Stacker control method and device, readable storage medium and stacker system

Abstract

The invention provides a stacker control method and device, a readable storage medium and a stacker system. The control method of the stacking machine is applied to the stacking machine system, the stacking machine system comprises the stacking machine and a track, and the control method of the stacking machine comprises the steps that the current position of the stacking machine on the track is obtained; according to the current position, the speed threshold value of the stacking machine is determined, and the speed threshold value is matched with the current position; and under the condition that the current speed value of the stacking machine is larger than the speed threshold value, the stacking machine is controlled to be braked through a band-type brake.

Description

Technical Field

[0001] The present application relates to the technical field of stackers, and in particular, to a control method, device, readable storage medium and stacker system for a stacker. Background Art

[0002] The stacker system forms a closed-loop control system through a controller, a frequency converter, a position measurement sensor, and a speed measurement sensor to control and monitor the actual speed of the motor in the stacker, thereby achieving precise positioning.

[0003] In the related art, the stacker usually monitors the motor speed through a frequency converter or the PLC monitors and warns of the maximum speed during the movement of the stacker, thereby preventing the stacker from speeding, but it cannot perform speed threshold protection monitoring for the entire movement process, resulting in a speed monitoring blind area. Summary of the Invention

[0004] The present application aims to solve one of the technical problems existing in the prior art or related art.

[0005] To this end, a first aspect of the present application proposes a control method for a stacker.

[0006] A second aspect of the present application proposes a control device for a stacker.

[0007] A third aspect of the present application proposes a control device for a stacker.

[0008] A fourth aspect of the present application proposes a readable storage medium.

[0009] A fifth aspect of the present application proposes a stacker system.

[0010] In view of this, according to a first aspect of the present application, a control method for a stacker is proposed, which is applied to a stacker system. The stacker system includes a stacker and a track. The control method for the stacker includes: obtaining the current position of the stacker on the track; determining a speed threshold according to the current position, the speed threshold matching the current position; and controlling the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold.

[0011] In this technical solution, the stacker system further includes a sensor assembly. The current position of the stacker can be determined through the sensor assembly, and the current position is the position of the stacker relative to the track. After obtaining the current position of the stacker, a speed threshold matching the current position is determined. The speed threshold is the maximum speed of the stacker at the current position, that is, the stacker cannot exceed the corresponding speed threshold at the current position. Through this speed threshold, overspeed monitoring protection can be performed on the stacker at various positions on the track, reducing the blind area of overspeed monitoring.

[0012] After determining the speed threshold corresponding to the current position and the current speed value, compare the current speed value with the speed threshold numerically. When the current speed value is greater than the speed threshold, it is determined that the stacker crane is in an overspeed state. At this time, control the stacker crane to start braking with the brake to decelerate, avoiding the stacker crane being in an overspeed state for a long time, and realizing the overspeed monitoring of the stacker crane at each position.

[0013] It should be noted that the stacker crane includes a driving device and a braking device. The driving device is used to drive the stacker crane to travel along the track, and the driving device can also control the stacker crane to perform lifting motion. The braking device is used to control the stacker crane to perform braking.

[0014] In the technical solution of this application, during the operation of the stacker crane, obtain the current position of the stacker crane on the track and determine the speed threshold corresponding to the current position, realizing the ability to determine the speed threshold corresponding to each position on the track, facilitating the speed monitoring of the stacker crane at each position on the track. During the process of determining the current position, synchronously obtain the current speed value corresponding to the current position, and when the current speed value is greater than the speed threshold, control the stacker crane to start braking with the brake, avoiding the problem of overspeed of the stacker crane during the entire operation process and reducing the speed monitoring blind area during the monitoring process.

[0015] In some technical solutions, optionally, determining the speed threshold of the stacker crane according to the current position includes:

[0016] Obtain the target correspondence between the speed threshold and the first distance value;

[0017] Determine the first distance value according to the current position and the target position;

[0018] Determine the speed threshold according to the first distance value and the target correspondence.

[0019] In this technical solution, the target correspondence is the correspondence between the first distance value and the speed threshold. The first distance value is the first distance value of the current position where the stacker crane is located from the target position, and the target position is the destination position that the track needs to travel to.

[0020] It should be noted that the target position can be determined by the program controlling the travel of the stacker crane. After obtaining the target position, determine the first distance value between the two positions according to the target position and the current position.

[0021] In this technical solution, after determining the target correspondence, collect the current position where the current stacker crane is located and calculate the first distance value between the current position and the target position. The speed threshold corresponding to the current position can be determined through the first distance value and the target correspondence.

[0022] In the technical solution of the present application, through the target correspondence relationship and the first distance value, the speed threshold corresponding to the current position can be accurately determined, improving the accuracy of determining the speed threshold corresponding to the current position and further enhancing the accuracy of speed monitoring during the operation of the stacker crane.

[0023] In some technical solutions, optionally, obtaining the target correspondence relationship between the speed threshold and the first distance value includes:

[0024] Obtaining the preset driving information of the stacker crane;

[0025] Determining the target correspondence relationship according to the preset speed value, preset acceleration value, and preset operation time in the preset driving information.

[0026] In this technical solution, the preset driving information is the driving information in the control program of the stacker crane. The preset driving information includes a preset acceleration value, a preset speed value, and a preset operation time. Among them, both the preset acceleration value and the preset speed value are associated with the preset operation time, that is, each time point in the preset operation time corresponds to a preset speed value and a preset acceleration value. The target correspondence relationship can be constructed through the preset acceleration value and the preset speed value that correspond one by one with the preset operation time.

