Intelligent stacking machine positioning method and device based on upper computer monitoring scene

Abstract

The invention discloses a stacking machine intelligent positioning method and device based on an upper computer monitoring scene. The method comprises the steps that target physical coordinate parameters and equipment physical position parameters of a stacking machine and screen track width parameters of an upper computer are obtained; and determining a physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter, and determining a screen coordinate parameter of the stacker in the upper computer according to the equipment physical position parameter and the physical width reduction scale factor so as to determine a positioning parameter of the stacker monitored by the upper computer. Therefore, compared with a traditional stacker positioning method, the method has the advantages that the horizontal axis coordinate value of the stacker can be directly obtained, the position calculation reliability and accuracy of the stacker are improved, the corresponding accuracy of the physical position of the stacker and the front-end interface is improved, and the positioning accuracy of the stacker is improved. Therefore, the positioning reliability, the positioning accuracy and the monitoring accuracy of the stacker under the monitoring scene of the upper computer are improved.

Description

Technical Field

[0001] This invention relates to the field of stacker crane positioning technology, and in particular to a stacker crane intelligent positioning method and device based on a host computer monitoring scenario. Background Technology

[0002] In the field of industrial automation, stacker cranes are core equipment in new energy automated warehouse management systems and warehousing and logistics scheduling systems. The positioning accuracy and dynamic adaptability of their supervisory control and data acquisition (SCADA) monitoring directly affect the efficiency of warehousing operations and the scientific nature of operational decisions. However, existing stacker crane SCADA solutions still have two key technical shortcomings that make it difficult to meet the requirements for precise and real-time monitoring: Firstly, the positioning accuracy is significantly insufficient. Traditional solutions rely on manually defined column numbers from the PLC to map the X-axis position. When the stacker crane stops between two columns due to a malfunction (e.g., the area between columns 1 and 2), the host computer can only display it as being in one of the two adjacent columns, failing to accurately reflect the actual stopping position. This results in positioning deviations, which not only affect the rapid troubleshooting of faults but also interfere with subsequent warehouse scheduling operations. Secondly, the traditional solution lacks dynamic adaptation capabilities during the movement process. It updates positioning information column by column. When the X-axis span mapped by the number of columns is large, the column value update speed is slow, causing the stacker crane position displayed on the front end to flicker and jump, which is severely inconsistent with the actual smooth movement of the equipment. Furthermore, when the stacker crane's operating speed changes, the parameters simulating the stacker crane's movement speed in the host computer must be manually adjusted, failing to automatically adapt to the actual operating speed of the equipment, greatly affecting the intuitiveness and real-time performance of the monitoring screen.

[0003] Therefore, for scenarios involving upper-level computer monitoring, there is an urgent need for a technical solution that can improve the positioning accuracy of stacker cranes. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a method and device for intelligent positioning of stacker cranes in a host computer monitoring scenario. Compared with traditional stacker crane positioning methods, implementing this invention can directly obtain the horizontal axis coordinate value of the stacker crane, improving the reliability and accuracy of the stacker crane position calculation, thereby improving the accuracy of the correspondence between the physical position of the stacker crane and the front-end interface, thus improving the reliability, accuracy and precision of stacker crane positioning in a host computer monitoring scenario.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a method for intelligent positioning of stacker cranes based on a host computer monitoring scenario, the method comprising: The target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the host computer are obtained; the target physical coordinate parameters include the minimum physical coordinate parameters and the maximum physical coordinate parameters. Based on the target physical coordinate parameters and the screen track width parameters, the physical width reduction factor of the stacker crane is determined, and based on the equipment physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. Based on the screen coordinate parameters of the stacker in the host computer, the positioning parameters of the stacker monitored by the host computer are determined.

[0006] As an optional implementation, in the first aspect of the present invention, the minimum physical coordinate parameter is used to indicate the leftmost physical position of the track that the stacker can reach, and the maximum physical coordinate parameter is used to indicate the rightmost physical position of the track that the stacker can reach. The step of determining the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters includes: The difference between the maximum physical coordinate parameter and the minimum physical coordinate parameter is calculated to obtain the physical width parameter of the track; The physical width reduction factor of the stacker crane is determined based on the physical width parameters of the track and the screen track width parameters. Wherein, the physical width reduction factor is: K = W_phys / W_screen; W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0007] As an optional implementation, in the first aspect of the present invention, determining the screen coordinate parameters of the stacker crane in the host computer based on the physical location parameters of the device and the physical width reduction factor includes: Based on the order of magnitude units corresponding to the physical location parameters of the equipment and the order of magnitude units of the target physical coordinate parameters, a conversion operation is performed on the physical location parameters of the equipment to obtain the converted physical location parameters of the equipment. The difference between the converted physical position parameters of the equipment and the minimum physical coordinate parameters is calculated to obtain the normalized physical position parameters of the equipment. Based on the normalized physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. The screen coordinate parameters of the stacker crane in the host computer are as follows: X_screen = P_norm / K; P_norm is the normalized physical location parameter of the device.

