Access device and method for controlling the same, access device

Abstract

The application discloses a storage and taking device and a control method thereof and a storage and taking equipment, relates to the technical field of industrial equipment, and the storage and taking device is provided with a storage rack and at least one storage and taking window. The storage rack is provided with at least one storage layer, and the storage layer supports storage of tools. The method comprises the following steps: in response to an authority authentication instruction, determining the user identifier of a storage and taking user from the authority authentication instruction, and opening the tool storage and taking authority of the storage and taking user according to the user identifier; receiving a storage and taking instruction triggered under the tool storage and taking authority, determining a target storage and taking position in the storage layer of the storage rack according to the storage and taking instruction, and controlling the storage rack to rotate to rotate the target storage and taking position to the storage and taking window according to the target storage and taking position; and in the case that the target storage and taking position is rotated to the storage and taking window, controlling the storage and taking window to be opened to enable the storage and taking user to store and take tools. The application solves the technical problem of low work efficiency caused by random placement of tools.

Description

Technical Field

[0001] This application relates to the field of industrial equipment technology, and in particular to access devices and control methods thereof, and access equipment. Background Technology

[0002] In industrial production, equipment maintenance, or on-site operations, technicians typically need to carry a variety of maintenance tools for equipment maintenance and troubleshooting. In traditional tool management methods, maintenance tools are often scattered in personal toolboxes, and the placement of these toolboxes is not fixed, leading to tools being easily lost, misplaced, or difficult to quickly locate and use, thus resulting in low work efficiency. Therefore, there is currently a technical problem of low work efficiency caused by the haphazard placement of tools.

[0003] The above content is only used to help understand the technical solutions of the embodiments of this application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide an access device and its control method, as well as an access equipment, in order to solve the technical problem of low work efficiency caused by the random placement of tools.

[0005] To achieve the above objectives, embodiments of this application provide a control method for an access device, wherein the access device is provided with a shelf and at least one access window, the shelf is provided with at least one shelf layer, and the shelf layer supports the storage of tools, the method comprising:

[0006] In response to the authorization authentication command, the user identifier of the accessing user is determined from the authorization authentication command, and the tool access permission of the accessing user is granted based on the user identifier;

[0007] Receive an access command triggered under the tool access permission, determine the target access position in the shelf layer of the shelf according to the access command, and control the shelf to rotate according to the target access position to rotate the target access position to the access window.

[0008] When the target access position is rotated to the access window, the access window is opened to allow the access user to access the tool;

[0009] The step of controlling the shelf to rotate to position the target access location relative to the access window, based on the target access location, includes:

[0010] Determine the relative storage angle between the access window corresponding to the shelf where the target access location is located and the target access location;

[0011] The motor corresponding to the storage layer is controlled to rotate at the relative storage angle. After the storage layer rotates at the relative storage angle, the motor locking cylinder in the storage device is controlled to lock the motor so as to rotate the target storage position to the storage window.

[0012] In one embodiment, the step of granting the access user's tool access permission based on the user identifier includes:

[0013] The tool storage data corresponding to the user identifier is displayed on the display panel of the access device to grant the access user tool access permissions;

[0014] The tool storage data includes a tool identifier and the storage location of the tool corresponding to the tool identifier.

[0015] In one embodiment, the step of determining the target access location in the shelf layer of the shelf according to the access instruction includes:

[0016] When the access instruction is a save instruction, any empty target location in the storage layer that is in an empty state is taken as the target access location.

[0017] When the access instruction is a take instruction, the take identifier of the target take tool is obtained from the take instruction, the target storage location of the target take tool on the shelf is determined based on the take identifier, and the target storage location is taken as the target access location.

[0018] In one embodiment, each access window in the access device is provided with a safety light curtain; after the step of controlling the access window to open when the target access position is rotated to the access window, the method further includes:

[0019] Upon receiving a reset command, the shelf is reset by controlling the motor connected to the shelf, and the access window is closed by controlling the window locking cylinder corresponding to the access window.

[0020] Upon receiving a stop command, the access device is controlled to stop running the current operation, wherein the types of stopping the current operation include resetting the shelf and closing the access window;

[0021] Upon receiving the stop command, in response to the run command, the access device is controlled to continue performing the current operation;

[0022] If no reset, stop, or run command is received, the access window's open / closed state is detected by the safety light curtain. If the access window remains open for a duration longer than a preset time threshold, the access window is closed by the window locking cylinder, and the shelf is reset by the motor.

[0023] In one embodiment, the method further includes:

[0024] Within a preset common statistical period, the number of times each tool in the access device is taken is counted, and tools whose number of take-outs exceeds a preset common threshold are designated as target common tools.

[0025] For each shelf of the shelf, a target convenient location is determined in the shelf where the relative storage angle between the storage window corresponding to the shelf and the storage window is less than or equal to a preset angle threshold.

[0026] For each target convenient location, if the target storage tool stored in the target convenient location is not a commonly used target tool, then the robotic arm in the storage device will adjust the target storage tool to any vacant target allocable storage location in the shelf, and update the tool storage data based on the storage location of the target storage tool after adjustment by the robotic arm.

[0027] For each of the target commonly used tools, if the storage location of the target commonly used tool is not in any target convenient location, the robotic arm in the storage and retrieval device will adjust the target commonly used tool to any target convenient location that is in an idle state, and update the tool storage data based on the storage location of the target commonly used tool after the adjustment by the robotic arm.

[0028] The target's allocatable storage location is not the target's convenient location.

[0029] In one embodiment, the method further includes:

[0030] For each target tool in the access device, within a preset association statistics period, the number of times the target tool is associated with each other tool in the access device is counted, wherein the target tool is any tool in the access device, and the other tools are tools in the access device other than the target tool;

[0031] Other tools whose association retrieval count exceeds a preset association threshold are designated as the association retrieval tools for the target tool.

[0032] If it is detected that the user needs to retrieve the target tool, it is detected whether the associated retrieval tool is located on the target shelf where the target tool is located;

[0033] If the associated retrieval tool is not located on the target shelf, determine the associated shelf where the associated retrieval tool is located;

[0034] Control the rotation of the target shelf to rotate the position of the target tool to the access window corresponding to the target shelf, and control the rotation of the associated shelf to rotate the associated retrieval tool to the access window corresponding to the associated shelf;

[0035] Open the access window corresponding to the target storage layer, and open the access window corresponding to the associated storage layer.

[0036] In one embodiment, the step of detecting whether the associated retrieval tool is located on the target shelf of the target tool further includes:

[0037] If the associated retrieval tool is detected on the target shelf, determine the target relative angle between the location of the target tool and the access window corresponding to the target shelf;

[0038] In the shelf, the angle between the access window of each other shelf and the target shelf is determined as the associated storage position of the target relative angle, wherein the other shelf is any shelf in the shelf other than the target shelf;

[0039] If no associated retrieval tool exists in any of the associated storage locations, then an empty associated empty location is determined in each of the associated storage locations.

[0040] The robotic arm in the access device moves the associated retrieval tool to the associated vacant position, and controls the shelf to rotate so that the position of the target tool is rotated to the access window of the target shelf.

[0041] Open the access window corresponding to the target shelf and the access window corresponding to the shelf where the associated empty position is located.

[0042] In addition, to achieve the above objectives, this application provides an access device, which includes a controller, a device housing, at least one access window, a shelf and a motor disposed in the device housing, and at least one shelf layer disposed in the shelf.