[0027] In the technical solution of the present application, by obtaining the preset driving information of the stacker crane and extracting the preset acceleration value, preset speed value, and preset operation time therein, the target correspondence relationship between the first distance value and the acceleration threshold can be constructed, facilitating the subsequent determination of the acceleration threshold according to the first distance value and the target object relationship and improving the accuracy of the determined acceleration threshold.

[0028] In some technical solutions, optionally, the target position includes at least one of the following: the task end position, the first preset position on the track.

[0029] In this technical solution, the target position includes the task end position of the stacker crane, and the task end position is the position of the task end set in the control program of the stacker crane.

[0030] In this technical solution, the target position includes the first preset position on the track, and the first preset position can be any position point on the track.

[0031] In the technical solution of the present application, the target position includes the first preset position and the task end position. Through this control method of the stacker crane, not only can the overspeed monitoring of the stacker crane during the driving process to the task end position be carried out, but also the overspeed monitoring of any position on the track can be carried out, further avoiding the problem of overspeed of the stacker crane during the driving process.

[0032] In some technical solutions, optionally, the stacker crane system further includes a positioning device, which is arranged at the second preset position on the track;

[0033] Obtain the current position of the stacker on the track, including:

[0034] In the case of obtaining the positioning signal output by the positioning device, determine that the current position matches the second preset position.

[0035] In this technical solution, the stacker system includes a positioning device arranged in the track. The positioning device is arranged at a second preset position in the track, and the second preset position can be any position in the track.

[0036] In this technical solution, the second preset position is the position where the positioning device is installed. Therefore, in the case where the positioning device collects the positioning signal, it is determined that the stacker has reached the second preset position.

[0037] In the technical solution of the present application, by arranging a positioning device on the track, after the positioning device collects the positioning signal, it is determined that the current position of the stacker is the second preset position where the positioning device is located, realizing the detection of the position of the stacker through the positioning device and improving the accuracy of determining the position of the stacker.

[0038] In some technical solutions, optionally, according to the current position, determine the speed threshold of the stacker, including:

[0039] In the case where the current position matches the second preset position, determine the target speed value as the speed threshold.

[0040] In this technical solution, the target speed value is a preset speed value in advance, and the target speed value corresponds to the second preset position. It should be noted that since the second preset position set by the positioning device is a fixed position relative to the track, the target speed value corresponding to the second preset position can be set in advance, that is, the current speed value when the stacker travels to the second preset position cannot be greater than the target speed value.

[0041] In the technical solution of the present application, by arranging a positioning device at the second preset position of the track and setting the target speed value corresponding to the second preset position, when the stacker travels to the second preset position, determine the target speed value as the speed threshold to monitor the speed of the stacker, further avoiding the problem of the stacker overspeeding.

[0042] In some technical solutions, optionally, in the case where the current speed value of the stacker is greater than the speed threshold and controlling the stacker to apply the brake, the control method of the stacker further includes:

[0043] Output an overspeed warning signal; and / or

[0044] Stop supplying power to the driving device of the stacker.

[0045] In this technical solution, the stacker system further includes an alarm device, which can output an overspeed warning signal. During the process of controlling the stacker to apply the brake, the overspeed warning signal is output through the alarm device, realizing the overspeed warning when the current speed value of the stacker is greater than the speed threshold.

[0046] In this technical solution, during the process of controlling the braking device to apply the brake to the stacker, the power supply to the driving device of the stacker is stopped, realizing the flexible braking when the stacker is overspeed, avoiding the possibility of equipment or goods damage caused by emergency shutdown, and extending the service life of the equipment.

[0047] In some technical solutions, optionally, the current speed value includes the lifting speed value and the traveling speed value, and the speed threshold includes the lifting speed threshold and the traveling speed threshold.

[0048] In this technical solution, during the process of overspeed monitoring, the obtained current speed value includes the lifting speed value and the traveling speed value. The lifting speed of the stacker is monitored by determining the lifting speed threshold corresponding to the lifting speed value, and the traveling speed of the stacker on the track is monitored by determining the traveling speed threshold corresponding to the traveling speed value.

[0049] In the technical solution of the present application, by respectively setting the corresponding lifting speed threshold and traveling speed threshold for the lifting speed and traveling speed of the stacker, the operation of the stacker in each direction can be monitored.

[0050] According to the second aspect of the present application, a control device for a stacker is proposed, which is applied to a stacker system. The stacker system includes a stacker and a track. The control device of the stacker includes:

[0051] An acquisition module, configured to acquire the current position of the stacker on the track;

[0052] A determination module, configured to determine the speed threshold of the stacker according to the current position, and the speed threshold matches the current position;

[0053] A control module, configured to control the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold.

[0054] In this technical solution, the stacker system further includes a sensor assembly. The current position of the stacker can be determined through the sensor assembly, and the current position is the position of the stacker relative to the track. After obtaining the current position of the stacker, the speed threshold matching the current position is determined. This speed threshold is the maximum speed of the stacker at the current position, that is, the stacker cannot exceed the corresponding speed threshold at the current position. Through this speed threshold, overspeed monitoring and protection can be carried out for each position of the stacker on the track, reducing the blind area of overspeed monitoring.

[0055] After determining the speed threshold corresponding to the current position and the current speed value, the current speed value is numerically compared with the speed threshold. When the current speed value is greater than the speed threshold, it is determined that the stacker is in an overspeed state. At this time, the stacker is controlled to start braking to decelerate, avoiding the stacker being in an overspeed state for a long time, and realizing the overspeed monitoring of the stacker at each position.