[0008] As an optional implementation, in the first aspect of the present invention, determining the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer includes: Obtain the width parameter of the stacker crane screen element from the host computer; Based on the screen element width parameters of the stacker crane, the screen coordinate parameters of the stacker crane in the host computer are visually calibrated to obtain the calibrated screen coordinate parameters. Based on preset element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the transformed screen coordinate parameters, which are used as the positioning parameters of the stacker crane monitored by the host computer.

[0009] As an optional implementation, in the first aspect of the present invention, the corrected screen coordinate parameters are obtained by visual center correction using the following formula: X_final = X_screen - (W_element / 2); X_screen is the corrected screen coordinate parameter, W_element is the width parameter of the stacker crane screen element, and X_final is the corrected screen coordinate parameter.

[0010] As an optional implementation, in the first aspect of the invention, before determining the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the device and the physical width reduction factor, the method further includes: Based on the physical width parameter of the track, the normalized physical position parameter of the equipment is validated to obtain the validation result of the normalized physical position parameter of the equipment. When the verification result indicates that the normalized physical position parameters of the equipment are valid, the screen coordinate parameters of the stacker crane in the host computer are determined based on the normalized physical position parameters of the equipment and the physical width reduction factor. When the verification result indicates that the normalized physical location parameters of the device are invalid, boundary safety processing is performed on the normalized physical location parameters of the device to obtain the processed physical location parameters of the device. Based on the processed physical location parameters of the device and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined.

[0011] As an optional implementation, in the first aspect of the present invention, the processed physical position parameters of the device are subjected to boundary safety processing using the following formula: P_norm_after = MAX(0,MIN(P_norm,W_phys)); P_norm_after is the physical location parameter of the processed device; The step of performing a validity verification operation on the normalized equipment physical position parameters based on the physical width parameter of the track, and obtaining the verification result of the normalized equipment physical position parameters, includes: Determine whether the normalized physical position parameter of the device is greater than or equal to zero and less than or equal to the physical width parameter of the track; When the judgment result is yes, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are valid. If the judgment result is negative, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are invalid.

[0012] The second aspect of this invention discloses an intelligent positioning device for a stacker crane in a host computer monitoring scenario, the device comprising: The acquisition module is used to acquire the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane; the target physical coordinate parameters include the minimum physical coordinate parameters and the maximum physical coordinate parameters. The determination module is used to determine the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters, and to determine the screen coordinate parameters of the stacker crane in the host computer based on the equipment physical position parameters and the physical width reduction factor; and to determine the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer.

[0013] As an optional implementation, in a second aspect of the invention, the minimum physical coordinate parameter is used to indicate the leftmost physical position of the track that the stacker can reach, and the maximum physical coordinate parameter is used to indicate the rightmost physical position of the track that the stacker can reach. Specifically, the method by which the determining module determines the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters includes: The difference between the maximum physical coordinate parameter and the minimum physical coordinate parameter is calculated to obtain the physical width parameter of the track; The physical width reduction factor of the stacker crane is determined based on the physical width parameters of the track and the screen track width parameters. Wherein, the physical width reduction factor is: K = W_phys / W_screen; W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0014] As an optional implementation, in a second aspect of the present invention, the method by which the determining module determines the screen coordinate parameters of the stacker crane in the host computer based on the physical position parameters of the device and the physical width reduction factor specifically includes: Based on the order of magnitude units corresponding to the physical location parameters of the equipment and the order of magnitude units of the target physical coordinate parameters, a conversion operation is performed on the physical location parameters of the equipment to obtain the converted physical location parameters of the equipment. The difference between the converted physical position parameters of the equipment and the minimum physical coordinate parameters is calculated to obtain the normalized physical position parameters of the equipment. Based on the normalized physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. The screen coordinate parameters of the stacker crane in the host computer are as follows: X_screen = P_norm / K; P_norm is the normalized physical location parameter of the device.

[0015] As an optional implementation, in a second aspect of the present invention, the method by which the determining module determines the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer specifically includes: Obtain the width parameter of the stacker crane screen element from the host computer; Based on the screen element width parameters of the stacker crane, the screen coordinate parameters of the stacker crane in the host computer are visually calibrated to obtain the calibrated screen coordinate parameters. Based on preset element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the transformed screen coordinate parameters, which are used as the positioning parameters of the stacker crane monitored by the host computer.

[0016] As an optional implementation, in a second aspect of the invention, the corrected screen coordinate parameters are obtained by visual center correction using the following formula: X_final = X_screen - (W_element / 2); X_screen is the corrected screen coordinate parameter, W_element is the width parameter of the stacker crane screen element, and X_final is the corrected screen coordinate parameter.

[0017] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The verification module is used to perform a validity verification operation on the normalized physical position parameters of the equipment based on the physical width parameters of the track before the determining module determines the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the equipment and the physical width reduction factor, so as to obtain the verification result of the normalized physical position parameters of the equipment. The determining module is further configured to, when the verification result of the verification module indicates that the normalized physical position parameters of the device are valid, determine the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the device and the physical width reduction factor. The processing module is used to perform boundary safety processing on the normalized device physical location parameters when the verification result of the verification module indicates that the normalized device physical location parameters are invalid, so as to obtain the processed device physical location parameters. The determining module is further configured to determine the screen coordinate parameters of the stacker crane in the host computer based on the processed physical position parameters of the equipment and the physical width reduction factor.

