, determining whether the accumulated values of the positioning holes detected by the two first photoelectric sensors included in the positioning sensor are consistent; in response to the inconsistency, determining the position alignment deviation between the shuttle vehicle and the target storage location based on the difference between the accumulated values of the two first photoelectric sensors respectively.

[0018] In a third aspect, an embodiment of the present disclosure provides an electronic device, which includes: one or more processors; a memory for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method described in the first aspect.

[0019] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0020] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0021] The shelf system, its positioning method, electronic device, readable medium, and program product provided by the embodiments of the present disclosure are such that positioning holes for indicating the positions of storage locations are provided on the two track bar tracks at the bottoms of the same-layer storage locations on adjacent shelves. The shuttle vehicle can position the storage locations on adjacent shelves according to the positioning holes on each two opposite track bar tracks. Even when the same-layer storage locations on both sides of the aisle formed by adjacent shelves are not aligned and the positioning of the same-layer storage locations on the shelves on both sides of the aisle is inconsistent, the accuracy of the positioning of the storage locations on adjacent shelves can be effectively ensured, thereby ensuring the smooth picking and placing of goods. Moreover, the structure for positioning the storage locations by setting the positioning holes is simple, has a low cost, strong applicability, and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects, and advantages of the present disclosure will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings: Figure 1 is a schematic diagram of an application scenario of a shelf system according to an embodiment of the present disclosure; Figure 2 is a top view schematic diagram of a shelf system according to an embodiment of the present disclosure; Figure 3 is a schematic diagram of a positioning sensor detecting a positioning hole according to an embodiment of the present disclosure; Figure 4 is a schematic diagram of a positioning sensor calibrating a positioning hole according to an embodiment of the present disclosure; Figure 5 is a flowchart of a positioning method according to an embodiment of the present disclosure; Figure 6 is a block diagram of an electronic device for implementing the positioning method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and do not limit the invention. Additionally, it should be noted that for ease of description, only the parts related to the relevant invention are shown in the drawings.

[0024] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the drawings and embodiments.

[0025] Figure 1 The application scenario of the shelf system 100 showing an embodiment of the present disclosure is shown. As Figure 1 shown, the storage area includes shelves 110 and a shuttle vehicle 120. Among them, the shelves 110 are used to store goods 130. The shelves 110 include multiple storage positions 111, and each storage position 111 is the position where the goods 130 are stored on the shelves 110. The shuttle vehicle 120 is used to transfer the goods 130. The shuttle vehicle 120 can run along the outer side of the shelves 110, take out the goods 130 from the storage position 111, and / or deposit the goods 130 into the storage position 111.

[0026] It should be noted that Figure 1 only the structure of one layer of the storage positions 111 in two adjacent shelves 110 in the storage area is shown. Those skilled in the art can know that the structures of the other layers of the storage positions 111 in the two adjacent shelves 110 are similar to the structure of this layer of the storage positions 111. Figure 1 Only two adjacent shelves 110 in the storage area are shown. Those skilled in the art can know that the number of the shelves 110 in the storage area can be more than two. For example, the number of the shelves 110 in the storage area can be 4, 7, 10, etc. When the number of the shelves 110 in the storage area is more than two, the structures of the other adjacent shelves in the storage area are the same as Figure 1 the structures of the adjacent shelves 110. In the embodiment of the present disclosure, the goods 130 can also be bins, and the present disclosure does not limit the form of the goods 130.

[0027] Figure 2 The shelf system 100 showing an embodiment of the present disclosure is shown. As Figure 2As shown, the shelf system 100 of the embodiments of the present disclosure may include: a shelf 110 and a shuttle vehicle 120. Among them, the shelf 110 includes multiple layers of storage positions 111. On both sides of the bottom of the same layer of storage positions 111, tracks 112 are respectively provided, and a plurality of positioning holes 113 are provided on the tracks 112. The positioning holes 113 are used to indicate the positions of the storage positions 111. The shuttle vehicle 120 is matched with two tracks 112 opposite to the same layer of storage positions 111 of the adjacent shelf 110 through walking wheels and moves along the two tracks 112, passes through the lane 140 formed by the adjacent shelves 110 along the two opposite tracks 112, and is configured to position the storage positions 111 on the adjacent shelves 110 respectively based on the positioning holes 113 on the two opposite tracks 112.

[0028] As Figure 2 shown, the x-axis direction is used to indicate the length direction of the shelf 110, the y-axis direction is perpendicular to the x-axis direction and is used to indicate the depth direction of the shelf 110, and the xoy plane is used to indicate the plane where the same layer of storage positions 111 of two adjacent shelves 110 are located. In the xoy plane, two adjacent shelves 110 are arranged in parallel along the y-axis direction, forming a lane 140 extending along the x-axis direction. The same layer of storage positions 111 of two adjacent shelves 110 are arranged in parallel along the x-axis direction respectively. Two opposite tracks 112 of two adjacent shelves 110 extend along the x-axis direction. The shuttle vehicle 120 moves along the x-axis direction through the two opposite tracks 112, and the shuttle vehicle 120 picks up and places the goods 130 along the y-axis direction from the storage position 111.