[0043] The controller is connected to the motor and the access window, the access window is set on the device box, and the shelf is connected to the motor;

[0044] The controller is used to receive an access authentication command, determine the user identifier of the access user from the access authentication command, and grant the access user tool access permission based on the user identifier;

[0045] The controller is also configured to receive an access command triggered under the tool access permission, determine a target access position in the shelf layer of the shelf according to the access command, and control the motor to drive the shelf to rotate to rotate the target access position to the access window according to the target access position.

[0046] The controller is also configured to control the access window to open when the target access position is rotated to the access window, so that the access user can access the tool;

[0047] The controller is also used to determine the relative storage angle between the access window corresponding to the shelf where the target access location is located and the target access location;

[0048] The motor corresponding to the storage layer is controlled to rotate at the relative storage angle. After the storage layer rotates at the relative storage angle, the motor locking cylinder in the storage device is controlled to lock the motor so as to rotate the target storage position to the storage window.

[0049] Furthermore, to achieve the above objectives, this application also provides an access device, which includes: a memory, a processor, and a program for a control method of the access device stored in the memory and executable on the processor. When the program for the control method of the access device is executed by the processor, it can implement the steps of the control method of the access device as described above.

[0050] The one or more technical solutions proposed in this application have at least the following technical effects: This application provides an access device, which is provided with an access window and a shelf. The shelf is provided with a shelf layer, and the shelf layer supports the storage of tools, thereby facilitating the access of tools through the access window to the shelf layer. Specifically, in response to the authorization authentication command, the user identifier of the accessing user can be determined from the authorization authentication command, and the accessing user's tool access permission can be granted according to the user identifier, so as to receive access commands triggered under the tool access permission. This ensures that the accessing user's access behavior is generated within the scope of the tool access permission, thereby preventing the accessing user from accessing tools that are not within the scope of the tool access permission, and also preventing non-accessing users from accessing tools within the scope of the tool access permission, thereby reducing the probability of tools being mistakenly taken. Furthermore, based on the access command, the target access position can be determined in the shelf layer of the storage unit. Based on the target access position, the storage unit can be rotated to rotate the target access position to the access window. When the target access position is rotated to the access window, the access window can be opened so that the user can access the tool at the target access position. This facilitates standardized tool access behavior, allows tools to be stored in the storage device to reduce the probability of tools being lost or taken by mistake, and also makes it easier for the user to quickly retrieve the tools, improving the efficiency of tool access and thus improving work efficiency. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with those described herein and, together with the specification, serve to explain the principles of those embodiments.

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart illustrating one embodiment of the control method for the access device according to this application.

[0054] Figure 2 This is a schematic diagram of the structure of an embodiment of the control method for the access device according to this application.

[0055] Figure 3 This is a schematic diagram showing the distribution of the safety light curtain in the control method of the access device according to an embodiment of this application;

[0056] Figure 4 This is a schematic diagram of the structure of one embodiment of the access device according to this application;

[0057] Figure 5 This is a schematic diagram of another embodiment of the access device according to the present application;

[0058] Figure 6 This is a schematic diagram of the shelf and shelf layer in the access device according to an embodiment of this application, viewed from the front and top views.

[0059] Figure 7 This is a schematic diagram of the hardware operating environment involved in the control method of the access device in the embodiments of this application.

[0060] Explanation of icon numbers:

[0061] 100, Shelf; 200, Motor; 300, Controller; 400, Device Box; C1~C3, Multiple Access Windows; W1~W3, Multiple Shelf Layers; G1~G3, Safety Light Curtains Installed in Multiple Access Windows; AN, Multiple Control Buttons; SQ, Access Control Area; Z, Indicator Light; M, Display Panel; L, Casters; J, Foot; K, Electrical Control Cabinet.

[0062] The objectives, features, and advantages of the embodiments described in this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0063] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of the embodiments of this application and are not intended to limit the embodiments of this application.

[0064] To better understand the technical solutions of the embodiments of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0065] On-site technicians typically store their repair tools in their personal toolboxes. The toolboxes are not always placed in a fixed location, the types of tools are not uniform, and the tools are scattered and inconsistent, which can easily lead to 5S problems in storage.

[0066] Therefore, this embodiment provides an access device, which includes an access window and a shelf. The shelf has a shelf layer for storing tools, facilitating tool access via the access window. Specifically, in response to an authentication command, the user's identifier can be determined from the authentication command, and the user's tool access permission can be granted based on the user identifier. This allows the user to receive access commands triggered under the tool access permission, ensuring that all access actions are within the scope of the tool access permission. This prevents users from accessing tools outside the tool access permission scope, and also prevents non-users from accessing tools within the tool access permission scope, thereby reducing the probability of accidentally taking tools. Furthermore, based on the access command, the target access position can be determined in the shelf layer of the storage unit. Based on the target access position, the storage unit can be rotated to rotate the target access position to the access window. When the target access position is rotated to the access window, the access window can be opened so that the user can access the tool at the target access position. This facilitates standardized tool access behavior, allows tools to be stored in the storage device to reduce the probability of tools being lost or taken by mistake, and also makes it easier for the user to quickly retrieve the tools, improving the efficiency of tool access and thus improving work efficiency.

[0067] Based on this, embodiments of this application provide a control method for an access device, referring to... Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the control method for the access device according to this application. See also... Figure 2 , Figure 2 This is a simplified block diagram of the access device. The access device includes a shelf and at least one access window. The shelf has at least one shelf layer, which supports the storage of tools. The control method of the access device includes steps S10 to S30:

[0068] Step S10: In response to the authorization authentication command, determine the user identifier of the accessing user from the authorization authentication command, and grant the accessing user tool access permission based on the user identifier;

[0069] It should be noted that the access device also includes an authentication area, where authentication can be performed. For example, the authentication area can be a barcode scanning area. An IC card (Integrated Circuit Card) can be placed in the barcode scanning area to trigger an authentication command. Scanning a barcode in the barcode scanning area can also trigger the authentication command; this embodiment does not specifically limit this. The authentication command is used for authentication. The access device also includes a control module, which can be a PLC (Programmable Logic Controller). When an authentication command is triggered in the authentication area, the PLC can determine the user identifier from the authentication command and grant the user the corresponding tool access permission.

[0070] Different user identifiers may correspond to different tool access permissions. In this embodiment, the user's tool access permissions are granted based on their user identifier, thereby preventing tools from being mistakenly taken. In this embodiment, tools can be stored and retrieved in the storage device. Users can store tools on the shelf through the access window, or retrieve tools from the shelf through the access window.

[0071] For example, in response to an authentication command, the user identifier of the accessing user is determined from the authentication command, and the access user's tool access permission is granted based on the user identifier, so that the accessing user can access the tool under the tool access permission.

[0072] In a feasible embodiment, step S10 further includes step S11: displaying the tool storage data corresponding to the user identifier on the display panel of the access device to grant the access user tool access permission;

[0073] The tool storage data includes a tool identifier and the storage location of the tool corresponding to the tool identifier.

[0074] It should be noted that the access device also includes a display panel, and the display panel and access window can be set on the same plane of the access device. After the access user scans a code or swipes a card in the authorization area, the display panel will display the tool storage data corresponding to the user's identifier, thereby granting the access user's tool access permissions.