[0018] As an optional implementation, in a second aspect of the invention, the processed physical position parameters of the device are used for boundary safety processing using the following formula: P_norm_after = MAX(0,MIN(P_norm,W_phys)); P_norm_after is the physical location parameter of the processed device; Specifically, the verification module performs validity verification operations on the normalized equipment physical position parameters based on the physical width parameter of the track, and obtains the verification result of the normalized equipment physical position parameters in the following ways: Determine whether the normalized physical position parameter of the device is greater than or equal to zero and less than or equal to the physical width parameter of the track; When the judgment result is yes, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are valid. If the judgment result is negative, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are invalid.

[0019] A third aspect of this invention discloses another intelligent positioning device for stacker cranes in a host computer monitoring scenario, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the stacker crane intelligent positioning method based on host computer monitoring scenario disclosed in the first aspect of the present invention.

[0020] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the intelligent positioning method for stacker cranes based on a host computer monitoring scenario disclosed in the first aspect of the present invention.

[0021] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane are obtained. Based on the target physical coordinate parameters and screen track width parameters, a physical width reduction factor of the stacker crane is determined. Then, based on the equipment physical position parameters and physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined, thereby determining the positioning parameters of the stacker crane monitored by the host computer. It is evident that, compared to traditional stacker crane positioning methods, implementing this invention can directly obtain the horizontal axis coordinate value of the stacker crane, improving the reliability and accuracy of the stacker crane's position calculation. This, in turn, improves the accuracy of the correspondence between the physical position of the stacker crane and the front-end interface, thereby enhancing the reliability, accuracy, and monitoring precision of the stacker crane's positioning in a host computer monitoring scenario. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating a stacker crane intelligent positioning method based on a host computer monitoring scenario disclosed in an embodiment of the present invention. Figure 2 This is a flowchart illustrating another intelligent positioning method for stacker cranes based on a host computer monitoring scenario disclosed in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a stacker crane intelligent positioning device based on a host computer monitoring scenario, as disclosed in an embodiment of the present invention. Figure 4 This is a schematic diagram of another intelligent positioning device for stacker cranes based on a host computer monitoring scenario disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of another intelligent positioning device for stacker cranes based on a host computer monitoring scenario disclosed in an embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] This invention discloses a method and device for intelligent positioning of stacker cranes in a host computer monitoring scenario. Compared with traditional stacker crane positioning methods, implementing this invention can directly obtain the horizontal axis coordinate value of the stacker crane, improving the reliability and accuracy of the stacker crane's position calculation, thereby improving the accuracy of the correspondence between the physical position of the stacker crane and the front-end interface, and thus improving the reliability, accuracy, and monitoring accuracy of stacker crane positioning in a host computer monitoring scenario.

[0028] Example 1 Please see Figure 1 , Figure 1This is a flowchart illustrating a stacker crane intelligent positioning method based on a host computer monitoring scenario, as disclosed in an embodiment of the present invention. Optionally, this method can be implemented by a stacker crane intelligent positioning device, which can be integrated into systems such as new energy automated warehouse management systems, warehousing and logistics scheduling systems, host computer monitoring terminals, etc., or it can be a local server or cloud server used to process the stacker crane intelligent positioning process based on a host computer monitoring scenario, etc. The embodiments of the present invention do not impose limitations. Figure 1 As shown, the intelligent positioning method for stacker cranes in a host computer monitoring scenario can include the following operations: 101. Obtain the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane.

[0029] In this embodiment of the invention, the target physical coordinate parameters include a minimum physical coordinate parameter and a maximum physical coordinate parameter. Specifically, the minimum and maximum physical coordinate parameters can be understood as the minimum and maximum displacement values ​​that the stacker crane can move on the X-axis, obtained when the host computer software establishes a communication connection with the PLC (Programmable Logic Controller). That is, the minimum physical coordinate parameter is used to indicate the leftmost physical position of the track that the stacker crane can reach, and the maximum physical coordinate parameter is used to indicate the rightmost physical position of the track that the stacker crane can reach.

[0030] Furthermore, when establishing communication between the host computer and the PLC, industrial standard communication protocols (such as Modbus, Profinet, or EtherNet / IP) can be used, and P_min (the minimum physical coordinate parameter) and P_max (the maximum physical coordinate parameter) can be obtained through preset data acquisition instructions (such as reading the address of a specific PLC register). These two parameters are usually entered by engineers during PLC initialization configuration based on the actual physical dimensions of the stacker crane track (such as the measured distance from the left end to the right end of the track). They are fixed boundary parameters and only need to be recalibrated when the track is modified. They do not need to be updated frequently during daily operation.

[0031] Furthermore, P_phys (i.e., the physical position parameters of the equipment) can be understood as the dynamic position data of the stacker crane's X-axis collected in real time by the PLC. The data source is the stacker crane's built-in position detection device (such as photoelectric encoder, laser range sensor, etc.) to ensure that the movement status of the stacker crane can be reflected in real time. At the same time, the unit of P_phys needs to be marked - if the PLC's native unit is "0.1mm", the unit identifier can be carried during data transmission to reduce the occurrence of deviations caused by unit confusion in subsequent calculations.