[0029] For the shelf system 100 of the embodiments of the present disclosure, by providing positioning holes 113 for indicating the positions of the storage positions 111 on both of the two opposite tracks 112 at the bottom of the same layer of storage positions 111 of the adjacent shelves 110, the shuttle vehicle 120 can respectively position the storage positions 111 on the adjacent shelves 110 according to the positioning holes 113 on the two opposite tracks 112. It can effectively ensure the accuracy of the positioning of the storage positions 111 on the adjacent shelves 110 in the case where the same layer of storage positions 111 on both sides of the lane 140 formed by the adjacent shelves 110 are not aligned and the positioning of the same layer of storage positions 111 on the shelves 110 on both sides of the lane 140 is inconsistent. Thus, it can ensure the smooth picking up and placing of the goods 130, and the structure for positioning the storage positions 111 by setting the positioning holes 113 is simple, with low cost, strong applicability, and high stability.

[0030] In some optional embodiments, as Figure 2As shown in the figure, the shuttle car 120 may include: a car body 121, two positioning sensors 122, and a controller. Among them, both sides of the car body 121 are respectively matched with two tracks 112 opposite to the same-layer storage location 111 of the adjacent shelf 110 through walking wheels and move along the two tracks 112. The two positioning sensors 122 are respectively arranged on both sides of the car body 121 and are configured to respectively detect the positioning holes 113 on the two opposite tracks 112. The controller is arranged on the car body 121 and is configured to respectively accumulate the positioning holes 113 detected by the two positioning sensors 122, and respectively position the storage locations 111 on the adjacent shelf 110 according to the accumulated values on each side. In this embodiment, by the controller respectively accumulating the positioning holes 113 detected by the positioning sensors 122 on both sides of the car body 121 of the shuttle car 120 and respectively positioning the storage locations 111 on the adjacent shelf 110 according to the accumulated values on each side, it is possible to utilize the different accumulated values of the positioning holes 113 corresponding to different storage locations 111 to identify multiple positioning holes 113 on the shelf 110.

[0031] As Figure 2 shown, tracks 112 are respectively provided at the bottoms of the same-layer storage locations 111 on the shelves 110 on the left and right sides of the roadway 140, such as a left guide rail and a right guide rail. A plurality of positioning holes 113 are provided on the tracks 112, such as positioning holes LH1, LH2, LH3,..., LH8 on the left guide rail and positioning holes RH1, RH2, RH3,..., RH8 on the right guide rail. The sizes of all the positioning holes 113 may be the same, and the distances between adjacent positioning holes 113 may be the same or different. The distances between adjacent positioning holes 113 may be determined according to the width of the storage location 111. Positioning sensors 122 are respectively provided on the left and right sides of the car body 121 of the shuttle car 120, such as a left positioning sensor LS and a right positioning sensor RS, and are respectively used to detect the positioning holes 113 on the corresponding side of the track 112. For example, the left positioning sensor LS is used to detect the positioning holes LH1, LH2, LH3,..., LH8 on the left guide rail, and the right positioning sensor RS is used to detect the positioning holes RH1, RH2, RH3,..., RH8 on the right guide rail.

[0032] Among them, when the shuttle vehicle 120 picks up and places goods at the storage locations 111 on the shelves 110 on the left and right sides of the lane 140, it can position the storage locations 111 on the left shelf 110 according to the left positioning sensor LS and the positioning holes on the left guide rail, and pick up and place goods at the storage locations 111 on the left shelf 110. It can position the storage locations 111 on the right shelf 110 according to the right positioning sensor RS and the positioning holes on the right guide rail, and pick up and place goods at the storage locations 111 on the right shelf 110. Since the shuttle vehicle 120 runs two sets of positioning programs separately to position the storage locations 111 on the shelves 110 on the left and right sides of the lane 140, the positioning of the shuttle vehicle 120 for each storage location 111 is based on the positioning holes 113 on the track 112 where the storage location 111 is located, without problems such as installation errors, which can ensure the accuracy of the positioning of the storage locations 111 on each side of the shelf 110.

[0033] For example, when the shuttle vehicle 120 picks up goods from the picking storage location corresponding to the positioning hole RH1 and places them in the placing storage location corresponding to the positioning hole RH7, the shuttle vehicle 120 can first move to the picking storage location or the placing storage location according to the position information of the picking storage location or the placing storage location through the encoder, and then calibrate the picking storage location or the placing storage location according to the positioning holes on the right guide rail detected by the right positioning sensor RS to position the picking storage location or the placing storage location. Another example is that when the shuttle vehicle 120 picks up goods from the picking storage location corresponding to the positioning hole LH3 and places them in the placing storage location corresponding to the positioning hole LH8, the shuttle vehicle 120 can first move to the picking storage location or the placing storage location according to the position information of the picking storage location or the placing storage location through the encoder, and then calibrate the picking storage location or the placing storage location according to the positioning holes on the left guide rail detected by the left positioning sensor LS to position the picking storage location or the placing storage location.