[0056] It should be noted that the stacker includes a driving device and a braking device. The driving device is used to drive the stacker to travel along the track, and the driving device can also control the lifting movement of the stacker. The braking device is used to control the stacker to brake.

[0057] In the technical solution of this application, during the operation of the stacker, the current position of the stacker on the track is obtained, and the speed threshold corresponding to the current position is determined, realizing the ability to determine the speed thresholds corresponding to each position on the track, which is convenient for speed monitoring of the stacker at each position on the track. During the process of determining the current position, the current speed value corresponding to the current position is synchronously obtained. When the current speed value is greater than the speed threshold, the stacker is controlled to start braking, avoiding the problem of overspeed of the stacker during the entire operation process and reducing the speed monitoring blind area during the monitoring process.

[0058] According to the third aspect of this application, a control device for a stacker is provided, including: a memory in which a program or instruction is stored; a processor that executes the program or instruction stored in the memory to implement the steps of the control method in any one of the technical solutions in the first aspect, and thus has all the beneficial technical effects of the control method in any one of the technical solutions in the first aspect, which will not be elaborated here too much.

[0059] According to the fourth aspect of this application, a readable storage medium is provided. A program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the control method in any one of the technical solutions in the above first aspect are implemented. Thus, it has all the beneficial technical effects of the control method in any one of the technical solutions in the first aspect, which will not be elaborated here too much.

[0060] According to the fifth aspect of this application, a stacker system is provided, including: a stacker and a track; the control device in the second or third aspect of this application, and / or the readable storage medium in the fourth aspect of this application. Thus, it has the control device in the second or third aspect of this application, and / or the readable storage medium in the fourth aspect of this application, which will not be elaborated here too much.

[0061] In some technical solutions, optionally, the stacker further includes: a driving device, the driving device includes a motor for driving the stacker to travel; a speed encoder for detecting the current speed value of the stacker on the track; a position sensor for detecting the current position of the stacker on the track; a braking device for controlling the stacker to apply the brake.

[0062] In the technical solution of the present application, the stacker includes a driving device for driving the stacker to travel. Through the driving device, the stacker can be driven to travel on the track and can also be driven to perform lifting movement. The driving device includes a motor. The speed encoder can detect the current speed value of the stacker on the track, and the position sensor can detect the current position where the stacker is located. The braking device can control the brake of the stacker.

[0063] In some technical solutions, optionally, the stacker system further includes: a positioning device provided at a second preset position on the track for outputting a positioning signal when the stacker travels to the second preset position.

[0064] In this technical solution, the stacker system includes a positioning device provided in the track. The positioning device is provided at a second preset position in the track, and the second preset position can be any position in the track.

[0065] In some technical solutions, optionally, the stacker system further includes: an alarm device for outputting an overspeed warning signal when the current speed value of the stacker is greater than a speed threshold.

[0066] In this technical solution, the stacker system further includes an alarm device. The alarm device can output an overspeed warning signal. During the process of controlling the stacker to apply the brake, by outputting the overspeed warning signal through the alarm device, overspeed warning is achieved when the current speed value of the stacker is greater than the speed threshold.

[0067] The additional aspects and advantages of the present application will become apparent in the following description section or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0069] Figure 1 The flowchart of the control method of the stacker provided in some embodiments of the present application is shown;

[0070] Figure 2 One of the schematic diagrams of the V-ΔS curve provided in some embodiments of the present application is shown;

[0071] Figure 3Shows a schematic diagram of the first preset position provided in some embodiments of the present application;

[0072] Figure 4 Shows the second schematic diagram of the V-ΔS curve provided in some embodiments of the present application;

[0073] Figure 5 Shows a schematic diagram of the installation position of the positioning device provided in some embodiments of the present application;

[0074] Figure 6 Shows one of the structural block diagrams of the control device of the stacker provided in some embodiments of the present application;

[0075] Figure 7 Shows the second structural block diagram of the control device of the stacker provided in some embodiments of the present application;

[0076] Figure 8 Shows the structural block diagram of the stacker system provided in some embodiments of the present application. Detailed implementation manners

[0077] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the features in this embodiment and the embodiments can be combined with each other.

[0078] Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0079] The following refers to Figures 1 to 8 Describe a control method, device, readable storage medium and stacker system of a stacker according to some embodiments of the present application.

[0080] In accordance with an embodiment of the present application, Figure 1 Shows a flowchart of the control method of the stacker provided in some embodiments of the present application. As Figure 1 shown, a control method of a stacker is proposed, which is applied to a stacker system. The stacker system includes a stacker and a track. The control method of the stacker includes:

[0081] Step 102, obtain the current position of the stacker on the track;

[0082] In this embodiment, the stacker system further includes a sensor assembly. The current position of the stacker can be determined through the sensor assembly. The current position is the position of the stacker relative to the track.

[0083] Exemplarily, the stacker can travel along the extension direction of the track and can also move up and down in the lifting direction.

[0084] Exemplarily, the sensor assembly includes a position sensor disposed in the track, and the current position of the stacker on the track can be acquired through the position sensor.

[0085] Exemplarily, the sensor assembly includes a speed sensor disposed on the stacker. The speed at which the stacker travels relative to the track is acquired through the speed sensor, and the current position of the stacker is determined based on the traveling speed.