[0075] The tool storage data includes the tool identifier corresponding to the user's identification and the storage location corresponding to the tool identifier. The tool identifier can be a user-defined identifier when storing the tool in the storage device, and the storage location can be the position where the user stores the tool on the shelf. For each shelf, there are multiple storage locations. These multiple storage locations on the shelf can be divided according to angles, and the angle range corresponding to each storage location can be the same or different; this embodiment does not impose specific limitations on this. After the user has completed authorization authentication, they can perform tool storage and retrieval operations. For example, when the user needs to store a new tool, they can trigger a storage command on the display panel; when the user needs to retrieve a tool, they can trigger a retrieval command on the display panel.

[0076] For example, the tool storage data corresponding to the user identifier is displayed on the display panel to grant access permissions to the user. The tools that the user can access are the tools corresponding to the tool identifiers in the tool storage data. This embodiment reduces the probability of tools being mistakenly taken by different users by setting different tool access permissions, and also improves the efficiency of tool management.

[0077] Step S20: Receive an access command triggered under the tool access permission; determine the target access position in the shelf layer of the shelf according to the access command; and control the shelf to rotate according to the target access position to rotate the target access position to the access window.

[0078] It should be noted that access commands instruct the retrieval of tools. Access commands are triggered under tool access permissions and can be either save or retrieve commands. Save commands instruct the user to save a tool, while retrieve commands instruct the user to retrieve a tool. Tools that the user can retrieve are those under their tool access permissions. The save command instructs the user to save either the tool corresponding to their user identifier or a tool that the user wants to save. The target access location is the location of the tool indicated by the access command. Tools can be retrieved through the access window, and therefore, the shelf can be rotated to bring the target access location to the access window.

[0079] For example, the device receives an access command triggered under tool access permissions, determines the target access location based on the access command, and controls the shelf to rotate so that the target access location is aligned with the access window, allowing subsequent tool access at the target access location. In this embodiment, the access device may include a motor, which can be used to drive the shelf to rotate.

[0080] In a feasible embodiment, step S20 further includes steps S21 to S22:

[0081] Step S21: If the access instruction is a storage instruction, take any empty target location in the storage layer as the target access location.

[0082] It should be noted that the save command instructs the user to save a tool, which can be either saving a new tool or saving a tool that has been retrieved; this embodiment does not specifically limit this. An empty state indicates that no tools are stored there, and the target empty location is the location where no tools are stored. When a user needs to save a new tool, after receiving the save command, a prompt box for inputting the tool identifier can pop up on the display panel. The user can enter the tool identifier of the new tool in this prompt box and submit it. The save device can determine any empty target location as the target save location and associate the target save location with the newly entered tool identifier in the user's corresponding tool storage data, so that the user can access the newly saved tool the next time they need to save a tool. For example, the save device may include multiple storage layers, and any empty target control location among all storage layers can be determined as the target save location.

[0083] For example, when a user needs to store or retrieve a tool, a storage command can be triggered on the display panel. For instance, the user can select the tool to be stored on the display panel, and the storage device can then determine any target control position in a controlled state as the target storage position. In other embodiments, the last storage position of the tool can also be used as the target storage position. This embodiment does not specifically limit this. If the storage position changes after the tool is returned, the tool storage data corresponding to the user identifier can be updated so that the user can accurately retrieve the tool next time.

[0084] Step S22: If the access instruction is a take-up instruction, obtain the take-up identifier of the target take-up tool from the take-up instruction, determine the target storage location of the target take-up tool on the shelf based on the take-up identifier, and use the target storage location as the target access location.

[0085] It should be noted that the "Take" command instructs the user to take the tool corresponding to their user identifier. The user can select the tool they wish to take from the display panel to trigger the "Take" command. The target tool to be taken is the tool that the user wishes to take, and the target tool is the tool corresponding to the user's user identifier.

[0086] The retrieval command contains a retrieval identifier for the target retrieval tool. Each tool identifier has a corresponding storage location. Therefore, after determining the retrieval identifier, the target storage location corresponding to the retrieval identifier can be used as the target storage location. The target storage location is the position where the target retrieval tool is stored in the storage device.

[0087] For example, when the access instruction is a take instruction, the take identifier of the target take tool is obtained from the take instruction, the storage location corresponding to the take identifier is taken as the target storage location of the target take tool, and the target storage location is taken as the target access location.

[0088] This embodiment can determine the corresponding target access location through storage instructions and / or retrieval instructions, thereby facilitating the control of the access device and enabling the user to perform access operations under the target access device.

[0089] Step S30: When the target access position is rotated to the access window, the access window is opened so that the access user can access the tool.

[0090] It should be noted that the access device also includes a window locking cylinder for the access window, which can control the opening and closing of the access window. For example, after the access user has completed authorization authentication, the user can rotate to the target access position to the access window, and then open the access window using the window locking cylinder, thereby ensuring the security of the access user.

[0091] When multiple access windows exist on the access device, the access window corresponding to the target access location can be opened, while other access windows that are not at the target access location can remain closed. This prevents the user from accessing other users' tools, thus avoiding accidental access. After the access window is opened, a window locking cylinder can lock the open state of the access window, allowing the user to store tools at the target access location through the access window.

[0092] For example, after the target access position is rotated to the access window, the access window corresponding to the shelf where the target access position is located can be opened, so that the user can access the tool at the target access position through the access window. In this embodiment, each shelf in the access device has its own corresponding access window.

[0093] This application provides an access device with an access window and a shelf. The shelf has a shelf layer for storing tools, facilitating tool access via the access window. Specifically, in response to an authentication command, the user's identifier can be determined from the authentication command, and the user's tool access permission can be granted based on the user identifier. This allows the user to receive access commands triggered under the tool access permission, ensuring that all access actions are within the scope of the tool access permission. This prevents users from accessing tools outside the tool access permission scope, and also prevents non-users from accessing tools within the tool access permission scope, thereby reducing the probability of mistakenly taking tools. Furthermore, based on the access command, the target access position can be determined in the shelf layer of the storage unit. Based on the target access position, the storage unit can be rotated to rotate the target access position to the access window. When the target access position is rotated to the access window, the access window can be opened so that the user can access the tool at the target access position. This facilitates standardized tool access behavior, allows tools to be stored in the storage device to reduce the probability of tools being lost or taken by mistake, and also makes it easier for the user to quickly retrieve the tools, improving the efficiency of tool access and thus improving work efficiency.

[0094] In a feasible embodiment, step S30 further includes steps S31 to S32:

[0095] Step S31: Determine the relative storage angle between the access window corresponding to the shelf where the target access location is located and the target access location;

[0096] Step S32: Control the motor corresponding to the storage layer to rotate the relative storage angle. After the storage layer rotates the relative storage angle, control the motor locking cylinder in the storage device to lock the motor so as to rotate the target storage position to the storage window.

[0097] It should be noted that the relative storage angle is the relative storage angle between the access window and the target access location. For example, the relative storage angle can be the relative angle between the center position of the target access location and the center position of the access window.

[0098] The motor corresponding to each shelf can be a motor connected to a shelf unit. Multiple shelves can exist on the shelf, and the motor can drive all shelves to rotate simultaneously. The storage device also includes a motor locking cylinder, which is connected to the motor and can lock the motor from rotating. This prevents the shelf unit from continuing to rotate after the target storage position has been rotated to the corresponding storage window, thus avoiding a situation where the user might not be able to retrieve the tool. In other embodiments, the motor corresponding to each shelf can also be a motor connected to the shelf itself. For example, different shelves in the storage device can be connected to different motors, and each motor can independently drive the shelf it is connected to to rotate. Each motor can be connected to a motor locking cylinder, and different motors are connected to different locking cylinders. For example, when different shelves are connected to different motors, the motor of the shelf containing the target storage position is controlled to rotate the shelf relative to the storage angle, thereby controlling the target storage position to rotate to the corresponding storage window.