[0034] Since during the process of the shuttle vehicle 120 picking up and placing goods, the positioning sensors 122 on both sides always detect the positioning holes 113 on the track 112, and the controller accumulates the positioning holes 113 detected by the positioning sensors 122 on both sides respectively. When the controller positions according to the accumulated value of the positioning holes 113 detected by the positioning sensor 122 on one side, the controller also accumulates the positioning holes 113 detected by the positioning sensor 122 on the other side. When picking up goods on the left and placing them on the right, or picking up goods on the right and placing them on the left, it is convenient to directly position the placing storage location according to the positioning sensor 122 and the positioning holes 113 on the other side after picking up goods on one side, without having to move a long distance to confirm the positioning holes 113 on the other side, which can reduce efficiency loss.

[0035] For example, the shuttle car 120 picks up goods from the picking storage location corresponding to the positioning hole RH3 and places them in the discharging storage location corresponding to the positioning hole LH5. The shuttle car 120 can first move to the picking storage location according to the position information of the picking storage location through the encoder, and then calibrate the picking storage location to locate the picking storage location according to the positioning hole on the right guide rail detected by the right positioning sensor RS, and perform the picking operation. Then, the shuttle car 120 can first move to the discharging storage location according to the position information of the discharging storage location through the encoder, and then calibrate the discharging storage location to locate the discharging storage location according to the positioning hole on the left guide rail detected by the left positioning sensor LS, and perform the discharging operation.

[0036] Another example is that the shuttle car 120 picks up goods from the picking storage location corresponding to the positioning hole RH3 and places them in the discharging storage location corresponding to the positioning hole LH3, that is, the goods are transferred from the right to the left. The shuttle car 120 can first move to the picking storage location according to the position information of the picking storage location through the encoder, and then calibrate the picking storage location to locate the picking storage location according to the positioning hole on the right guide rail detected by the right positioning sensor RS, and perform the picking operation. If there is an installation error, at this time, the left positioning sensor LS is not in the positioning hole LH3 corresponding to the discharging storage location, and there is a deviation of L1. Before the discharging operation, the shuttle car 120 can move a distance of L1 according to the positioning hole on the left guide rail detected by the left positioning sensor LS and move into the positioning hole LH3, calibrate the discharging storage location to locate the discharging storage location, and then perform the discharging operation.

[0037] Optionally, as Figure 2 shown, the shelf may further include a limiting structure 114. Two limiting structures 114 arranged along the first direction may be provided in one storage location 111, where the first direction may be the extending direction of the track 112. The shuttle car 120 may further include two forks 123 arranged along the first direction on the vehicle body 121. Among them, the distance L0 in the first direction between the positioning hole 113 and the two limiting structures 114 in the storage location 111 indicated by the positioning hole is equal, and the distance in the first direction between the positioning sensor 122 and the two forks 123 of the shuttle car 120 is equal. For example, the first direction may be Figure 2 the x-axis direction in []. In this embodiment, by making the distance L0 in the first direction between the positioning hole 113 and the two limiting structures 114 in the storage location 111 indicated by the positioning hole equal, and the distance in the first direction between the positioning sensor 122 and the two forks 123 of the shuttle car 120 equal, the positioning hole 113 can be used to indicate the center of the storage location 111, and the positioning sensor 122 can be used to indicate the center of the two forks 123. By detecting the positioning hole 113 with the positioning sensor 122, the two forks 123 on the shuttle car 120 can be aligned with the storage location 111 on the shelf 110, so as to ensure the smooth picking and placing of the goods 130 from the storage location 111.

[0038] In an alternative example, the limiting structure 114 may be a limiting baffle. Limiting baffles may be provided on the left and right sides of the storage location 111 respectively. The extending direction of the limiting baffle may be Figure 2 the y-axis direction in Figure 2 . By providing the limiting baffles, the goods 130 in the storage location 111 can be limited left and right, and the goods 130 stored in the storage location 111 can be prevented from shifting or skewing left and right.

[0039] In an alternative example, the extending direction of the two forklift forks 123 on the vehicle body 121 may be Figure 2 the y-axis direction in Figure 2 . When the shuttle vehicle 120 moves to the picking and placing position of the target storage location 111 on the shelf 110, the shuttle vehicle 120 can extend the two forklift forks 123 along the y-axis direction from the vehicle body 121 to pick and place the goods 130 from the target storage location 111. Since the shuttle vehicle 120 can pick and place goods from the shelves 110 on both sides of the roadway 140 when moving along the roadway 140, the two forklift forks 123 can extend from both sides of the vehicle body 121 along the y-axis direction respectively to pick and place the goods in the storage locations 111 on the shelves 110 on both sides of the roadway 140.