[0086] Step 104: Determine the speed threshold of the stacker according to the current position, and the speed threshold matches the current position;

[0087] In this embodiment, after obtaining the current position of the stacker, the speed threshold matching the current position is determined. This speed threshold is the maximum speed of the stacker at the current position, that is, the stacker cannot exceed the corresponding speed threshold at the current position. Through this speed threshold, overspeed monitoring and protection can be carried out for the stacker at various positions on the track, reducing the blind area of overspeed monitoring.

[0088] It should be noted that the current position includes the position of the stacker along the extension direction of the track, and the current position also includes the position of the stacker in the lifting direction. Different current positions correspond to corresponding speed thresholds.

[0089] Step 106: Control the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold.

[0090] In this embodiment, after determining the speed threshold corresponding to the current position and the current speed value, the current speed value is compared with the speed threshold numerically. When the current speed value is greater than the speed threshold, it is determined that the stacker is in an overspeed state. At this time, the stacker is controlled to start applying the brake to decelerate, avoiding the stacker being in an overspeed state for a long time, and realizing overspeed monitoring of the stacker at various positions.

[0091] It should be noted that the stacker includes a driving device and a braking device. The driving device is used to drive the stacker to travel along the track, and the driving device can also control the stacker to move up and down. The braking device is used to control the stacker to apply the brake.

[0092] Exemplarily, during the process of controlling the stacker to apply the brake, the driving device stops driving the stacker, thereby improving the braking efficiency of the stacker and reducing the possibility of the stacker traveling at an overspeed.

[0093] In the embodiments of the present application, during the operation of the stacker crane, the current position of the stacker crane on the track is obtained, and the speed threshold corresponding to the current position is determined, realizing the ability to determine the speed thresholds corresponding to each position on the track, facilitating the speed monitoring of the stacker crane at each position on the track. During the process of determining the current position, the current speed value corresponding to the current position is synchronously obtained, and when the current speed value is greater than the speed threshold, the stacker crane is controlled to start braking, avoiding the problem of overspeed of the stacker crane during the entire operation process and reducing the speed monitoring blind area during the monitoring process.

[0094] In some embodiments, optionally, determining the speed threshold of the stacker crane according to the current position includes:

[0095] Obtain the target correspondence between the speed threshold and the first distance value;

[0096] Determine the first distance value according to the current position and the target position;

[0097] Determine the speed threshold according to the first distance value and the target correspondence.

[0098] In this embodiment, the target correspondence is the correspondence between the first distance value and the speed threshold, the first distance value is the first distance value of the current position where the stacker crane is located from the target position, and the target position is the destination position that the track needs to travel to.

[0099] Exemplarily, when the stacker crane receives the target position S1, the control unit of the stacker crane reads the current position coordinates S2 obtained by the position sensor, and takes the absolute value after subtracting S2 from S1 to obtain the first distance value ΔS.

[0100] It should be noted that the target position can be determined by the program controlling the travel of the stacker crane. After obtaining the target position, the first distance value between the two positions is determined according to the target position and the current position.

[0101] Exemplarily, the target correspondence can be a V-ΔS curve, where V is the speed threshold and ΔS is the first distance value.

[0102] Figure 2 Shows one of the schematic diagrams of the V-ΔS curve provided by some embodiments of the present application, as Figure 2 shown, ΔS is the first distance value, Vn is the maximum value among the speed thresholds. It can be seen that as the first distance value increases, the speed threshold gradually increases to the maximum value, and the maximum value of this speed threshold is the maximum allowable speed value of the stacker crane.

[0103] In this embodiment, after determining the target correspondence, the current position of the current stacker crane is collected, and the first distance value between the current position and the target position is calculated. The speed threshold corresponding to the current position can be determined through the first distance value and the target correspondence.

[0104] In the embodiment of the present application, through the target correspondence and the first distance value, the speed threshold corresponding to the current position can be accurately determined, improving the accuracy of determining the speed threshold corresponding to the current position, and further improving the accuracy of speed monitoring during the driving process of the stacker crane.

[0105] In some embodiments, optionally, obtaining the target correspondence between the speed threshold and the first distance value includes:

[0106] Obtaining the preset driving information of the stacker crane;

[0107] Determining the target correspondence according to the preset speed value, preset acceleration value, and preset running time in the preset driving information.

[0108] In this embodiment, the preset driving information is the driving information in the control program of the stacker crane. The preset driving information includes a preset acceleration value, a preset speed value, and a preset running time. Among them, the preset acceleration value and the preset speed value are both associated with the preset running time, that is, each time point in the preset running time corresponds to a preset speed value and a preset acceleration value. The target correspondence can be constructed through the preset acceleration value and the preset speed value corresponding one by one to the preset running time.

[0109] Exemplarily, the control unit of the stacker crane can calculate the curve of the maximum speed V and ΔS through the preset speed value v and the preset deceleration value b in the program, where the preset deceleration value b is the preset acceleration value.

[0110] In the embodiment of the present application, by obtaining the preset driving information of the stacker crane and extracting the preset acceleration value, preset speed value, and preset running time therein, the target correspondence between the first distance value and the acceleration threshold can be constructed, so as to facilitate subsequent determination of the acceleration threshold according to the first distance value and the target object relationship, improving the accuracy of the determined acceleration threshold.

[0111] In some embodiments, optionally, the target position includes at least one of the following: the task end position, the first preset position in the track.

[0112] In this embodiment, the target position includes the task end position of the stacker crane, and the task end position is the position of the task end set in the control program of the stacker crane.