[0032] Furthermore, W_screen (i.e., the screen track width parameter) can be obtained by calling the DOM properties (such as offsetWidth) of the stacker crane track simulation container through the host computer front-end code. This parameter needs to exclude the dimensions of non-track display areas such as the border and padding of the track container. For example, if the track container has 10px left and right padding, it needs to be recalculated through the clientWidth property (which only includes the content area width) to ensure that W_screen accurately corresponds to the "pixel width of the track's visible area". In addition, when the host computer interface window is scaled, a real-time recalculation mechanism needs to be triggered to update the W_screen value to avoid the scaling factor becoming invalid due to changes in interface size.

[0033] 102. Based on the target physical coordinate parameters and the screen track width parameters, determine the physical width reduction factor of the stacker crane, and based on the equipment physical position parameters and the physical width reduction factor, determine the screen coordinate parameters of the stacker crane in the host computer.

[0034] In this embodiment of the invention, it can be understood that by obtaining the container width of the simulated stacker in the front-end interface, a dynamic proportional relationship between the actual physical width of the stacker calculated based on the target physical coordinate parameters and the container width is established, and then the screen pixel position of the stacker in the host computer is calculated through a coordinate transformation algorithm.

[0035] 103. Based on the screen coordinate parameters of the stacker crane in the host computer, determine the positioning parameters of the stacker crane monitored by the host computer.

[0036] In this embodiment of the invention, it can be understood that the display position of the stacker crane on the interface is updated in real time based on the calculated screen pixel position of the stacker crane in the host computer, that is, the position of the stacker crane interface that the operator can intuitively see. This display position can be updated using CSS progressive rendering, such as setting the position of the stacker crane element through the `style.right` property to dynamically adapt to the real-time rendering process at any speed of the stacker crane. Specifically, the `style.right` property is used instead of `style.left` because the right edge of the track container is fixed (usually aligned with the right side of the interface). `style.right` can directly control the distance from the right edge of the element to the fixed right edge, which is logically more consistent with the physical scenario of the stacker crane "moving left and right along the track," and eliminates the need for frequent calculations of the left edge position of the track container.

[0037] As can be seen, compared with the traditional stacker crane positioning method, implementing the present invention can directly obtain the horizontal axis coordinate value of the stacker crane, which improves the reliability and accuracy of the stacker crane position calculation, thereby improving the accuracy of the correspondence between the physical position of the stacker crane and the front-end interface, thus improving the reliability, accuracy and precision of the stacker crane positioning in the host computer monitoring scenario.

[0038] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another intelligent positioning method for stacker cranes in a host computer monitoring scenario, as disclosed in an embodiment of the present invention. Optionally, this method can be implemented by an intelligent positioning device for the stacker crane. This device can be integrated into systems such as new energy automated warehouse management systems, warehousing and logistics scheduling systems, host computer monitoring terminals, etc., or it can be a local server or cloud server used to process the intelligent positioning process of the stacker crane in a host computer monitoring scenario. The embodiments of the present invention do not impose limitations. Figure 2 As shown, the intelligent positioning method for stacker cranes in a host computer monitoring scenario can include the following operations: 201. Obtain the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane.

[0039] 202. Calculate the difference between the maximum and minimum physical coordinate parameters to obtain the physical width parameter of the track.

[0040] In this embodiment of the invention, W_phys (i.e., the physical width parameter of the track) = P_max - P_min.

[0041] 203. Based on the physical width parameters of the track and the screen track width parameters, determine the physical width reduction factor of the stacker crane, and based on the physical position parameters of the equipment and the physical width reduction factor, determine the screen coordinate parameters of the stacker crane in the host computer.

[0042] In this embodiment of the invention, the physical width reduction factor is further: K = W_phys / W_screen; Where W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter (the unit can be pixels).

[0043] Furthermore, before determining the physical width reduction factor of the stacker crane based on the physical width parameters of the track and the screen track width parameters, the method also includes: Perform a validity verification operation on the screen track width parameter and obtain the verification result of the screen track width parameter; When the verification result of the screen track width parameter indicates that the screen track width parameter is valid, the physical width reduction factor of the stacker crane is determined based on the physical width parameter of the track and the screen track width parameter. When the verification result of the screen track width parameter indicates that the screen track width parameter is invalid, the screen track width parameter is corrected to obtain the corrected screen track width parameter. Based on the corrected screen track width parameter and the physical width parameter of the track, the physical width reduction factor of the stacker crane is determined.

[0044] Specifically, the validity of the screen track width parameter can be determined by checking if it is greater than 0. If it is greater than 0, it is valid; otherwise, it is not. This correction operation can be understood as changing the screen track width parameter to the default value or having it corrected by maintenance personnel.

[0045] 204. Based on the screen coordinate parameters of the stacker crane in the host computer, determine the positioning parameters of the stacker crane monitored by the host computer.