[0040] Due to factors such as the vibration generated when the shuttle vehicle 120 runs and operates on the shelf, it is easy for the goods 130 stored in the storage location 111 on the shelf 110 to shift or skew left and right, resulting in a collision between the forklift forks 123 and the goods 130 when the shuttle vehicle 120 picks up the goods. To prevent the goods 130 from shifting or skewing left and right in the storage location 111, limiting baffles are usually provided on the left and right sides of the storage location 111 to limit the goods 130 left and right. Usually, the limiting baffles of the same-layer storage locations 111 on the shelves 110 on both sides of the roadway 140 are flush, that is, on a straight line. A positioning hole 113 for indicating the storage location 111 is only provided on the shelf 110 on one side of the roadway 140. After the shuttle vehicle 120 is positioned according to the positioning hole 113 provided on the shelf 110 on one side of the roadway 140, it can pick and place the goods 130 in the storage locations on the shelves 110 on both sides of the roadway 140.

[0041] For example, as Figure 2 shown, the limiting baffles of the first storage location 111a and the second storage location 111b are flush. The positioning hole 113 is only provided in the first storage location 111a, and not in the second storage location 111b. According to the positioning hole 113 provided in the first storage location 111a, the goods 130 can be picked and placed in the first storage location 111a, and also in the second storage location 111b.

[0042] Since the shelf 110 is usually relatively tall and long, there will be relatively large errors and deviations during the installation of the shelf 110, which easily causes the limit baffles of the same-layer storage positions 111 on both sides of the aisle 140 of the shelf 110 to be uneven, that is, not on the same straight line. In this case, the shuttle vehicle 120 positions and parks to pick up and place the goods 130 according to the positioning holes 113 provided on the shelf 110 on one side of the aisle 140. There is no problem in picking up and placing the goods 130 in the storage position on the side where the positioning holes 113 are provided. However, when picking up and placing the goods in the storage position on the side where the positioning holes 113 are not provided, due to the deviation in the position of the limit baffle, it will cause the goods 130 to collide with the limit baffle, resulting in faults such as damage to the goods 130 and deformation of the limit baffle, or it will cause the forklift 123 to collide with the goods 130, resulting in faults such as stuck goods.

[0043] For example, as Figure 2 shown, the limit baffles of the first storage position 111a and the second storage position 111b are uneven, with a deviation of L1. The positioning holes 113 are only provided in the first storage position 111a and not in the second storage position 111b. According to the positioning holes 113 provided in the first storage position 111a, there is no problem in picking up and placing the goods 130 in the first storage position 111a. When picking up and placing the goods 130 in the second storage position 111b, due to the deviation of L1 in the position of the limit baffle, it will cause the goods 130 to collide with the limit baffle, or the forklift 123 to collide with the goods 130.

[0044] By using the shelf system 100 provided by the embodiments of the present disclosure, by respectively providing positioning holes 113 for indicating the storage positions 111 on the shelves 110 on both sides of the aisle 140, the same-layer storage positions 111 on the shelves 110 on both sides of the aisle 140 can be respectively positioned according to the positioning holes 113 provided on the shelves 110 on both sides of the aisle 140. It can solve the problem that after the limit baffles are provided in the storage positions 111, due to the unevenness of the limit baffles of the same-layer storage positions 111 on the shelves 110 on both sides of the aisle 140, the shuttle vehicle 120 relies on the positioning holes 113 provided on the shelf 110 on one side of the aisle 140 to position the storage positions 111 on the shelves 110 on both sides of the aisle 140, and problems such as the goods 130 colliding with the limit baffle and the forklift 123 colliding with the goods 130 will occur during the picking up and placing of the goods 130, which can ensure the smooth picking up and placing of the goods 130 and ensure that the goods 130, limit baffles, etc. will not be deformed or damaged.

[0045] In some alternative embodiments, such as Figure 3As shown, a positioning sensor 122 may include two first photoelectric sensors 122a and 122b. The two first photoelectric sensors 122a and 122b may be arranged along a first direction and disposed on one side of the vehicle body 121. The distance between the two first photoelectric sensors 122a and 122b is less than the length of the positioning hole 113 in the first direction. In this embodiment, the positioning sensor 122 is composed of two photoelectric sensors 122a and 122b, and the distance d between the two photoelectric sensors 122a and 122b in the extending direction of the track 112 is less than the length D of the positioning hole 113 in the extending direction of the track 112. When both of the two photoelectric sensors 122a and 122b detect the positioning hole 113, it can be determined that the centers of the two photoelectric sensors 122a and 122b are aligned with the center of the positioning hole 113, and the shuttle car 120 is aligned with the target storage location 111.

[0046] Optionally, the first photoelectric sensor 122a or 122b may be configured to generate two signals respectively based on two edges of the detected positioning hole 113. The controller may be configured to accumulate the two signals generated by the first photoelectric sensor 122a or 122b respectively with a predetermined value. Among them, when each of the first photoelectric sensors 122a or 122b passes through the positioning hole 113 on the track 112, diffuse reflection will occur at the positioning hole 113. Due to the diffuse reflection, each of the first photoelectric sensors 122a or 122b will generate a falling edge signal and a rising edge signal respectively at the two edges of the positioning hole 113. By the controller accumulating the falling edge signal and the rising edge signal generated by each of the first photoelectric sensors 122a or 122b respectively, it can be determined whether the center of the positioning sensor 122 is aligned with the center of the positioning hole 113 according to the accumulated values of the two first photoelectric sensors 122a and 122b, so that the verification of the position of the storage location 111 corresponding to the positioning hole 113 can be realized.