[0099] For example, when all shelves in the storage device are driven by a single motor, the motor connected to the shelf is controlled to rotate the shelf relative to the storage angle. After the shelf rotates relative to the storage angle, the motor locking cylinder in the storage device is controlled to lock the motor, thereby rotating and locking the target storage position to the storage window. When multiple motors in the storage device control different shelves, the motor of the shelf where the target storage position is located is controlled to rotate the shelf relative to the storage angle. After the shelf where the target storage position is located rotates relative to the storage angle, the motor locking cylinder corresponding to the shelf where the target storage position is located is controlled to lock the motor of the shelf where the target storage position is located, thereby rotating and locking the target storage position to the storage window.

[0100] This embodiment determines the relative storage angle between the access window and the target access location, and then rotates the shelf containing the target access location by the relative storage angle so that the target access location can be accurately rotated to the access window, thereby improving the access efficiency of the tool.

[0101] In a feasible embodiment, each access window in the access device is provided with a safety light curtain, and steps X10 to X30 are included after step S30:

[0102] Step X10: Upon receiving a reset command, the shelf is reset by controlling the motor connected to the shelf, and the access window is closed by controlling the window locking cylinder corresponding to the access window.

[0103] It should be noted that the access device may also be equipped with a reset button. Users can trigger the reset command by pressing the reset button. The reset command instructs the control shelf to reset and closes the access window. Shelf reset indicates that the shelves on the shelf also reset, allowing users to quickly rotate the desired tool to the access window the next time they need it, improving access efficiency. Furthermore, resetting helps reduce the cumulative error caused by not resetting, thus reducing the probability of incorrect shelf rotation.

[0104] Each access window is connected to a window locking cylinder, and different access windows are connected to different window locking cylinders.

[0105] For example, upon receiving a reset command, if all shelves in the access device are driven by a single motor, the motor connected to the shelf controls the shelf to reset, and the window locking cylinder corresponding to the access window controls the access window to close. For example, all open access windows can be closed. If multiple motors control different shelves in the access device, the shelves that are rotating are reset, and all open access windows are closed. For example, for each rotating shelf, the motor connected to that shelf controls its reset; shelves that are not rotating do not need to be reset. This embodiment does not impose specific limitations on this.

[0106] Step X20: Upon receiving a stop command, control the access device to stop running the current operation, wherein the types of stopping the current operation include resetting the shelf and closing the access window;

[0107] It should be noted that the access device may also have a stop button. The access user can trigger the stop command by pressing the stop button. The stop command is used to indicate that the current operation should be stopped. The type of current operation may include resetting the shelf and closing the access window.

[0108] For example, upon receiving a stop command, the access device can be controlled to stop the shelf from resetting and to stop closing the access window, thus facilitating continuous access to tools by the user through the access window. For instance, if the user takes tool A and intends to return it shortly afterward, the stop button can be triggered to prevent the shelf from resetting and the access window from closing after tool A is taken. This allows the user to quickly return tool A when needed, thereby improving the efficiency of tool return.

[0109] Step X30: Upon receiving the stop command, in response to the run command, control the access device to continue performing the current operation;

[0110] It should be noted that the access device may also include a run button. The access user can trigger the run command by pressing the run button. The run command can be used to instruct the access device to continue the current operation.

[0111] For example, upon receiving a stop command, a run command is initiated to control the access device to continue the current operation, thereby enabling it to continue operating normally even after the access device no longer needs to stop controlling the shelf reset and the access window to close.

[0112] Step X40: If no reset command, stop command, or run command is received, the on / off state of the access window is detected by the safety light curtain. If the duration of the access window being open exceeds a preset duration threshold, the access window is closed by the window locking cylinder, and the shelf is reset by the motor.

[0113] It should be noted that the safety light curtain can be set in a preset area near the access window. This preset area can be on either side of the access window, thus facilitating the detection of the access window's open / closed state via the safety light curtain. For example, refer to... Figure 3 , Figure 3 C1 to C3 are multiple access windows located on the access device. Figure 3 The document illustrates two configurations of the safety light curtain, for example, as shown in the reference. Figure 3 The content referred to in 'a' is that the safety light curtain can be continuously installed on both sides of the access window, meaning that all access windows can share the same safety light curtain G. (See reference...) Figure 3 The content referred to by 'b' in the diagram refers to the fact that each access window can be equipped with a security light barrier individually. For example, security light barriers G1 can be set on both sides of C1, security light barriers G2 can be set on both sides of C2, and security light barriers G3 can be set on both sides of C3. This embodiment does not impose specific limitations on this. Figure 3 This demonstrates the state of the access window when it is closed. When the access window is closed, Ca is on the right side of the access window; when the access window is open, Ca is on the left side. Ca can be the cylinder door of the access window. Each access window has its own corresponding cylinder door. The window locking cylinder can lock the cylinder door to the right side of the access window to close it, or it can lock the cylinder door to the left side to open it. A safety light curtain can be used to detect the open / closed state of the access window; the safety light curtain can be a type of light sensor.

[0114] The preset duration threshold can be set based on the actual situation. This embodiment does not impose specific limitations on this. For example, the preset duration threshold can be 3 or 4 minutes.

[0115] For example, in the absence of a reset command, stop command, or run command, the on / off state of each access window is detected by the safety light curtain. If the duration of any access window being open exceeds a preset time threshold, and all shelves in the access device are driven by a single motor, the shelf is reset via a motor connected to the shelf, and the access window is closed via a window locking cylinder corresponding to the access window. For example, all open access windows can be closed. If multiple motors control different shelves in the access device, shelves that are rotating are reset, and all open access windows are closed. For example, for each rotating shelf, the shelf is reset via a motor connected to that shelf, and shelves that are not rotating do not need to be reset. This embodiment does not impose specific limitations on this.

[0116] In a feasible embodiment, the control method for the access device further includes steps A10 to A40:

[0117] Step A10: Within a preset common statistical period, count the number of times each tool in the access device is taken, and use the tools whose number of takes is greater than a preset common threshold as target common tools.

[0118] It should be noted that the preset common statistical period can be set based on actual conditions. For example, the preset common statistical period can be one week, half a month, 10 days, or one month, etc. This embodiment does not make specific limitations on this. The target common tools represent tools that are used frequently within the preset common statistical period. The preset common threshold can be set based on actual conditions, and this embodiment does not make specific limitations on this.

[0119] Step A20: For each shelf of the shelf, determine a target convenient location in the shelf where the relative storage angle between the storage window corresponding to the shelf is less than or equal to a preset angle threshold.

[0120] It should be noted that the preset angle threshold can also be set based on actual conditions, such as 30 degrees, 15 degrees, or 20 degrees, etc. This embodiment does not impose specific restrictions on this. Each shelf can have multiple target convenient locations. The target convenient location can be a storage location close to the access window or a storage location facing the access window.

[0121] Step A30: For each target convenient location, if the target storage tool stored in the target convenient location is not a commonly used target tool, the target storage tool is adjusted to any vacant target allocable storage location in the shelf by the robotic arm in the storage device, and the tool storage data is updated based on the storage location of the target storage tool after adjustment by the robotic arm.