[0046] In this embodiment of the invention, for other descriptions of steps 201 and 204, please refer to the detailed description of steps 101 and 103 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0047] As can be seen, implementing this embodiment of the invention can further calculate the physical width parameter of the track based on the maximum and minimum physical coordinate parameters, and then determine the physical width reduction factor of the stacker crane based on the physical width parameter of the track and the screen track width parameter. Thus, compared to traditional stacker crane positioning methods, the dynamic scaling algorithm solves the positioning error problem caused by fixed ratios or single sensors, thereby improving the accuracy of the error between the front-end view positioning and the actual physical positioning, and ensuring the accurate display of the stacker crane position on the interface.

[0048] In an optional embodiment, step 203 above, determining the screen coordinate parameters of the stacker crane in the host computer based on the device's physical location parameters and the physical width reduction factor, includes: Based on the order of magnitude and unit of the equipment physical location parameters and the order of magnitude and unit of the target physical coordinate parameters, the order of magnitude of the equipment physical location parameters is converted to obtain the converted equipment physical location parameters. The difference between the converted physical position parameters and the minimum physical coordinate parameters of the equipment is calculated to obtain the normalized physical position parameters of the equipment. Based on the normalized physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined.

[0049] In this optional embodiment, the screen coordinate parameters of the stacker crane in the host computer are: X_screen = P_norm / K; P_norm is the normalized physical location parameter of the device.

[0050] It should be noted that P_phys represents the original physical position of the stacker crane as fed back by the PLC, and its native unit may differ from P_max / P_min (e.g., the native unit of P_phys is 0.1mm, while the unit of P_max / P_min is 1mm). Unit conversion is required first (e.g., P_phys...). 适配后值 =P_phys 原生值 / 10), then calculate the normalized physical location parameters of the device: P_norm = P_phys 适配后值 -P_min ensures accurate calculation of X_screen.

[0051] As can be seen, this optional embodiment can adaptively perform a magnitude conversion operation on the physical position parameters of the equipment to obtain the converted physical position parameters. Then, it calculates the difference between these converted parameters and the minimum physical coordinate parameters to obtain the normalized physical position parameters. Based on the normalized physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. This improves the reliability and accuracy of processing the physical position parameters compared to traditional stacker crane positioning methods, thereby improving the reliability and accuracy of determining the screen coordinate parameters of the stacker crane in the host computer, and ultimately enhancing the positioning accuracy of the stacker crane in host computer monitoring scenarios.

[0052] In another optional embodiment, step 204 above, determining the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer, includes: Obtain the width parameter of the stacker crane screen element from the host computer; Based on the screen element width parameters of the stacker crane, the visual center correction is performed on the screen coordinate parameters of the stacker crane in the host computer to obtain the corrected screen coordinate parameters. Based on the preset element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the transformed screen coordinate parameters, which are used as the positioning parameters of the stacker crane monitored by the host computer.

[0053] In this optional embodiment, the corrected screen coordinate parameters are obtained by visual center correction using the following formula: X_final = X_screen - (W_element / 2); X_screen represents the corrected screen coordinate parameters, W_element represents the width parameter of the stacker crane screen element (the unit can be pixels), and X_final represents the corrected screen coordinate parameters.

[0054] This optional implementation can be understood as follows: Based on the calculated X_final value, the position of the stacker crane element is set using CSS. The stacker crane is rendered and displayed on the interface using the JavaScript key code `style.right=X_final+'px'` (unit) to provide intuitive visual feedback. In this way, by subtracting the element's half-width, the screen position corresponding to the physical center (X_screen) is transformed into the screen position corresponding to the element's right edge (X_final), ensuring that the center of the visual element is aligned with the actual physical center of the stacker crane—for example, if X_screen=500px (the physical center is 500px from the screen track) and W_element=100px (the element's half-width is 50px), then X_final=450px. At this point, the right edge of the element is 450px from the right edge of the track, and the element's center falls exactly at 500px, precisely matching the physical center.

[0055] As can be seen, this optional embodiment can adaptively perform visual center correction on the screen coordinate parameters of the stacker crane in the host computer based on the width parameters of the stacker crane screen elements, obtaining the corrected screen coordinate parameters. Then, based on the element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the positioning parameters of the stacker crane monitored by the host computer. Compared with traditional stacker crane positioning methods, this improves the reliability and accuracy of determining the positioning parameters of the stacker crane monitored by the host computer, ensuring that the stacker crane position seen by the operator on the monitoring interface is completely consistent with the actual physical position. This reduces operational misjudgments caused by visual deviations, thereby improving the efficiency, accuracy, and safety of warehousing operations.

[0056] In yet another optional embodiment, before determining the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical location parameters of the device and the physical width reduction factor, the method further includes: Based on the physical width parameter of the track, the validity of the normalized physical position parameters of the equipment is verified, and the verification results of the normalized physical position parameters of the equipment are obtained. When the verification result indicates that the normalized physical position parameters of the equipment are valid, the screen coordinate parameters of the stacker crane in the host computer are determined based on the normalized physical position parameters of the equipment and the physical width reduction factor. When the verification result indicates that the normalized physical position parameters of the equipment are invalid, boundary safety processing is performed on the normalized physical position parameters of the equipment to obtain the processed physical position parameters of the equipment. Based on the processed physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined.