[0047] In an alternative example, as Figure 3As shown, the initial values of the two first photoelectric sensors 122a and 122b can be preset to 0.5 in the controller respectively. The falling edge signal and rising edge signal generated by each first photoelectric sensor 122a or 122b passing through a positioning hole 113 can be accumulated by 0.5 respectively. Among them, when the first photoelectric sensor 122a passes through the first edge of the first positioning hole 113, a falling edge signal is generated. The controller accumulates 0.5 with the initial value of 0.5 according to the falling edge signal generated by the first photoelectric sensor 122a to be 1. When the first photoelectric sensor 122a passes through the second edge of the first positioning hole 113, a rising edge signal is generated. The controller accumulates 0.5 with 1 according to the rising edge signal generated by the first photoelectric sensor 122a to be 1.5. After the first photoelectric sensor 122a passes through the first positioning hole 113, the value accumulated by the controller is 1.5. And so on, when the first photoelectric sensor 122a passes through the first edge of the Nth positioning hole 113, a falling edge signal is generated. The controller accumulates 0.5 with N - 0.5 according to the falling edge signal generated by the first photoelectric sensor 122a to be N. When the first photoelectric sensor 122a passes through the second edge of the first positioning hole 113, a rising edge signal is generated. The controller accumulates 0.5 with N according to the rising edge signal generated by the first photoelectric sensor 122a to be N + 0.5. After the first photoelectric sensor 122a passes through the Nth positioning hole 113, the value accumulated by the controller is N + 0.5. After the first photoelectric sensor 122b passes through the first positioning hole 113, the value accumulated by the controller is also 1.5. After the first photoelectric sensor 122b passes through the Nth positioning hole 113, the value accumulated by the controller is also N + 0.5. The accumulation process of the controller is the same as that of the first photoelectric sensor 122a, so it will not be described here again.

[0048] Optionally, in combination with the movement direction of the shuttle 120, the positioning holes 113 detected by the two first photoelectric sensors 122a and 122b can be incrementally counted or decrementally counted respectively. In an optional example, in response to the shuttle 120 moving in the first direction, the detected positioning holes 113 can be incrementally counted. In response to the shuttle 120 moving in the second direction, the detected positioning holes 113 can be decrementally counted, where the second direction is opposite to the first direction. For example, the first direction can be Figure 2 the positive direction of the x-axis in Figure 2 and the second direction can be

[0049] Optionally, as Figure 3As shown, the positioning holes 113 on each track 112 may be square holes of the same size. Since square holes have clearer edges, it is easier to detect the two edges of the hole through a photoelectric sensor. The embodiment of the present disclosure does not limit the shape of the positioning holes 113. In other embodiments of the present disclosure, the positioning holes 113 on each track 112 may also be circular holes, oval holes, kidney-shaped holes, etc. of the same size.

[0050] As Figure 4 shown, when the shuttle car 120 verifies the position of the target storage location 111 according to the cumulative value of the positioning holes 113 detected on the shelf 110 where the target storage location 111 is located, if the cumulative values of the two first photoelectric sensors 122a and 122b included in the positioning sensor 122 are equal and both equal to N, it means that both the two first photoelectric sensors 122a and 122b detect the Nth positioning hole, and both the two first photoelectric sensors 122a and 122b are in the Nth positioning hole, and the center of the positioning sensor 122 is aligned with the center of the positioning hole 113. If the cumulative values of the two first photoelectric sensors 122a and 122b included in the positioning sensor 122 are not equal, for example, the cumulative value of the first photoelectric sensor 122a is N - 0.5, and the cumulative value of the first photoelectric sensor 122b is N, it means that the first photoelectric sensor 122b detects the Nth positioning hole and is in the Nth positioning hole, while the first photoelectric sensor 122a does not detect the Nth positioning hole and is not in the Nth positioning hole, and the positioning sensor 122 is biased to the left of the Nth positioning hole. The shuttle car 120 needs to move to the right so that the first photoelectric sensor 122a detects the Nth positioning hole. Another example is that the cumulative value of the first photoelectric sensor 122a is N, and the cumulative value of the first photoelectric sensor 122b is N + 0.5, which means that the first photoelectric sensor 122a detects the Nth positioning hole and is in the Nth positioning hole, while the first photoelectric sensor 122b exceeds the Nth positioning hole and is not in the Nth positioning hole, and the positioning sensor 122 is biased to the right of the Nth positioning hole. The shuttle car 120 needs to move to the left so that the first photoelectric sensor 122b is in the Nth positioning hole.