[0122] It should be noted that a robotic arm can also be installed inside the storage device. This robotic arm can be used to retrieve and move tools within the storage device. The robotic arm can be positioned on the inner wall of the storage device's housing. This embodiment does not specifically limit the location of the robotic arm; it can be set based on actual conditions. A target allocable storage location refers to a storage location in the shelf that is not a convenient location for the target and is currently vacant. The robotic arm can move a target storage tool that is in a convenient location but is not frequently used by the target to any target allocable storage location. Based on the adjusted storage location of the target storage tool by the robotic arm, the tool storage data is updated so that when the user needs to use the target storage tool later, the location of the target storage tool can be accurately determined.

[0123] When there is no available target location in the shelf, the target storage tool can be stored in the target temporary storage location. The target temporary storage location is set in the storage device. The target temporary storage location may not be set on the shelf. The target temporary storage location can be used to temporarily store tools. The target temporary storage location may be set on the inner wall of the storage device. This embodiment does not make specific limitations on this.

[0124] Step A40: For each of the target commonly used tools, if the storage location of the target commonly used tool is not in any target convenient location, the target commonly used tool is adjusted to any target convenient location that is in an idle state by the robotic arm in the storage and retrieval device, and the tool storage data is updated based on the storage location of the target commonly used tool after being adjusted by the robotic arm.

[0125] The target's allocatable storage location is not the target's convenient location.

[0126] It should be noted that if there is an vacant target convenient location, frequently used tools that are not currently in a target convenient location can be moved to that vacant location. A robotic arm can be used to adjust a frequently used tool to any vacant target convenient location, and the tool storage data can be updated based on the adjusted storage position of the frequently used tool.

[0127] For example, when the number of frequently used target tools is greater than the number of convenient target locations, it means that at least one frequently used target tool will not be placed in a convenient target location. In this case, if the frequently used target tool exists in all convenient target locations and there is a frequently used target tool that is not placed in a convenient target location, the frequently used target tool can be placed in a storage location that is adjacent to a convenient target location but is not in a convenient target location.

[0128] When all frequently used tools are placed in their corresponding convenient locations, and there are vacant convenient locations within the shelf, the least frequently used tool can be identified from among the tools that are not frequently used tools. Alternatively, a robotic arm can be used to place the least frequently used tool in an vacant convenient location. In other embodiments, the convenient location can also be left vacant; this embodiment does not specifically limit this.

[0129] This embodiment places frequently used tools in convenient locations, making it easier for users to quickly access them, thus improving tool retrieval efficiency, user experience, and overall work efficiency.

[0130] In a feasible embodiment, the control method for the access device further includes steps B10 to B60:

[0131] Step B10: For each target tool in the access device, within a preset association statistics period, count the number of times the target tool is associated with each other tool in the access device, wherein the target tool is any tool in the access device, and the other tools are tools in the access device other than the target tool;

[0132] Step B20: Other tools whose number of associated retrievals exceeds a preset association threshold are designated as associated retrieval tools for the target tool;

[0133] In this context, the associated acquisition tool generally refers to a tool that needs to be used together with the target tool, and can also be called an associated usage tool.

[0134] It should be noted that the preset correlation statistics period can be determined based on actual conditions, and this embodiment does not impose specific limitations on it. The preset correlation statistics period can be the same as or different from the preset commonly used statistics period, and this embodiment does not impose specific limitations on it. The target tool is any tool stored in the access device, and other tools are any tools in the access device other than the target tool.

[0135] The associated take-up count refers to the cumulative number of times the same other tool is taken within a preset time period after the target tool is taken. The preset time period can be determined based on actual conditions, and this embodiment does not specifically limit it. In other embodiments, the associated take-up count can also be the cumulative number of times the next tool taken after the target tool is taken is another tool. In other embodiments, the associated take-up count of the same target other tool can also be the sum of the number of times the next tool taken after the target tool is taken is another target tool, and the cumulative number of times other target tools are taken within the preset time period after the target tool is taken. The target other tool can be any other tool.

[0136] The preset association threshold can be set based on actual conditions, and this embodiment does not impose specific limitations on it. The associated retrieval tool represents a tool that is highly likely to be used in conjunction with the target tool. For example, the target tool may generally need to be used in conjunction with an associated retrieval tool.

[0137] For example, for each target tool in the access device, within a preset association statistics period, the number of times the target tool is associated with each other tool in the access device can be counted, and other tools with an association retrieval number greater than a preset association threshold can be used as the associated retrieval tools of the target tool.

[0138] Step B30: If it is detected that the user needs to retrieve the target tool, detect whether the associated retrieval tool is located on the target shelf where the target tool is located;

[0139] Step B40: If the associated retrieval tool is not on the target shelf, determine the associated shelf where the associated retrieval tool is located;

[0140] Step B50: Control the rotation of the target shelf to rotate the position of the target tool to the access window corresponding to the target shelf, and control the rotation of the associated shelf to rotate the associated retrieval tool to the access window corresponding to the associated shelf;

[0141] Step B50: Open the access window corresponding to the target shelf and the access window corresponding to the associated shelf.

[0142] It should be noted that the target shelf is the shelf where the target tool is located, and the associated shelf is the shelf where the associated retrieval tool is located. When a user needs to retrieve the target tool, it can detect whether the associated retrieval tool is on the target shelf. If the associated retrieval tool is not on the target shelf, it means that the associated retrieval tool and the target tool are not on the same shelf. This makes it easier to provide the target tool and the associated retrieval tool to the user through two access windows at the same time.

[0143] For example, when the associated retrieval tool is not on the target shelf, and the motor controlling the rotation of the target shelf in the storage device is different from the motor controlling the shelf where the associated retrieval tool is located, the target shelf can be rotated by the motor connected to the target shelf to rotate the target tool's location to the corresponding storage state. Simultaneously, the associated shelf can be rotated by the motor connected to the associated shelf to rotate the associated retrieval tool to the corresponding storage window of the associated shelf. Once the associated retrieval tool is in the storage window of the associated shelf, the corresponding storage window can be opened by the window locking cylinder of the target shelf, and the corresponding storage window of the associated shelf can also be opened by the window locking cylinder of the associated shelf, allowing the user to quickly retrieve both the target tool and the associated retrieval tool.

[0144] In other embodiments, when the associated retrieval tool is not in the target shelf, if the motor controlling the rotation of the target shelf in the storage device is the same motor as the motor controlling the shelf where the associated retrieval tool is located (e.g., the same motor drives the entire shelf to rotate), the target relative angle between the location of the target tool and the access window corresponding to the target shelf can be determined. It can also detect whether the position in the associated shelf where the relative angle with the access window corresponding to the associated shelf is the target relative angle is vacant. If vacant, a robotic arm can be used to place the associated retrieval tool in the associated shelf where the relative angle with the access window corresponding to the associated shelf is the target relative angle. The shelf can then be rotated by a motor to rotate the target tool to the access window corresponding to the target shelf. Simultaneously, the associated retrieval tool also rotates to the access window of the associated shelf, thereby opening both the access window corresponding to the target shelf and the access window corresponding to the shelf where the associated vacant position is located.

[0145] If the position in the associated shelf where the relative angle between the storage window and the storage window corresponding to the associated shelf is the target relative angle is not empty, it can be detected whether there is a position in the shelf other than the target shelf and the associated shelf where the relative angle with the storage window is the target relative angle and is empty. If there is a position where the relative angle with the storage window is the target relative angle and is empty, the robotic arm will place the associated retrieval tool in the position where the relative angle with the storage window is the target relative angle and is empty, and drive the shelf to rotate so that the target tool is rotated to the storage window corresponding to the target shelf. The associated retrieval tool will also rotate to the corresponding storage window at the same time, thereby opening the storage window corresponding to the target shelf and the storage window corresponding to the associated retrieval tool after the position is moved by the robotic arm.

