Intelligent positioning method and device of stacker based on host computer monitoring scene

Abstract

The application discloses a kind of based on host computer monitoring scene under the intelligent positioning method and device of stacker, the method includes: obtaining the target physical coordinate parameter of stacker, equipment physical position parameter and the screen track width parameter of host computer;According to target physical coordinate parameter and screen track width parameter, the physical width reduction scale factor of stacker is determined, and according to equipment physical position parameter and physical width reduction scale factor, the screen coordinate parameter of stacker in host computer is determined, to determine the positioning parameter of stacker monitored to host computer.It can be seen that, compared with the traditional stacker positioning method, the horizontal axis coordinate value of stacker can be directly obtained by implementing the present application, the position calculation reliability and accuracy of stacker are improved, and then the corresponding accuracy of the physical position of stacker and the front end interface is improved, so that the positioning reliability, positioning accuracy and monitoring accuracy of stacker under the host computer monitoring scene are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacker positioning, in particular to a stacker intelligent positioning method and device based on host computer monitoring scenarios. BACKGROUND

[0002] In the field of industrial automation, the stacker is the core equipment in the new energy automatic warehouse management system and the warehouse logistics scheduling system. The positioning accuracy and dynamic adaptability of the host computer monitoring directly relate to the efficiency of warehouse operation and the scientificity of operation decision. However, the existing stacker host computer monitoring scheme still has two key technical defects, which are difficult to meet the precise and real-time monitoring requirements:

[0003] Firstly, the positioning accuracy is obviously insufficient. The traditional scheme relies on the column mapping X-axis position defined by PLC manually. When the stacker stays between two columns due to failure (for example, the middle area between column 1 and column 2), the host computer can only display it in one of the adjacent two columns, and cannot accurately reflect the actual middle position, thereby causing positioning deviation, which not only affects the rapid troubleshooting, but also interferes with the subsequent warehouse scheduling work.

[0004] Secondly, the walking process lacks dynamic adaptation ability. The traditional scheme updates the positioning information in column units. When the X-axis span of column mapping is large, the column value update speed is slow, which causes the stacker position displayed in the front end to be in a flickering and jumping state, which is seriously inconsistent with the actual smooth movement of the device. In addition, when the running speed of the stacker changes, the parameter simulating the walking speed of the stacker in the host computer also needs to be manually adjusted by the user, which cannot automatically adapt to the real running speed of the device, greatly affecting the intuitiveness and real-time performance of the monitoring picture.

[0005] Therefore, for the host computer monitoring scenario, there is an urgent need for a technical scheme that can improve the positioning accuracy of the stacker. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a stacker intelligent positioning method and device based on host computer monitoring scenarios. Compared with the traditional stacker positioning method, the present application can directly obtain the horizontal axis coordinate value of the stacker, improve the position calculation reliability and accuracy of the stacker, and further improve the corresponding accuracy of the physical position of the stacker and the front-end interface, thereby improving the positioning reliability, accuracy and monitoring accuracy of the stacker in the host computer monitoring scenario.

[0007] To solve the above technical problems, the present application discloses a stacker intelligent positioning method based on host computer monitoring scenarios, which comprises:

[0008] acquire a target physical coordinate parameter of the stacker, a device physical position parameter, and a screen track width parameter of the host computer; the target physical coordinate parameter comprises a physical minimum coordinate parameter and a physical maximum coordinate parameter;

[0009] determine a physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter, and determine a screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width reduction scale factor;

[0010] determine a positioning parameter of the stacker monitored by the host computer according to the screen coordinate parameter of the stacker in the host computer.

[0011] As an optional implementation, in the first aspect of the present application, the physical minimum coordinate parameter is used to indicate a leftmost physical position of a track that can be reached by the stacker, and the physical maximum coordinate parameter is used to indicate a rightmost physical position of the track that can be reached by the stacker.