[0051] In some alternative embodiments, as Figure 2As shown, the shelf 110 may further include an origin hole 115. The origin hole 115 is provided at one end of the track 112 and is used to indicate the starting point of the movement of the shuttle car 120. The shuttle car 120 may further include two origin sensors 124. The two origin sensors 124 are respectively provided on both sides of the vehicle body 121 and are configured to respectively detect the origin holes 115 on the two opposite tracks 112. The controller is further configured to respectively locate the starting points of the shuttle car 120 on the two opposite tracks 112 according to the origin holes 115 detected by the two origin sensors 124. In this embodiment, by providing the origin hole 115 on the track 112, the position of the shuttle car 120 can be verified by using the origin sensor 124 to detect the origin hole 115.

[0052] As Figure 2 shown, two zero / origin holes are respectively provided on the tracks 112 of the shelves 110 on the left and right sides of the roadway 140. For example, an origin hole LH0 is provided on the left guide rail, and an origin hole RH0 is provided on the right guide rail, which are respectively used as the base points for the shuttle car 120 to move at each storage location 111. Two zero / origin sensors are respectively provided on the left and right sides of the vehicle body 121 of the shuttle car 120. For example, a left origin sensor LS0 and a right origin sensor RS0 are respectively used to detect the in-situ holes on the corresponding side of the track 112. For example, the left origin sensor LS0 is used to detect the origin hole LH0 on the left guide rail, and the right origin sensor RS0 is used to detect the origin hole RH0 on the right guide rail.

[0053] Optionally, the origin holes 115 on each track 112 may be square holes of the same size, and at least one origin hole 115 on two opposite tracks 112 may include a reflective film 116. The origin sensor 124 may include two second photoelectric sensors, which are arranged side by side in the first direction on one side of the vehicle body 121, and the distance between the two second photoelectric sensors is less than the length of the origin hole 115 in the first direction. Among them, the two second photoelectric sensors included in the origin sensor 124 undergo specular reflection at the origin hole 115 provided with the reflective film 116. The two signals generated by the second photoelectric sensors at the two edges of the positioning hole 113 where specular reflection occurs are opposite to the two signals generated at the two edges of the positioning hole 113 where diffuse reflection occurs. The second photoelectric sensors respectively generate a rising edge signal and a falling edge signal at the two edges of the origin hole 115 where specular reflection occurs. In this embodiment, by providing the reflective film 116 on the origin hole 115 of at least one of the two opposite tracks 112 on which the shuttle vehicle 120 runs, the detection results of the two photoelectric sensors in the origin sensors 124 on both sides of the vehicle body 121 for the origin hole 115 can be made different from the detection results for the positioning hole 113 during the running process of the shuttle vehicle 120 through the positioning hole 113, which can be used to distinguish the origin hole 115 from the positioning hole 113, so as to determine whether the shuttle vehicle 120 reaches the starting point.

[0054] In some alternative examples, the controller of the shuttle vehicle 120 is configured to, in response to the shuttle vehicle 120 moving away from the origin hole 115, perform cumulative counting on the two signals generated by the first photoelectric sensor 122a or 122b, and in response to the shuttle vehicle 120 moving towards the origin hole 115, perform subtractive counting on the two signals generated by the first photoelectric sensor 122a or 122b. In this embodiment, the origin hole 115 is used to indicate the direction of cumulative and subtractive counting for the positioning holes 113 detected by the positioning sensor 122, and the starting point of the movement of the shuttle vehicle 120 is combined to determine the direction of cumulative and subtractive counting, which is beneficial to clearly realizing the verification of the positioning holes 113.

[0055] Figure 5 The flowchart 200 of a positioning method according to an embodiment of the present disclosure is shown. The positioning method provided by the embodiment of the present disclosure can be applied to Figures 2 to 4 the shuttle vehicle 120 of the shelf system 100 shown. As Figure 5 shown, the flowchart 200 of the positioning method may include the following steps: Step 201, according to the position information of the target storage location in the pick-up and delivery instruction, move from the current position on the shelf to the target storage location, and respectively perform accumulation on the positioning holes on the two opposite tracks detected during the movement process.

[0056] Step 202: Determine the positional alignment deviation between the shuttle vehicle and the target storage location based on the accumulated value of the positioning holes on the shelf where the target storage location is located.

[0057] Step 203: Move to the picking and placing position corresponding to the target storage location based on the positional alignment deviation.

[0058] In this embodiment, for the specific processing of steps 201, 202, and 203 in process 200 of the goods access method and the technical effects brought by them, reference can be made to Figure 2 Figure 4 the relevant descriptions in the corresponding embodiment of the shelf system 100, so they will not be elaborated here.

[0059] In some alternative embodiments of the present disclosure, process 200 of the positioning method further includes: correcting the current position of the shuttle vehicle based on the positional alignment deviation.

[0060] Generally, an incremental encoder is provided on the motor output shaft of the shuttle vehicle 120. The shuttle vehicle 120 realizes the relative movement of the wheel system in the running direction according to the difference between the current position value and the target position value through the pulse feedback of the incremental encoder. By cooperating with the positioning hole verification of the embodiment of the present disclosure, the remaining distance of the wheel system of the shuttle vehicle 120 can be corrected in real time during the movement, and the target positioning hole is identified by hole counting for parking. After each positioning, the hole count and the deviation of the wheel system encoder can be used for position verification and correction to avoid false alarms caused by cumulative errors.