[0146] In this embodiment, when the target tool and the associated retrieval tool are not on the same shelf, if the different shelves in the storage device are rotated by different motors, the shelves can be rotated by different motors respectively, so that both the associated retrieval tool and the target retrieval tool can be rotated to their corresponding storage windows, allowing the user to quickly retrieve the tool and improving tool retrieval efficiency. Conversely, if the storage device is driven by the same motor, a robotic arm can place the associated retrieval tool in the associated shelf at a position perpendicular to the target tool's location, also facilitating quick tool retrieval and improving tool storage efficiency.

[0147] In another feasible embodiment, step B30 further includes steps B31 to B35:

[0148] Step B31: If the associated retrieval tool is detected on the target shelf, determine the target relative angle between the location of the target tool and the access window corresponding to the target shelf;

[0149] Step B32: In the shelf, determine the associated storage position of each other shelf with the angle between the access window of the other shelf and the target relative angle, wherein the other shelf is any shelf in the shelf other than the target shelf;

[0150] It should be noted that the target relative angle is the relative angle between the location of the target tool and the access window corresponding to the target placement layer. When the associated retrieval tool is on the target placement layer, it means that the associated retrieval tool and the target tool are on the same layer. The associated storage location is in the vertical direction of the target tool's location.

[0151] When the storage device uses the same motor to drive all shelves in the shelf to rotate simultaneously, if there is an associated retrieval tool in each associated storage position, it means that the associated retrieval tool exists in a certain associated storage position. The position of the associated retrieval tool does not need to be adjusted, and the rotation of the motor connected to the shelf can be directly controlled to rotate the position of the target tool to the storage window of the target shelf. The associated retrieval tool can also be rotated synchronously to the storage window corresponding to the associated retrieval tool. The storage window corresponding to the associated retrieval tool is different from the storage window corresponding to the target shelf.

[0152] When different motors drive the rotation of different storage layers in the storage device, a robotic arm can move the associated retrieval tool to any vacant position on any other storage layer. Then, the target storage layer is rotated by a motor to rotate the target tool to the corresponding storage window. The robotic arm also controls the rotation of the storage layer where the associated retrieval tool is located after it has been moved, so that the associated retrieval tool can be rotated to the corresponding storage window, allowing the user to quickly retrieve the associated retrieval tool of the target tool.

[0153] Step B33: If there is no associated retrieval tool in any of the associated storage locations, then determine the empty associated empty locations in each of the associated storage locations.

[0154] Step B34: Using the robotic arm in the access device, the associated retrieval tool is moved to the associated vacant position, and the shelf is rotated to rotate the position of the target tool to the access window of the target shelf.

[0155] Step B35: Open the access window corresponding to the target shelf and the access window corresponding to the shelf where the associated empty position is located.

[0156] It should be noted that the associated empty location is the location where the associated items are stored in an empty state. If there are multiple associated empty locations, the associated retrieval tool can be placed in any of them.

[0157] When the storage and retrieval device uses a single motor to drive the shelving unit, it's necessary to determine the associated storage locations and check if any of these locations contain the associated retrieval tool. If none of the associated retrieval tools are present, it indicates the tool is not in its designated location. Therefore, an empty location needs to be identified so that a robotic arm can move the associated retrieval tool to this empty location. This ensures that when the shelving unit rotates to move the target tool to the access window of the target shelf, the associated retrieval tool also rotates synchronously to its corresponding access window. This allows the user to quickly retrieve the required tool after opening the access window and the access window corresponding to the shelf where the associated control position is located.

[0158] If no associated storage location is available, the system can detect whether the left or right side of the target tool's location is vacant. If vacant, a robotic arm can place the associated tool in the vacant left or right position. After the user retrieves the target tool, if the user instructs to retrieve the associated tool, the associated tool can be quickly rotated to the corresponding storage window for easy access. In other embodiments, a robotic arm can also retrieve the associated tool. After the user retrieves the target tool, if the user instructs to retrieve the associated tool, the robotic arm can place the associated tool in the position before the target tool was retrieved, allowing for quick access.

[0159] In this embodiment, even when the associated tool and the target tool are not on the same layer, they can still be quickly rotated to the access window, improving the efficiency of tool access. Furthermore, regardless of whether the various storage layers in the access device are driven by the same motor or different motors, the efficiency of tool access is improved.

[0160] Furthermore, based on the above embodiments of this application, in the second embodiment of this application, the content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, refer to... Figure 4 This embodiment also provides an access device, which includes a controller 300, a device box 400, at least one access window, a shelf 100 and a motor 200 disposed in the device box, and at least one shelf layer disposed in the shelf.

[0161] The controller is connected to the motor and the access window, the access window is set on the device box, and the shelf is connected to the motor;

[0162] The controller is used to receive an access authentication command, determine the user identifier of the access user from the access authentication command, and grant the access user tool access permission based on the user identifier;

[0163] The controller is also configured to receive an access command triggered under the tool access permission, determine a target access position in the shelf layer of the shelf according to the access command, and control the motor to drive the shelf to rotate to rotate the target access position to the access window according to the target access position.

[0164] The controller is also configured to control the access window to open when the target access position is rotated to the access window, so that the access user can access the tool.

[0165] It should be noted that the device box 400 can be a three-dimensional rectangular box. Figure 4 The diagram provided is a schematic of the module connection. Figure 4 The diagram shown illustrates the scenario where the number of access windows is 1 and the number of motors is 1. Further details can be found in [reference needed]. Figure 5 , Figure 5 A schematic diagram of the access device is shown. Figure 5 The access device shown can be considered as a schematic diagram from a frontal viewing perspective with all access windows open.

[0166] Reference Figure 5 The storage device may also be equipped with casters L that can move the device box, and feet J for fixing the storage device in place. Both casters L and feet J can be located at the bottom of the device box. Inside the device box are a controller, a shelf, and shelf units. A motor may also be installed inside the device box to drive the shelf rotation. The device box may also contain a motor locking cylinder and a window locking cylinder. The motor locking cylinder is connected to the motor, and the window locking cylinder is located between the storage window and the controller. Each storage window is connected to a different window locking cylinder.

[0167] The controller can be a PLC controller. In this embodiment, the number of motors in the storage device can be one. For example, the motor can be connected to a shelf, driving the entire shelf to rotate, and thus driving the shelves on the shelf to rotate uniformly. In other embodiments, the storage device may also include multiple motors, with different motors connected to different shelves on the shelf, driving different shelves to rotate. Each motor is connected to its corresponding motor locking cylinder, and different motors are connected to different motor locking cylinders; one motor is connected to one motor locking cylinder. Figure 4 and Figure 5 The diagram does not show a scenario where multiple motors are connected to different shelf layers.