[0057] In this optional embodiment, the processed device physical location parameters are used for boundary safety processing using the following formula: P_norm_after = MAX(0,MIN(P_norm,W_phys)); P_norm_after represents the processed physical location parameters of the device.

[0058] Specifically, the formula can be understood as follows: when P_norm exceeds the upper limit of the track (P_norm>W_phys), it is forcibly restricted to W_phys (i.e., the stacker crane is virtually positioned at the rightmost end of the track); if P_norm≤W_phys, the original P_norm is retained. Then, when P_norm exceeds the lower limit of the track (P_norm<0), it is forcibly restricted to 0 (i.e., the stacker crane is virtually positioned at the leftmost end of the track); if the inner result is ≥0, the inner result is retained, thereby achieving boundary constraints.

[0059] Furthermore, based on the physical width parameter of the track, the normalized physical position parameters of the equipment are validated to obtain the validation results, including: Determine whether the normalized physical position parameters of the equipment are greater than or equal to zero and less than or equal to the physical width parameters of the track; When the judgment result is yes, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are valid. When the judgment result is negative, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are invalid.

[0060] The optional embodiment can be understood as follows: by verifying the lower limit, it is ensured that the offset of the stacker crane relative to the left end of the track does not exceed the starting point of the track, and by verifying the upper limit, it is ensured that the offset of the stacker crane relative to the left end of the track does not exceed the ending point of the track, so as to ensure that the calculated actual physical position of the stacker crane is within the movable range of the track, and to reduce the occurrence of P_norm exceeding the reasonable range due to abnormal PLC data (such as sensor interference, communication packet loss).

[0061] As can be seen, this optional embodiment can adaptively verify the validity of the normalized physical position parameters of the equipment, and when the normalized physical position parameters are invalid, perform boundary safety processing. Then, based on the processed physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. In this way, compared with traditional stacker crane positioning methods, the reliability, accuracy, and validity of determining the screen coordinate parameters of the stacker crane in the host computer are improved. This avoids rendering anomalies such as the stacker crane visual elements running off-track in the interface, thereby further improving the accuracy and validity of the stacker crane positioning parameters monitored by the host computer, and further ensuring the continuous and stable operation of warehousing.

[0062] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a stacker crane intelligent positioning device based on a host computer monitoring scenario, as disclosed in an embodiment of the present invention. Figure 3 As shown, the stacker crane intelligent positioning device based on host computer monitoring can include: The acquisition module 301 is used to acquire the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane. The determination module 302 is used to determine the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters, and to determine the screen coordinate parameters of the stacker crane in the host computer based on the equipment physical position parameters and the physical width reduction factor; and to determine the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer.

[0063] In this embodiment of the invention, the target physical coordinate parameters include the minimum physical coordinate parameters and the maximum physical coordinate parameters.

[0064] It is evident that implementation Figure 3 The described intelligent positioning device for stacker cranes in a host computer monitoring scenario can directly obtain the horizontal axis coordinate value of the stacker crane compared to traditional stacker crane positioning methods. This improves the reliability and accuracy of the stacker crane's position calculation, thereby improving the accuracy of the correspondence between the stacker crane's physical position and the front-end interface. As a result, it enhances the reliability, accuracy, and precision of stacker crane positioning in a host computer monitoring scenario.

[0065] In an optional embodiment, the minimum physical coordinate parameter is used to indicate the leftmost physical position of the track that the stacker crane can reach, and the maximum physical coordinate parameter is used to indicate the rightmost physical position of the track that the stacker crane can reach. Specifically, the method by which the determining module 302 determines the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters includes: The physical width parameter of the track is obtained by calculating the difference between the maximum and minimum physical coordinate parameters. The physical width reduction factor of the stacker crane is determined based on the physical width parameters of the track and the screen track width parameters.

[0066] In this optional embodiment, the physical width reduction factor is: K = W_phys / W_screen; W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0067] It is evident that implementation Figure 4 The described intelligent positioning device for stacker cranes in a host computer monitoring scenario can further calculate the physical width parameter of the track based on the maximum and minimum physical coordinate parameters. Then, based on the physical width parameter of the track and the screen track width parameter, it determines the physical width reduction factor of the stacker crane. In this way, compared to traditional stacker crane positioning methods, the dynamic scaling algorithm solves the positioning error problem caused by fixed ratios or single sensors, thereby improving the accuracy of the error between the front-end view positioning and the actual physical positioning, and ensuring the accurate display of the stacker crane position on the interface.

[0068] In another optional embodiment, the method by which the determining module 302 determines the screen coordinate parameters of the stacker crane in the host computer based on the physical location parameters of the device and the physical width reduction factor specifically includes: Based on the order of magnitude and unit of the equipment physical location parameters and the order of magnitude and unit of the target physical coordinate parameters, the order of magnitude of the equipment physical location parameters is converted to obtain the converted equipment physical location parameters. The difference between the converted physical position parameters and the minimum physical coordinate parameters of the equipment is calculated to obtain the normalized physical position parameters of the equipment. Based on the normalized physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined.