[0113] Exemplarily, the stacker is a stacker. When the stacker receives the task end position S1, the control unit reads the position sensor to obtain the coordinates S2 of the current position, takes the absolute value after subtracting S2 from S1 to get ΔS, and the control unit calculates the curve of the maximum speed V and ΔS through the preset speed value v and the preset deceleration value b in the program, that is, the target correspondence. During the operation of the stacker, the control unit reads the values of the position sensor and the motor speed encoder respectively, calculates the current speed V1 of the stacker according to the reduction ratio of the mechanical structure, the control unit calculates the current ΔS, and obtains the speed threshold V1_max of the current position of the stacker through the V-ΔS curve. When V1 is greater than V1_max, the control unit issues an overspeed warning signal, simultaneously triggers the active brake to hold the brake, and disconnects the power supply of the stacker to stop the stacker.

[0114] In this embodiment, the target position includes a first preset position in the track, and the first preset position can be any position point in the track.

[0115] Exemplarily, the first preset position is a position near both ends of the track.

[0116] Figure 3 The figure shows a schematic diagram of the first preset position provided in some embodiments of the present application, as Figure 3 shown, D1 and D2 are the first preset positions. The first preset positions D1 and D2 are positions in the track close to the buffer, and S3 is the current position of the stacker.

[0117] Exemplarily, the first preset position is the limit position where the preset stacker can travel on the track. The first preset positions are D1 and D2 respectively. At the same time, the current position S2 is read through the position sensor, and the first distance values between the current position and the first preset positions are calculated. The numbers of the first distance values are ΔS1 = S2 - D1 and ΔS2 = S2 - D2 respectively. The preset speed value v and the preset deceleration value b are used to calculate the curve of the maximum speed V and ΔS, that is, the target correspondence. During the operation, the control unit reads the value of the motor speed encoder, calculates the current speed V2 of the stacker according to the reduction ratio of the mechanical structure, and queries the allowable maximum speed V2_max of the current position of the stacker through the ΔS-V curve. When V2 is greater than V2_max, the control unit issues an overspeed warning signal, simultaneously triggers the active brake to hold the brake, and disconnects the power supply of the stacker to stop the stacker.

[0118] Figure 4 The figure shows a second schematic diagram of the V-ΔS curve provided in some embodiments of the present application, as Figure 4 shown, ΔS1 is the first distance value corresponding to the first preset position D1, and ΔS2 is the first distance value corresponding to the first preset position D2.

[0119] In the embodiments of the present application, the target position includes a first preset position and a task end position. Through the control method of the stacker crane, not only can the driving process of the stacker crane towards the task end position be monitored for overspeed, but also any position on the track can be monitored for overspeed, further avoiding the problem of overspeed during the driving process of the stacker crane.

[0120] In some embodiments, optionally, the stacker crane system further includes a positioning device disposed at a second preset position on the track;

[0121] Obtaining the current position of the stacker crane on the track includes:

[0122] When the positioning signal output by the positioning device is obtained, it is determined that the current position matches the second preset position.

[0123] In this embodiment, the stacker crane system includes a positioning device disposed on the track. The positioning device is disposed at a second preset position on the track, and the second preset position can be any position on the track.

[0124] Exemplarily, the positioning device includes a proximity switch or a photoelectric sensor, and the positioning device can be disposed at positions P1 and P2 close to both ends of the track.

[0125] Figure 5 Shows a schematic diagram of the installation position of the positioning device provided in some embodiments of the present application, as Figure 5 shown, P1 and P2 are the installation positions of the positioning device, and P1 and P2 are respectively close to the buffers at both ends of the track.

[0126] In this embodiment, the second preset position is the position where the positioning device is installed. Therefore, when the positioning device collects the positioning signal, it is determined that the stacker crane has reached the second preset position.

[0127] In the embodiments of the present application, by setting a positioning device on the track, after the positioning device collects the positioning signal, it is determined that the current position of the stacker crane is the second preset position where the positioning device is located, realizing the detection of the position of the stacker crane through the positioning device and improving the accuracy of determining the position of the stacker crane.

[0128] In some embodiments, optionally, determining the speed threshold of the stacker crane according to the current position includes:

[0129] When the current position matches the second preset position, the target speed value is determined as the speed threshold.

[0130] In this embodiment, the target speed value is a pre-set speed value in advance, and the target speed value corresponds to the second preset position. It should be noted that since the second preset position set by the positioning device is a fixed position relative to the track, the target speed value corresponding to the second preset position can be set in advance, that is, the current speed value when the stacker reaches the second preset position cannot be greater than the target speed value.

[0131] Exemplarily, the stacker is a stacker, and the positioning device is a proximity switch or a photoelectric sensor. When the stacker triggers the proximity switch or the photoelectric sensor, if the control unit monitors that the current speed V3 of the stacker is still greater than the set target speed value (speed threshold) V3max, an overspeed warning signal is issued, and at the same time, the active brake is triggered and the power supply of the stacker is disconnected to stop the stacker.

[0132] In the embodiment of the present application, by setting a positioning device at the second preset position of the track and setting the target speed value corresponding to the second preset position, when the stacker travels to the second preset position, the target speed value is determined as the speed threshold to monitor the speed of the stacker, further avoiding the problem of overspeed driving of the stacker.

[0133] In some embodiments, optionally, when the current speed value of the stacker is greater than the speed threshold, during the process of controlling the stacker to brake with the brake, the control method of the stacker further includes:

[0134] Outputting an overspeed warning signal; and / or

[0135] Stopping the power supply to the driving device of the stacker.