[0061] In some alternative embodiments of the present disclosure, the cumulative counting of the positioning holes on the two opposite tracks detected during the movement process includes: In response to the shuttle vehicle moving in the first direction, perform cumulative counting on the positioning holes detected on the track; In response to the shuttle vehicle moving in the second direction, perform subtractive counting on the positioning holes detected on the track, where the second direction is opposite to the first direction.

[0062] In some alternative embodiments of the present disclosure, the shuttle vehicle includes two positioning sensors, which are respectively arranged on both sides of the vehicle body of the shuttle vehicle and are used to respectively detect the positioning holes on the two opposite tracks. One positioning sensor includes two first photoelectric sensors, and the two first photoelectric sensors are arranged along the first direction on one side of the vehicle body, and the distance between the two first photoelectric sensors is less than the length of the positioning hole in the first direction; The cumulative counting of the positioning holes on the two opposite tracks detected during the movement process includes: Accumulate the positioning holes detected by the two first photoelectric sensors included in the positioning sensor during the movement process respectively. Among them, the first photoelectric sensor generates two signals respectively based on the two edges of the detected positioning hole, and accumulates the two signals generated by the first photoelectric sensor with a predetermined value respectively; Based on the accumulated values of the positioning holes on the shelf where the target storage location is located, determine the position alignment deviation between the shuttle car and the target storage location, including: For the shelf where the target storage location is located, determine whether the accumulated values of the positioning holes detected by the two first photoelectric sensors included in the positioning sensor are consistent; In response to the inconsistency, determine the position alignment deviation between the shuttle car and the target storage location based on the difference between the accumulated values of the two first photoelectric sensors respectively.

[0063] Usually, after one positioning, the position of the shuttle car 120 is adjusted to reach the pick-up and delivery position of the target storage location. If one positioning fails, the position of the shuttle car 120 can be corrected by performing secondary positioning or tertiary positioning on the shuttle car 120. Under normal circumstances, the results of the cumulative or decremental counting of the two photoelectric sensors should differ by less than or equal to a predetermined value. For example, the predetermined value is 0.5. When the difference between the cumulative or decremental counting results of the two photoelectric sensors does not meet this condition, it means that one of the photoelectric sensors has malfunctioned during operation, and an alarm needs to be issued and processed.

[0064] The embodiments of the present disclosure need to reasonably configure the deviation between the positioning hole 113 and the incremental encoder, and reasonably match the positioning hole 113 with the storage location 111, so that the accuracy of the positioning hole 113 for calibration meets: the length of the hole = the distance between the two photoelectric sensors + 2 times the positioning error + the spot diameter. The inspection accuracy of the positioning hole 113 can be adjusted by adjusting the distance between the two photoelectric sensors.

[0065] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, which includes: one or more processors; a memory for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the method described in any of the above embodiments.

[0066] According to an embodiment of the present disclosure, the present disclosure also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method described in any of the above embodiments.

[0067] According to an embodiment of the present disclosure, the present disclosure also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the method described in any of the above embodiments.

[0068] Figure 6 FIG. 3 is a block diagram of an electronic device 300 that performs a positioning method according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, a personal digital processor, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0069] As Figure 6 shown, the device 300 includes a processor 301 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a memory 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 can also be stored. The processor 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An I / O interface (input / output interface) 305 is also connected to the bus 304.

[0070] A plurality of components in the device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a memory 308, such as a magnetic disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0071] The processor 301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 301 executes the various methods and processes described above, such as the positioning method. For example, in some embodiments, the positioning method can be implemented as a computer software program tangibly embodied in a machine-readable storage medium, such as the memory 308. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the processor 301, one or more steps of the positioning method described above can be executed. Alternatively, in other embodiments, the processor 301 can be configured to execute the positioning method in any other suitable manner (e.g., by means of firmware).

[0072] The various embodiments of the systems and technologies described above in this article can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a dedicated or general-purpose programmable processor, can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0073] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. The above program code can be encapsulated into a computer program product. These program codes or computer program products can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when the program code is executed by the processor 301, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0074] In the context of this disclosure, a machine-readable storage medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable storage medium can be a machine-readable signal storage medium or a machine-readable storage medium. The machine-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0075] For purposes of providing an interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0076] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0077] A computer system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0078] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and no limitation is imposed herein.

[0079] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A shelf system, comprising: Shelves, including multiple storage positions. On both sides of the bottom of the same layer of storage positions, tracks are respectively provided, and a plurality of positioning holes are provided on each of the tracks, and the positioning holes are used to indicate the positions of the storage positions; A shuttle car, which is configured to move along the tracks by means of walking wheels cooperating with two tracks opposite to the same layer of storage positions of adjacent shelves, and to form a roadway along the adjacent shelves through the two opposite tracks, and is configured to position the storage positions on the adjacent shelves respectively based on the positioning holes on the two opposite tracks.