[0069] In this optional embodiment, the screen coordinate parameters of the stacker crane in the host computer are: X_screen = P_norm / K; P_norm is the normalized physical location parameter of the device.

[0070] It is evident that implementation Figure 4The described intelligent positioning device for stacker cranes in a host computer monitoring scenario can adaptively perform a magnitude conversion operation on the physical position parameters of the equipment to obtain the converted physical position parameters. Then, it calculates the difference between these converted parameters and the minimum physical coordinate parameters to obtain the normalized physical position parameters. Based on the normalized physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. This improves the reliability and accuracy of processing the physical position parameters compared to traditional stacker crane positioning methods, thereby improving the reliability and accuracy of determining the screen coordinate parameters of the stacker crane in the host computer, and ultimately enhancing the positioning accuracy of the stacker crane in a host computer monitoring scenario.

[0071] In another optional embodiment, the method by which the determining module 302 determines the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer specifically includes: Obtain the width parameter of the stacker crane screen element from the host computer; Based on the screen element width parameters of the stacker crane, the visual center correction is performed on the screen coordinate parameters of the stacker crane in the host computer to obtain the corrected screen coordinate parameters. Based on the preset element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the transformed screen coordinate parameters, which are used as the positioning parameters of the stacker crane monitored by the host computer.

[0072] In this optional embodiment, the corrected screen coordinate parameters are obtained by visual center correction using the following formula: X_final = X_screen - (W_element / 2); X_screen represents the corrected screen coordinate parameters, W_element represents the width parameter of the stacker crane screen element, and X_final represents the corrected screen coordinate parameters.

[0073] It is evident that implementation Figure 4 The described intelligent positioning device for stacker cranes in a host computer-monitored scenario can adaptively perform visual center correction on the screen coordinates of the stacker crane in the host computer based on the width parameters of the stacker crane screen elements. This corrected screen coordinates are then transformed using element position attribute parameters to obtain the positioning parameters of the stacker crane monitored by the host computer. Compared to traditional stacker crane positioning methods, this improves the reliability and accuracy of the positioning parameters monitored by the host computer, ensuring that the stacker crane position seen by the operator on the monitoring interface is completely consistent with the actual physical position. This reduces operational misjudgments caused by visual bias, thereby improving the efficiency, accuracy, and safety of warehousing operations.

[0074] In yet another optional embodiment, the apparatus further includes: The verification module 303 is used to perform a validity verification operation on the normalized physical position parameters of the equipment based on the physical width parameters of the track before the determination module 302 determines the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the equipment and the physical width reduction factor, and obtain the verification result of the normalized physical position parameters of the equipment. The determination module 302 is also used to determine the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the equipment and the physical width reduction factor when the verification result of the verification module 303 indicates that the normalized physical position parameters of the equipment are valid. The processing module 304 is used to perform boundary safety processing on the normalized physical location parameters of the device when the verification result of the verification module 303 indicates that the normalized physical location parameters of the device are invalid, so as to obtain the processed physical location parameters of the device. The determination module 302 is also used to determine the screen coordinate parameters of the stacker crane in the host computer based on the processed physical position parameters of the equipment and the physical width reduction factor.

[0075] In this optional embodiment, the processed device physical location parameters are used for boundary safety processing using the following formula: P_norm_after = MAX(0,MIN(P_norm,W_phys)); P_norm_after represents the processed physical location parameters of the device.

[0076] Furthermore, the verification module 303 performs validity verification operations on the normalized physical position parameters of the equipment based on the physical width parameter of the track. The specific methods for obtaining the verification results of the normalized physical position parameters of the equipment include: Determine whether the normalized physical position parameters of the equipment are greater than or equal to zero and less than or equal to the physical width parameters of the track; When the judgment result is yes, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are valid. When the judgment result is negative, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are invalid.

[0077] It is evident that implementation Figure 4The described intelligent positioning device for stacker cranes in a host computer monitoring scenario can adaptively verify the validity of normalized physical position parameters of the equipment. When these parameters are invalid, boundary safety processing is performed. Then, based on the processed physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. Compared to traditional stacker crane positioning methods, this improves the reliability, accuracy, and validity of determining the screen coordinate parameters of the stacker crane in the host computer, thereby preventing rendering anomalies such as stacker crane visual elements running off-track in the interface. This further enhances the accuracy and validity of the stacker crane positioning parameters monitored by the host computer, ensuring the continuous and stable operation of warehousing.

[0078] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another intelligent positioning device for stacker cranes based on a host computer monitoring scenario, as disclosed in an embodiment of the present invention. Figure 5 As shown, the stacker crane intelligent positioning device based on host computer monitoring can include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the stacker crane intelligent positioning method based on the host computer monitoring scenario described in Embodiment 1 or Embodiment 2 of the present invention.

[0079] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the intelligent positioning method for stacker cranes in a host computer monitoring scenario described in Embodiment 1 or Embodiment 2 of this invention.

[0080] Example 6 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the stacker crane intelligent positioning method based on a host computer monitoring scenario described in Embodiment 1 or Embodiment 2.