[0168] Additionally, you can refer to Figure 5 , Figure 5This demonstration shows the access device when all access windows are open. W1~W3 are multiple shelf layers on the shelf. The shelf 100 is visible from the access windows. The number of access windows can be the same as the number of shelf layers. Each shelf layer has its own corresponding access window, and different shelf layers have different access windows. The access device also includes a display panel M, a permission scanning area SQ, security light curtains G1~G3 set in the multiple access windows, and multiple control buttons. AN refers to multiple control buttons, for example, five. The multiple control buttons can be a reset button, a stop button, a run button, and two spare buttons. The two spare buttons can also be a save button and a retrieve button, etc. This embodiment does not specifically limit this. The display panel, permission scanning area, security light curtain, control buttons, and access windows can be arranged on the same plane of the device box. For example, in Figure 5 The yellow highlight bars on both sides of the access window are safety light curtains. The display panel, permission scanning area, safety light curtains, and multiple control buttons are all connected to the controller. Each window locking cylinder, each motor, and each motor locking cylinder are also connected to the controller. An indicator light Z is also located on the top of the access device. The indicator light can display red, yellow, and green. When the indicator light is red, it indicates that the access device is malfunctioning; when it is yellow, it indicates that the access device is in use, meaning a user is retrieving tools; when it is green, it indicates that the access device is idle and no user is retrieving tools. In this embodiment, the indicator light is located on the top of the access device, making it easy for users to see the usage status of the access device and schedule their tool retrieval accordingly. The controller, the motor driving the rotation of the shelf, and the motor locking cylinder can be placed inside the electrical control cabinet K. Figure 5 The robotic arm, window locking cylinder, and motor locking cylinder of the access device are not shown in the image.

[0169] Further details can be found by referring to Figure 6 , Figure 6 The shelves and shelves are shown from different perspectives, for example, Figure 6 In the text "t1", the shelf and shelving unit refer to the unit as seen from the front view. Shelving units can be placed on the same shelf; for example, shelves W1 to W3 can all be placed on the same shelf. Figure 6 In the image, t2 refers to the shelf and storage layer from a top-down view. Tools can be placed on the storage layer, which is what you see from the top-down view: storage layer W1.

[0170] In one embodiment, a tool can be accessed in one storage location through the access window. In other embodiments, multiple tools can also be accessed in one storage location through the access window. Tools in the same storage location belong to the same user. Tools can also be accessed in multiple storage locations through the access window. This embodiment does not make specific limitations in this regard.

[0171] In other embodiments, the access device may further include a backup power supply and an emergency switch. The emergency switch is connected to the backup power supply, which supplies power to the controller, motor, and other components in the access device. If the access device suddenly loses power, and tools need to be retrieved to repair the power-destroyed circuit, the access device will also be without power, potentially preventing the retrieval of tools. In this case, the emergency switch can be pressed to turn on the backup power supply, providing power to the controller, motor, and other components in the access device. To prevent the inability to retrieve tools for repair due to prolonged power outages, the access windows can be opened when the backup power supply reaches a preset remaining power threshold, allowing the user to retrieve the necessary tools for repair.

[0172] To better understand this embodiment, an example illustrates the process of a user retrieving a tool. The user can scan an IC (Integrated Circuit) card in the authentication area. After scanning the IC card, the tool storage data corresponding to the user will be displayed on the display panel. The user can select the tool they want to retrieve on the display panel. The retrieval device can rotate the shelf containing the tool to position it in the corresponding access window. This can open the access window, for example, by using a window locking cylinder to keep the access window open. Other access windows in the retrieval device can remain closed. After retrieving the tool, the user can trigger a reset button to reset the shelf and close the access window. If the user does not trigger the reset, stop, or run buttons, the shelf will reset and the access window will close after a preset time threshold. The above examples are merely illustrative and do not limit the access process in this embodiment.

[0173] The access device provided in this application adopts the control method of the access device in the above embodiments, aiming to solve the technical problem of low work efficiency caused by the random placement of tools. Compared with the prior art, the beneficial effects of the control method of the access device provided in this application are the same as those of the control method of the access device provided in the above embodiments, and other technical features in the access device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0174] This application provides an access device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the control method of the access device in the first embodiment described above.

[0175] The following is for reference. Figure 7 It shows a schematic diagram of a structure suitable for implementing the embodiments of this application. Figure 7 The access device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0176] like Figure 7 As shown, the access device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in the read-only memory 1002 or a program loaded from the storage device 1003 into the random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the access device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the access device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show access devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0177] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0178] The access device provided in this application, employing the control method of the access device in the above embodiments, can solve the technical problem of low work efficiency caused by the random placement of tools. Compared with the prior art, the beneficial effects of the access device provided in this application are the same as those of the control method of the access device provided in the above embodiments, and other technical features of the access device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0179] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0180] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0181] This embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, which are used to execute the control method of the access device in the first embodiment described above.

[0182] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, apparatuses, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable EPROM (Electrical Programmable Read Only Memory) or flash memory, optical fiber, portable compact disk CD-ROM (compact discread-only memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution device, apparatus, or apparatus. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0183] The aforementioned computer-readable storage medium may be included in the access device or may exist independently without being assembled into the access device.

[0184] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an access device, cause the access device to: respond to an authentication instruction, determine the user identifier of the accessing user from the authentication instruction, and grant the accessing user tool access permissions based on the user identifier; receive an access instruction triggered under the tool access permissions, determine a target access position in the shelf layer of the shelf based on the access instruction, and control the shelf to rotate to rotate the target access position to the access window based on the target access position; and, in the case where the target access position is rotated to the access window... The following steps are taken: First, the access window is opened to allow the user to access the tool. Second, the step of controlling the shelf to rotate to the access window based on the target access position includes: determining the relative storage angle between the access window corresponding to the shelf where the target access position is located and the target access position; controlling the motor corresponding to the shelf to rotate by the relative storage angle; and after the shelf rotates by the relative storage angle, controlling the motor locking cylinder in the access device to lock the motor to rotate the target access position to the access window.

[0185] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a LAN (local area network) or WAN (wide area network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0186] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based device that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0187] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0188] The computer-readable storage medium provided in this application embodiment stores computer-readable program instructions for executing the control method of the access device described above, aiming to solve the technical problem of low work efficiency caused by the random placement of tools. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application embodiment are the same as the beneficial effects of the control method of the access device provided in the above embodiments, and will not be repeated here.

[0189] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the access device control method as described above.

[0190] The computer program product provided in this application aims to solve the technical problem of low work efficiency caused by the random placement of tools. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the control method of the access device provided in the above embodiments, and will not be repeated here.

[0191] The above are merely preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structural or procedural transformations made using the description and drawings of the present application, or direct or indirect applications in other related technical fields, are similarly included within the patent processing scope of the present application.