[0136] In this embodiment, the stacker system further includes an alarm device, and the alarm device can output an overspeed warning signal. During the process of controlling the stacker to brake with the brake, by outputting the overspeed warning signal through the alarm device, overspeed warning is achieved when the current speed value of the stacker is greater than the speed threshold.

[0137] In this embodiment, during the process of controlling the braking device to brake the stacker with the brake, the power supply to the driving device of the stacker is stopped, realizing flexible braking when the stacker is overspeed, avoiding the possibility of damage to the equipment or goods caused by emergency shutdown, and extending the service life of the equipment.

[0138] In some embodiments, optionally, the current speed value includes a lifting speed value and a traveling speed value, and the speed threshold includes a lifting speed threshold and a traveling speed threshold.

[0139] In this embodiment, during the process of overspeed monitoring, the obtained current speed value includes the lifting speed value and the traveling speed value. The lifting speed of the stacker is monitored by determining the corresponding lifting speed threshold value for the lifting speed value, and the traveling speed of the stacker on the track is monitored by determining the corresponding traveling speed threshold value for the traveling speed value.

[0140] Exemplarily, the stacker is a stacker. In terms of traveling protection, after the stacker overspeed occurs, it is possible to avoid the situation where the terminal limit switch fails and braking cannot be achieved. In terms of lifting protection, it is possible to protect the dynamic speed monitoring and protection at both the highest and lowest positions during lifting, reducing the overspeed blind area of monitoring.

[0141] In the embodiment of the present application, by respectively setting the corresponding lifting speed threshold value and traveling speed threshold value for the lifting speed and traveling speed of the stacker, it is possible to monitor the operation of the stacker in all directions.

[0142] The above methods can be implemented in various different ways according to specific features and / or example applications. For example, these methods can be implemented through a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the above functions, and / or combinations thereof.

[0143] In accordance with an embodiment of the present application, Figure 6 One of the structural block diagrams of the control device provided in some embodiments of the present application is shown, as Figure 6 shown, a control device 600 for a stacker is proposed, which is applied to a stacker system. The stacker system includes a stacker and a track. The control device 600 of the stacker includes:

[0144] An acquisition module 602, configured to acquire the current position of the stacker on the track;

[0145] A determination module 604, configured to determine the speed threshold value of the stacker according to the current position, and the speed threshold value matches the current position;

[0146] A control module 606, configured to control the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold value.

[0147] In this embodiment, after determining the speed threshold corresponding to the current position and the current speed value, the current speed value is numerically compared with the speed threshold. When the current speed value is greater than the speed threshold, it is determined that the stacker crane is in an overspeed state. At this time, the stacker crane is controlled to start braking with the brake to decelerate, avoiding the stacker crane being in an overspeed state for a long time, and realizing the overspeed monitoring of the stacker crane at each position.

[0148] It should be noted that the stacker crane includes a driving device and a braking device. The driving device is used to drive the stacker crane to travel along the track, and the driving device can also control the lifting movement of the stacker crane. The braking device is used to control the stacker crane to brake.

[0149] In the embodiment of the present application, during the operation of the stacker crane, the current position of the stacker crane on the track is obtained, and the speed threshold corresponding to the current position is determined, realizing the ability to determine the speed thresholds corresponding to each position on the track, which is convenient for speed monitoring of the stacker crane at each position on the track. During the process of determining the current position, the current speed value corresponding to the current position is synchronously obtained, and when the current speed value is greater than the speed threshold, the stacker crane is controlled to start braking with the brake, avoiding the problem of overspeed of the stacker crane during the entire operation process and reducing the speed monitoring blind area during the monitoring process.

[0150] In some embodiments, optionally, the obtaining module 602 is configured to obtain the target correspondence between the speed threshold and the first distance value;

[0151] The determining module 604 is configured to determine the first distance value according to the current position and the target position;

[0152] The determining module 604 is configured to determine the speed threshold according to the first distance value and the target correspondence.

[0153] In this embodiment, the target correspondence is the correspondence between the first distance value and the speed threshold. The first distance value is the first distance value between the current position where the stacker crane is located and the target position, and the target position is the destination position that the track needs to travel to.

[0154] It should be noted that the target position can be determined by the program that controls the travel of the stacker crane. After obtaining the target position, the first distance value between the two positions is determined according to the target position and the current position.

[0155] In this embodiment, after determining the target correspondence, the current position where the current stacker crane is located is collected, and the first distance value between the current position and the target position is calculated. The speed threshold corresponding to the current position can be determined through the first distance value and the target correspondence.

[0156] In the embodiments of the present application, through the target correspondence relationship and the first distance value, the speed threshold corresponding to the current position can be accurately determined, improving the accuracy of determining the speed threshold corresponding to the current position, and further improving the accuracy of speed monitoring during the driving process of the stacker crane.

[0157] In some embodiments, optionally, the obtaining module 602 is configured to obtain the preset driving information of the stacker crane;

[0158] The determining module 604 is configured to determine the target correspondence relationship according to the preset speed value, the preset acceleration value, and the preset running time in the preset driving information.

[0159] In this embodiment, the preset driving information is the driving information in the control program of the stacker crane. The preset driving information includes a preset acceleration value, a preset speed value, and a preset running time. Among them, the preset acceleration value and the preset speed value are both associated with the preset running time, that is, each time point in the preset running time corresponds to a preset speed value and a preset acceleration value. The target correspondence relationship can be constructed through the preset acceleration value and the preset speed value corresponding one by one to the preset running time.