[0081] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0082] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0083] Finally, it should be noted that the intelligent positioning method and device for stacker cranes in a host computer monitoring scenario disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligent positioning of stacker cranes in a host computer monitoring scenario, characterized in that, The method includes: The target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the host computer are obtained; the target physical coordinate parameters include the minimum physical coordinate parameters and the maximum physical coordinate parameters. Based on the target physical coordinate parameters and the screen track width parameters, the physical width reduction factor of the stacker crane is determined, and based on the equipment physical position parameters and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. Based on the screen coordinate parameters of the stacker in the host computer, the positioning parameters of the stacker monitored by the host computer are determined.

2. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 1, characterized in that, The minimum physical coordinate parameter is used to indicate the leftmost physical position of the track that the stacker can reach, and the maximum physical coordinate parameter is used to indicate the rightmost physical position of the track that the stacker can reach. The step of determining the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters includes: The difference between the maximum physical coordinate parameter and the minimum physical coordinate parameter is calculated to obtain the physical width parameter of the track; The physical width reduction factor of the stacker crane is determined based on the physical width parameters of the track and the screen track width parameters. Wherein, the physical width reduction factor is: K = W_phys / W_screen; W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

3. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 2, characterized in that, Determining the screen coordinate parameters of the stacker crane in the host computer based on the physical location parameters of the equipment and the physical width reduction factor includes: Based on the order of magnitude units corresponding to the physical location parameters of the equipment and the order of magnitude units of the target physical coordinate parameters, a conversion operation is performed on the physical location parameters of the equipment to obtain the converted physical location parameters of the equipment. The difference between the converted physical position parameters of the equipment and the minimum physical coordinate parameters is calculated to obtain the normalized physical position parameters of the equipment. Based on the normalized physical position parameters of the equipment and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined. The screen coordinate parameters of the stacker crane in the host computer are as follows: X_screen = P_norm / K; P_norm is the normalized physical location parameter of the device.

4. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 3, characterized in that, The step of determining the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer includes: Obtain the width parameter of the stacker crane screen element from the host computer; Based on the screen element width parameters of the stacker crane, the screen coordinate parameters of the stacker crane in the host computer are visually calibrated to obtain the calibrated screen coordinate parameters. Based on preset element position attribute parameters, the corrected screen coordinate parameters are transformed to obtain the transformed screen coordinate parameters, which are used as the positioning parameters of the stacker crane monitored by the host computer.

5. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 4, characterized in that, The corrected screen coordinate parameters are obtained by visual center correction using the following formula: X_final = X_screen - (W_element / 2); X_screen is the corrected screen coordinate parameter, W_element is the width parameter of the stacker crane screen element, and X_final is the corrected screen coordinate parameter.

6. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to any one of claims 3-5, characterized in that, Before determining the screen coordinate parameters of the stacker crane in the host computer based on the normalized physical position parameters of the equipment and the physical width reduction factor, the method further includes: Based on the physical width parameter of the track, the normalized physical position parameter of the equipment is validated to obtain the validation result of the normalized physical position parameter of the equipment. When the verification result indicates that the normalized physical position parameters of the equipment are valid, the screen coordinate parameters of the stacker crane in the host computer are determined based on the normalized physical position parameters of the equipment and the physical width reduction factor. When the verification result indicates that the normalized physical location parameters of the device are invalid, boundary safety processing is performed on the normalized physical location parameters of the device to obtain the processed physical location parameters of the device. Based on the processed physical location parameters of the device and the physical width reduction factor, the screen coordinate parameters of the stacker crane in the host computer are determined.

7. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 6, characterized in that, The processed physical location parameters of the equipment are used for boundary safety processing using the following formula: P_norm_after = MAX(0,MIN(P_norm,W_phys)); P_norm_after is the physical location parameter of the processed device; The step of performing a validity verification operation on the normalized equipment physical position parameters based on the physical width parameter of the track, and obtaining the verification result of the normalized equipment physical position parameters, includes: Determine whether the normalized physical position parameter of the device is greater than or equal to zero and less than or equal to the physical width parameter of the track; When the judgment result is yes, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are valid. If the judgment result is negative, the verification result of the normalized equipment physical location parameters indicates that the normalized equipment physical location parameters are invalid.

8. A stacker crane intelligent positioning device based on a host computer monitoring scenario, characterized in that, The device includes: The acquisition module is used to acquire the target physical coordinate parameters, equipment physical position parameters, and screen track width parameters of the stacker crane; the target physical coordinate parameters include the minimum physical coordinate parameters and the maximum physical coordinate parameters. The determination module is used to determine the physical width reduction factor of the stacker crane based on the target physical coordinate parameters and the screen track width parameters, and to determine the screen coordinate parameters of the stacker crane in the host computer based on the equipment physical position parameters and the physical width reduction factor; and to determine the positioning parameters of the stacker crane monitored by the host computer based on the screen coordinate parameters of the stacker crane in the host computer.

9. A stacker crane intelligent positioning device based on a host computer monitoring scenario, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the stacker crane intelligent positioning method based on the host computer monitoring scenario as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the intelligent positioning method for stacker cranes in a host computer monitoring scenario as described in any one of claims 1-7.

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