[0012] The determination of the physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter comprises:

[0013] perform a difference calculation on the physical maximum coordinate parameter and the physical minimum coordinate parameter to obtain a physical width parameter of the track;

[0014] determine the physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter;

[0015] The physical width reduction scale factor is:

[0016] K = W_phys / W_screen;

[0017] W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0018] As an optional implementation, in the first aspect of the present application, the determination of the screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width reduction scale factor comprises:

[0019] perform a magnitude conversion operation on the device physical position parameter according to a magnitude unit corresponding to the device physical position parameter and a magnitude unit of the target physical coordinate parameter to obtain a converted device physical position parameter;

[0020] determining a screen coordinate parameter of the stacker in the host computer according to the normalized device physical position parameter and the physical width reduction scale factor;

[0021] The screen coordinate parameter of the stacker in the host computer is:

[0022] X_screen = P_norm / K;

[0023] P_norm is the normalized device physical position parameter.

[0024] As an optional implementation, in the first aspect of the present application, the method further comprises:

[0025] obtaining a stacker screen element width parameter of the host computer;

[0026] performing visual center correction on the screen coordinate parameter of the stacker in the host computer according to the stacker screen element width parameter to obtain a corrected screen coordinate parameter;

[0027] performing a transformation operation on the corrected screen coordinate parameter according to a preset element position attribute parameter to obtain a transformed screen coordinate parameter as the positioning parameter of the stacker monitored by the host computer.

[0028] As an optional implementation, in the first aspect of the present application, the corrected screen coordinate parameter is obtained by visual center correction according to the following formula:

[0029] X_final = X_screen - (W_element / 2);

[0030] X_screen is the corrected screen coordinate parameter, W_element is the stacker screen element width parameter, and X_final is the corrected screen coordinate parameter.

[0031] As an optional implementation, in the first aspect of the present application, before the screen coordinate parameter of the stacker in the host computer is determined according to the normalized device physical position parameter and the physical width reduction scale factor, the method further comprises:

[0032] According to the physical width parameter of the track, validity verification is performed on the normalized device physical position parameter, and a verification result of the normalized device physical position parameter is obtained;

[0033] When the verification result indicates that the normalized device physical position parameter is valid, according to the normalized device physical position parameter and the physical width reduction scale factor, a screen coordinate parameter of the stacker in the upper computer is determined.

[0034] When the verification result indicates that the normalized device physical position parameter is invalid, boundary safety processing is performed on the normalized device physical position parameter, a processed device physical position parameter is obtained, and according to the processed device physical position parameter and the physical width reduction scale factor, a screen coordinate parameter of the stacker in the upper computer is determined.

[0035] As an optional implementation, in the first aspect of the present application, the processed device physical position parameter is processed by the following formula:

[0036] P_norm_after = MAX (0, MIN (P_norm, W_phys));

[0037] P_norm_after is the processed device physical position parameter;

[0038] The validity verification of the normalized device physical position parameter according to the physical width parameter of the track includes:

[0039] It is determined whether the normalized device physical position parameter is greater than or equal to zero and less than or equal to the physical width parameter of the track;

[0040] When the determination result is yes, it is determined that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is valid;

[0041] When the determination result is no, it is determined that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is invalid.

[0042] The second aspect of the present application discloses a stacker intelligent positioning device based on an upper computer monitoring scene, which comprises:

[0043] An acquisition module is configured to acquire a target physical coordinate parameter of the stacker, a device physical position parameter, and a screen track width parameter of the upper computer; the target physical coordinate parameter comprises a physical minimum coordinate parameter and a physical maximum coordinate parameter.

[0044] 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 host computer according to the device physical position parameter and the physical width reduction scale factor; and determining a positioning parameter of the stacker monitored by the host computer according to the screen coordinate parameter of the stacker in the host computer.

[0045] As an optional implementation, in the second aspect of the present application, the physical minimum coordinate parameter is used to indicate a leftmost physical position of a track that can be reached by the stacker, and the physical maximum coordinate parameter is used to indicate a rightmost physical position of the track that can be reached by the stacker.