2. The system according to claim 1, wherein The shuttle car includes: A vehicle body, and both sides of the vehicle body are respectively configured to move along the tracks by means of walking wheels cooperating with two tracks opposite to the same layer of storage positions of adjacent shelves; Two positioning sensors, which are respectively arranged on both sides of the vehicle body and are configured to respectively detect the positioning holes on the two opposite tracks; A controller, which is arranged on the vehicle body and is configured to respectively accumulate the positioning holes detected by the two positioning sensors, and to position the storage positions on the adjacent shelves respectively according to the accumulated values on each side.

3. The system according to claim 2, wherein, The shelves further include a limiting structure, and two limiting structures arranged along a first direction are provided in one storage position, wherein the first direction is the extending direction of the track; The shuttle car further includes two forks arranged along the first direction on the vehicle body; Wherein, the distance between the positioning hole and the two limiting structures in the storage position indicated by the positioning hole in the first direction is equal, and the distance between the positioning sensor and the two forks of the shuttle car in the first direction is equal.

4. The system according to claim 2 or 3, wherein, One of the positioning sensors includes two first photoelectric sensors, and the two first photoelectric sensors are arranged on one side of the vehicle body along the first direction, and the distance between the two first photoelectric sensors is less than the length of the positioning hole in the first direction.

5. The system according to claim 4, wherein, The first photoelectric sensor is configured to respectively generate two signals based on the two edges of the detected positioning hole; The controller is configured to respectively accumulate the two signals generated by the first photoelectric sensor with a predetermined value.

6. The system according to claim 5, wherein, The positioning holes on each track are square holes with the same size.

7. The system according to claim 5 or 6, wherein, The shelves further include origin holes, which are arranged at one end of the track, and the origin holes are used to indicate the starting point of the movement of the shuttle car; The shuttle car further includes two origin sensors, which are respectively arranged on both sides of the vehicle body and are configured to respectively detect the origin holes on the two opposite tracks; The controller is further configured to respectively position the starting points of the movement of the shuttle car on the two opposite tracks according to the origin holes detected by the two origin sensors.

8. The system according to claim 7, wherein, The origin holes on each track are square holes with the same size, and at least one of the origin holes on the two opposite tracks includes a reflective film; The origin sensor includes two second photoelectric sensors, which are arranged side by side along the first direction on one side of the vehicle body, and the distance between the two second photoelectric sensors is less than the length of the origin hole in the first direction.

9. The system according to claim 7 or 8, wherein the controller is configured to, in response to the shuttle moving away from the origin hole, perform cumulative counting on the two signals generated by the first photoelectric sensor, and in response to the shuttle moving closer to the origin hole, perform subtractive counting on the two signals generated by the first photoelectric sensor.

10. A positioning method applied to the shuttle of the racking system according to any one of claims 1-9, the positioning method comprising: Moving from the current position on the rack to the target storage location according to the position information of the target storage location in the picking and placing instruction, and respectively accumulating the positioning holes on the two opposite tracks detected during the movement; Based on the accumulated values of the positioning holes on the rack where the target storage location is located, determining the position alignment deviation between the shuttle and the target storage location; Moving to the picking and placing position corresponding to the target storage location based on the position alignment deviation.

11. The method according to claim 10, further comprising: Correcting the current position of the shuttle based on the position alignment deviation.

12. The method according to claim 10 or 11, wherein The respectively accumulating the positioning holes on the two opposite tracks detected during the movement includes: In response to the shuttle moving along the first direction, performing cumulative counting on the detected positioning holes; In response to the shuttle moving along the second direction, performing subtractive counting on the detected positioning holes, wherein the second direction is opposite to the first direction.

13. The method according to claim 12, wherein, The shuttle includes two positioning sensors, which are respectively arranged on both sides of the vehicle body of the shuttle for respectively detecting the positioning holes on the two opposite tracks. One positioning sensor includes two first photoelectric sensors, and the two first photoelectric sensors are arranged along the first direction on one side of the vehicle body, and the distance between the two first photoelectric sensors is less than the length of the positioning hole in the first direction; The respectively accumulating the positioning holes on the two opposite tracks detected during the movement includes: Respectively accumulating the positioning holes detected by the two first photoelectric sensors included in the positioning sensor during the movement, wherein the first photoelectric sensor respectively generates two signals based on the two edges of the detected positioning hole, and respectively accumulating the two signals generated by the first photoelectric sensor with a predetermined value; The determining the position alignment deviation between the shuttle and the target storage location based on the accumulated values of the positioning holes on the rack where the target storage location is located includes: For the rack where the target storage location is located, determining whether the accumulated values of the positioning holes detected by the two first photoelectric sensors included in the positioning sensor are consistent; In response to inconsistency, determining the position alignment deviation between the shuttle and the target storage location based on the difference between the accumulated values of the two first photoelectric sensors.

14. An electronic device, comprising: One or more processors; A memory for storing one or more programs, When the one or more programs are executed by the one or more processors, enabling the one or more processors to implement the method according to any one of claims 10-13.

15. A computer-readable medium having stored thereon a computer program, which when executed by a processor, implements the method according to any one of claims 10-13.

16. A computer program product comprising a computer program, which when executed by a processor, implements the method according to any one of claims 10-13.

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