[0160] In the embodiments of the present application, by obtaining the preset driving information of the stacker crane and extracting the preset acceleration value, the preset speed value, and the preset running time therein, the target correspondence relationship between the first distance value and the acceleration threshold can be constructed, so as to facilitate subsequent determination of the acceleration threshold according to the first distance value and the target object relationship, improving the accuracy of the determined acceleration threshold.

[0161] In some embodiments, optionally, the target position includes at least one of the following: the task end position, the first preset position on the track.

[0162] In this embodiment, the target position includes the task end position of the stacker crane, and the task end position is the position of the task end set in the control program of the stacker crane.

[0163] In this embodiment, the target position includes the first preset position on the track, and the first preset position can be any position point on the track.

[0164] In the embodiments of the present application, the target position includes the first preset position and the task end position. Through the control method of the stacker crane, not only can the driving process of the stacker crane towards the task end position be monitored for overspeed, but also any position on the track can be monitored for overspeed, further avoiding the problem of overspeed during the driving process of the stacker crane.

[0165] In some embodiments, optionally, the stacker crane system further includes a positioning device, which is arranged at the second preset position on the track;

[0166] A determination module 604, configured to determine that the current position matches a second preset position when a positioning signal output by a positioning device is acquired.

[0167] In this embodiment, the stacker crane system includes a positioning device arranged on a track. The positioning device is arranged at a second preset position on the track, and the second preset position can be any position on the track.

[0168] In this embodiment, the second preset position is the position where the positioning device is installed. Therefore, when the positioning device acquires a positioning signal, it is determined that the stacker crane has reached the second preset position.

[0169] In the embodiment of the present application, by arranging a positioning device on the track, after the positioning device acquires a positioning signal, it is determined that the current position of the stacker crane is the second preset position where the positioning device is located, realizing the detection of the position of the stacker crane through the positioning device and improving the accuracy of determining the position of the stacker crane.

[0170] In some embodiments, optionally, the determination module 604 is configured to determine a target speed value as a speed threshold when the current position matches the second preset position.

[0171] In this embodiment, the target speed value is a speed value preset in advance, and the target speed value corresponds to the second preset position. It should be noted that since the second preset position set by the positioning device is a fixed position relative to the track, the target speed value corresponding to the second preset position can be set in advance, that is, the current speed value of the stacker crane when it travels to the second preset position cannot be greater than the target speed value.

[0172] In the embodiment of the present application, by arranging a positioning device at the second preset position of the track and setting a target speed value corresponding to the second preset position, when the stacker crane travels to the second preset position, the target speed value is determined as the speed threshold to monitor the speed of the stacker crane, further avoiding the problem of the stacker crane overspeeding.

[0173] In some embodiments, optionally, the control device 600 of the stacker crane further includes:

[0174] An output module, configured to output an overspeed warning signal; and / or

[0175] A power supply module, configured to stop supplying power to the driving device of the stacker crane.

[0176] In this embodiment, the stacker crane system further includes an alarm device, and the alarm device can output an overspeed warning signal. During the process of controlling the stacker crane to apply the brake, an overspeed warning signal is output through the alarm device, realizing an overspeed warning when the current speed value of the stacker crane is greater than the speed threshold.

[0177] In this embodiment, during the process of controlling the braking device to apply the brake to the stacker, the driving device of the stacker is powered off, realizing flexible braking when the stacker is traveling at an excessive speed, avoiding the possibility of equipment or goods damage caused by an emergency stop, and extending the service life of the equipment.

[0178] In some embodiments, optionally, the current speed value includes a lifting speed value and a traveling speed value, and the speed threshold includes a lifting speed threshold and a traveling speed threshold.

[0179] In this embodiment, during the process of monitoring for excessive speed, the obtained current speed value includes a lifting speed value and a traveling speed value. The lifting speed of the stacker is monitored by determining the lifting speed threshold corresponding to the lifting speed value, and the traveling speed of the stacker on the track is monitored by determining the traveling speed threshold corresponding to the traveling speed value.

[0180] In the embodiments of the present application, by separately setting the corresponding lifting speed threshold and traveling speed threshold for the lifting speed and traveling speed of the stacker, the operation of the stacker in each direction can be monitored.

[0181] According to an embodiment of the present application, Figure 7 FIG. 2 shows a second structural block diagram of the control device provided in some embodiments of the present application. As Figure 7 shown, a control device 700 of a stacker is proposed, including: a memory 704, in which a program or instruction is stored; a processor 702, and the processor 702 executes the program or instruction stored in the memory 704 to implement the steps of the control method in any of the embodiments, and thus has all the beneficial technical effects of the control method in any of the above embodiments, and will not be elaborated here too much.

[0182] According to an embodiment of the present application, a readable storage medium is proposed. A program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the control method in any of the above embodiments are implemented. Thus, it has all the beneficial technical effects of the control method in any of the above embodiments, and will not be elaborated here too much.

[0183] A computer-readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD), memory cards, floppy disks, encoding mechanical devices (such as punched cards or grooves with raised structures recording instructions), and any suitable combination of the foregoing devices. The computer-readable storage medium used herein should not be construed as a signal per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires, etc.

[0184] In an embodiment of the present application, a stacker crane system is proposed, including: a stacker crane and a track; a control device of the stacker crane in any of the foregoing embodiments; and / or a readable storage medium in any of the foregoing embodiments. Therefore, it has all the beneficial technical effects of the control device of the stacker crane in any of the foregoing embodiments; and / or the readable storage medium in any of the foregoing embodiments, which will not be elaborated herein.