Claims

1. A control method for an access device, characterized in that, The access device is provided with a shelf and at least one access window. The shelf is provided with at least one shelf layer, and the shelf layer supports the storage of tools. The method includes: In response to the authorization authentication command, the user identifier of the accessing user is determined from the authorization authentication command, and the tool access permission of the accessing user is granted based on the user identifier; Receive an access command triggered under the tool access permission, determine the target access position in the shelf layer of the shelf according to the access command, and control the shelf to rotate according to the target access position to rotate the target access position to the access window. When the target access position is rotated to the access window, the access window is opened to allow the user to access the tool; wherein, each access window is connected to a window locking cylinder, and different access windows are connected to different window locking cylinders; Upon receiving a reset command, the storage rack is reset via a motor connected to it, and the access window is closed via a window locking cylinder corresponding to the access window. Upon receiving a stop command, the access device is controlled to stop the storage rack reset and stop closing the access window. The step of controlling the shelf to rotate to the access window based on the target access position includes: Determine the relative storage angle between the access window corresponding to the shelf where the target access location is located and the target access location; The motor corresponding to the shelf is controlled to rotate at the relative storage angle. After the shelf rotates at the relative storage angle, the motor locking cylinder in the access device is controlled to lock the motor so as to rotate the target access position to the access window. For each target tool in the access device, within a preset association statistics period, the number of times the target tool is associated with each other tool in the access device is counted, wherein the target tool is any tool in the access device, and the other tools are tools in the access device other than the target tool; Other tools whose associated retrieval counts exceed a preset association threshold are designated as associated retrieval tools for the target tool; when it is detected that an accessing user needs to retrieve the target tool, it is detected whether the associated retrieval tool is located on the target shelf where the target tool is located; If the associated retrieval tool is not located on the target shelf, determine the associated shelf where the associated retrieval tool is located; In the case that the motor controlling the rotation of the target shelf in the storage device is different from the motor controlling the shelf where the associated retrieval tool is located, the target shelf is controlled to rotate so as to rotate the position of the target tool to the storage window corresponding to the target shelf, and the associated shelf is controlled to rotate so as to rotate the associated retrieval tool to the storage window corresponding to the associated shelf. When the target storage layer and the associated storage layer in the storage device are driven by the same motor, the robotic arm places the associated picking tool in the associated storage layer at a position that is in the same vertical direction as the target tool. Open the access window corresponding to the target shelf and the access window corresponding to the associated shelf; If the associated retrieval tool is detected in the target shelf, the target relative angle between the location of the target tool and the access window corresponding to the target shelf is determined; in the shelf, the angle between the access window of each other shelf and the other shelf is determined as the associated storage position of the target relative angle, wherein the other shelf is any shelf in the shelf other than the target shelf; If no associated retrieval tool is found in any of the associated storage locations, an empty associated vacant location is determined in each associated storage location; the associated retrieval tool is moved to the associated vacant location by the robotic arm in the storage device, and the shelf is rotated to rotate the position of the target tool to the storage window of the target shelf; Open the access window corresponding to the target shelf and the access window corresponding to the shelf where the associated empty space is located.

2. The control method for the access device as described in claim 1, characterized in that, The step of granting the access user's tool access permissions based on the user identifier includes: The tool storage data corresponding to the user identifier is displayed on the display panel of the access device to grant the access user tool access permissions; The tool storage data includes a tool identifier and the storage location of the tool corresponding to the tool identifier.

3. The control method for the access device as described in claim 1, characterized in that, The step of determining the target access location in the shelf layer of the shelf according to the access instruction includes: When the access instruction is a save instruction, any empty target location in the storage layer that is in an empty state is taken as the target access location. When the access instruction is a take instruction, the take identifier of the target take tool is obtained from the take instruction, the target storage location of the target take tool on the shelf is determined based on the take identifier, and the target storage location is taken as the target access location.

4. The control method for the access device as described in claim 1, characterized in that, Each access window in the access device is equipped with a safety light curtain; after the step of controlling the access window to open when the target access position is rotated to the access window, the method further includes: Upon receiving a stop command, the access device is controlled to stop running the current operation, wherein the types of stopping the current operation include resetting the shelf and closing the access window; Upon receiving the stop command, in response to the run command, the access device is controlled to continue performing the current operation; If no reset, stop, or run command is received, the access window's open / closed state is detected by the safety light curtain. If the access window remains open for a duration longer than a preset time threshold, the access window is closed by the window locking cylinder, and the shelf is reset by the motor.

5. The control method for the access device as described in claim 2, characterized in that, The method further includes: Within a preset common statistical period, the number of times each tool in the access device is taken is counted, and tools whose number of take-outs exceeds a preset common threshold are designated as target common tools. For each shelf of the shelf, a target convenient location is determined in the shelf where the relative storage angle between the storage window corresponding to the shelf and the storage window is less than or equal to a preset angle threshold. For each target convenient location, if the target storage tool stored in the target convenient location is not a commonly used target tool, then the robotic arm in the storage device will adjust the target storage tool to any vacant target allocable storage location in the shelf, and update the tool storage data based on the storage location of the target storage tool after adjustment by the robotic arm. For each of the target commonly used tools, if the storage location of the target commonly used tool is not in any target convenient location, the robotic arm in the storage and retrieval device will adjust the target commonly used tool to any target convenient location that is in an idle state, and update the tool storage data based on the storage location of the target commonly used tool after the adjustment by the robotic arm. The target's allocatable storage location is not the target's convenient location.

6. An access device, characterized in that, The access device includes a controller, a device housing, at least one access window, a shelf and a motor disposed within the device housing, and at least one shelf layer disposed within the shelf. The controller is connected to the motor and the access window, the access window is set on the device box, and the shelf is connected to the motor; The controller is used to receive an access authentication command, determine the user identifier of the access user from the access authentication command, and grant the access user tool access permission based on the user identifier; The controller is also configured to receive an access command triggered under the tool access permission, determine a target access position in the shelf layer of the shelf according to the access command, and control the motor to drive the shelf to rotate to rotate the target access position to the access window according to the target access position. The controller is further configured to, when the target access position is rotated to the access window, control the access window to open so that the access user can access the tool; wherein, each access window is connected to a window locking cylinder, and different access windows are connected to different window locking cylinders; upon receiving a reset command, the controller controls the shelf to reset via a motor connected to the shelf, and controls the access window to close via the window locking cylinder corresponding to the access window; upon receiving a stop command, the controller controls the access device to stop the shelf reset and stop closing the access window; The controller is also used to determine the relative storage angle between the access window corresponding to the shelf where the target access location is located and the target access location; The motor corresponding to the shelf is controlled to rotate at the relative storage angle. After the shelf rotates at the relative storage angle, the motor locking cylinder in the access device is controlled to lock the motor so as to rotate the target access position to the access window. The controller is also used to count the number of times each target tool in the access device is associated with each other tool in the access device within a preset association statistics period, wherein the target tool is any tool in the access device, and the other tools are tools in the access device other than the target tool; The controller is also configured to use other tools whose associated retrieval counts exceed a preset association threshold as associated retrieval tools of the target tool; when it is detected that the accessing user needs to retrieve the target tool, it detects whether the associated retrieval tool is on the target shelf where the target tool is located; if the associated retrieval tool is not on the target shelf, it determines the associated shelf where the associated retrieval tool is located. The controller is also used to control the rotation of the target shelf in the storage device when the motor controlling the rotation of the target shelf is different from the motor controlling the shelf where the associated retrieval tool is located, so as to rotate the position of the target tool to the storage window corresponding to the target shelf, and to control the rotation of the associated shelf to rotate the associated retrieval tool to the storage window corresponding to the associated shelf. The controller is also used to, when the target storage layer and the associated storage layer in the storage device are driven by the same motor, place the associated picking tool in the associated storage layer at a position that is in the same vertical direction as the target tool by means of a robotic arm; open the storage window corresponding to the target storage layer and open the storage window corresponding to the associated storage layer. The controller is further configured to, upon detecting that the associated retrieval tool is on the target shelf, determine the target relative angle between the location of the target tool and the access window corresponding to the target shelf; determine the associated storage position in each other shelf as the angle between the access window of the other shelf and the target shelf, wherein the other shelf is any shelf in the shelf other than the target shelf; if there is no associated retrieval tool in any associated storage position, determine an associated vacant position in each associated storage position; move the associated retrieval tool to the associated vacant position using the robotic arm in the access device, and control the shelf to rotate so that the location of the target tool is rotated to the access window of the target shelf; and open the access window corresponding to the target shelf and the access window corresponding to the shelf where the associated vacant position is located.

7. An access device, characterized in that, The access device includes at least one processor and a memory communicatively connected to the at least one processor; The memory stores instructions executable by at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the control method for the access device as described in any one of claims 1 to 5.

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