[0185] In some embodiments, optionally, the stacker crane further includes: a driving device, the driving device includes a motor for driving the stacker crane to travel; a speed encoder for detecting the current speed value of the stacker crane on the track; a position sensor for detecting the current position of the stacker crane on the track; a braking device for controlling the stacker crane to apply the brake.

[0186] In an embodiment of the present application, the stacker crane includes a driving device for driving the stacker crane to travel. Through the driving device, the stacker crane can be driven to travel on the track and can also be driven to perform lifting movement. The driving device includes a motor. The speed encoder can detect the current speed value of the stacker crane on the track, and the position sensor can detect the current position where the stacker crane is located. The braking device can control the brake of the stacker crane.

[0187] Exemplarily, the controller can control the driving device and the braking device, and the controller can also acquire the signals collected by the speed encoder and the position sensor. The controller can be selected as a host computer, a frequency converter, etc.

[0188] In some embodiments, optionally, the stacker crane system further includes: a positioning device disposed at a second preset position of the track for outputting a positioning signal when the stacker crane travels to the second preset position.

[0189] In this embodiment, the stacker system includes a positioning device disposed in the track, and the positioning device is disposed at a second preset position in the track, and the second preset position can be any position in the track.

[0190] In some embodiments, optionally, the stacker system further includes: an alarm device configured to output an overspeed warning signal when the current speed value of the stacker is greater than a speed threshold.

[0191] In this embodiment, the stacker system further includes an alarm device that can output an overspeed warning signal. During the process of controlling the stacker to apply the brake, by outputting the overspeed warning signal through the alarm device, an overspeed warning is achieved when the current speed value of the stacker is greater than the speed threshold.

[0192] Figure 8 The structural block diagram of the stacker system provided by some embodiments of the present application is shown. As Figure 8 shown, the stacker system 800 further includes a position sensor 802, a controller 804, an inverter 806, a motor 808, and a speed encoder 810.

[0193] It should be clear that in the claims, the specification, and the drawings of the present application, the term "a plurality" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for more convenient description of the present application and to make the description process simpler, rather than to indicate or imply that the device or element referred to must have the specific orientation, be constructed and operated in the specific orientation. Therefore, these descriptions should not be construed as limitations on the present application; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances of the above data.

[0194] In the claims, the specification, and the drawings of the present application, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the claims, the specification, and the drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0195] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A control method for a stacker, characterized in that, Applied to a stacker system, the stacker system includes a stacker and a track, and the control method of the stacker includes: Obtain the current position of the stacker on the track; Determine the speed threshold of the stacker according to the current position, and the speed threshold matches the current position; When the current speed value of the stacker is greater than the speed threshold, control the stacker to apply the brake.

2. The control method of the stacker according to claim 1, wherein, The determining the speed threshold of the stacker according to the current position includes: Obtain the target correspondence between the speed threshold and the first distance value; Determine the first distance value according to the current position and the target position; Determine the speed threshold according to the first distance value and the target correspondence.

3. The control method of the stacker according to claim 2, wherein The obtaining the target correspondence between the speed threshold and the first distance value includes: Obtain the preset driving information of the stacker; Determine the target correspondence according to the preset speed value, preset acceleration value and preset running time in the preset driving information.

4. The control method of the stacker according to claim 2, wherein, The target position includes at least one of the following: the task end position, the first preset position in the track.

5. The control method of the stacker according to claim 1, characterized in that, The stacker system further includes a positioning device, which is arranged at the second preset position in the track; The obtaining the current position of the stacker on the track includes: When the positioning signal output by the positioning device is obtained, determine that the current position matches the second preset position.

6. The control method of the stacker according to claim 5, wherein The determining the speed threshold of the stacker according to the current position includes: When the current position matches the second preset position, determine the target speed value as the speed threshold.

7. The control method of the stacker according to any one of claims 1 to 6, characterized in that, During the process of controlling the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold, the control method of the stacker further includes: Output an overspeed warning signal; and / or Stop supplying power to the driving device of the stacker.

8. The control method of the stacker according to any one of claims 1 to 6, characterized in that, The current speed value includes a lifting speed value and a traveling speed value, and the speed threshold includes a lifting speed threshold and a traveling speed threshold.

9. A control device for a stacker, characterized in that, Applied to a stacker system, the stacker system includes a stacker and a track, and the control device of the stacker includes: An obtaining module, configured to obtain the current position of the stacker on the track; A determining module, configured to determine the speed threshold of the stacker according to the current position, and the speed threshold matches the current position; A control module, configured to control the stacker to apply the brake when the current speed value of the stacker is greater than the speed threshold.

10. A control device for a stacker, characterized in that, Includes: A processor and a memory, the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A stacker system, characterized in that, Includes: A stacker and a track; The control device of the stacker according to claim 9 or 10; And / or The readable storage medium according to claim 11.

13. The stacker crane system according to claim 12, characterized in that, The stacker includes: A driving device, the driving device includes a motor for driving the stacker to travel; A speed encoder for detecting the current speed value of the stacker on the track; A position sensor for detecting the current position of the stacker on the track; A braking device for controlling the stacker to apply the brake.

14. The stacker crane system according to claim 12 or 13, characterized in that, It further includes: A positioning device is arranged at the second preset position of the track and is used for outputting a positioning signal when the stacker travels to the second preset position.

15. The stacker system according to claim 12 or 13, characterized in that, It further includes: An alarm device for outputting an overspeed warning signal when the current speed value of the stacker is greater than the speed threshold.

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