[0046] The determination module determines the physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter in the following manner:

[0047] performing difference calculation on the physical maximum coordinate parameter and the physical minimum coordinate parameter to obtain a physical width parameter of the track;

[0048] determining the physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter;

[0049] The physical width reduction scale factor is:

[0050] K = W_phys / W_screen;

[0051] W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0052] As an optional implementation, in the second aspect of the present application, the determination module determines the screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width reduction scale factor in the following manner:

[0053] performing magnitude conversion operation on the device physical position parameter according to a magnitude unit corresponding to the device physical position parameter and a magnitude unit of the target physical coordinate parameter to obtain a converted device physical position parameter;

[0054] The converted device physical position parameter and the physical minimum coordinate parameter are subjected to difference calculation to obtain a normalized device physical position parameter, and a screen coordinate parameter of the stacker in the upper computer is determined according to the normalized device physical position parameter and the physical width reduction scale factor;

[0055] The screen coordinate parameter of the stacker in the upper computer is:

[0056] X_screen = P_norm / K;

[0057] P_norm is the normalized device physical position parameter.

[0058] As an optional implementation, in the second aspect of the present application, the determination module determines the positioning parameter of the stacker monitored by the upper computer according to the screen coordinate parameter of the stacker in the upper computer, and the determination manner specifically includes:

[0059] An element width parameter of the stacker screen of the upper computer is obtained;

[0060] The screen coordinate parameter of the stacker in the upper computer is subjected to visual center correction according to the element width parameter of the stacker screen to obtain a corrected screen coordinate parameter;

[0061] The corrected screen coordinate parameter is subjected to a conversion operation according to a preset element position attribute parameter to obtain a converted screen coordinate parameter as the positioning parameter of the stacker monitored by the upper computer.

[0062] As an optional implementation, in the second aspect of the present application, the corrected screen coordinate parameter is obtained by visual center correction according to the following formula:

[0063] X_final = X_screen - (W_element / 2);

[0064] X_screen is the corrected screen coordinate parameter, W_element is the element width parameter of the stacker screen, and X_final is the corrected screen coordinate parameter.

[0065] As an optional implementation, in the second aspect of the present application, the device further includes:

[0066] The verification module is configured to perform validity verification on the normalized device physical position parameter according to the physical width of the track, to obtain a verification result of the normalized device physical position parameter, before the determination module determines the screen coordinate parameter of the stacker in the upper machine according to the normalized device physical position parameter and the physical width reduction scale factor.

[0067] The determination module is further configured to determine the screen coordinate parameter of the stacker in the upper machine according to the normalized device physical position parameter and the physical width reduction scale factor, when the verification result of the verification module indicates that the normalized device physical position parameter is valid.

[0068] The processing module is configured to perform boundary safety processing on the normalized device physical position parameter to obtain a processed device physical position parameter, when the verification result of the verification module indicates that the normalized device physical position parameter is invalid.

[0069] The determination module is further configured to determine the screen coordinate parameter of the stacker in the upper machine according to the processed device physical position parameter and the physical width reduction scale factor.

[0070] As an optional implementation, in the second aspect of the present application, the processed device physical position parameter is processed by the following formula:

[0071] P_norm_after = MAX(0, MIN(P_norm, W_phys));

[0072] P_norm_after is the processed device physical position parameter;

[0073] The verification module performs validity verification on the normalized device physical position parameter according to the physical width of the track, to obtain a verification result of the normalized device physical position parameter.

[0074] determining whether the normalized device physical position parameter is greater than or equal to zero and less than or equal to the physical width of the track;

[0075] when the determination result is yes, determining that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is valid;

[0076] when the determination result is no, determining that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is invalid.

[0077] The third aspect of the present application discloses another intelligent positioning device of a stacker under the monitoring of a host computer, which comprises:

[0078] a memory storing executable program codes;

[0079] a processor coupled with the memory;

[0080] The processor invokes the executable program codes stored in the memory to execute the intelligent positioning method of the stacker under the monitoring of the host computer disclosed in the first aspect of the present application.

[0081] The fourth aspect of the present application discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the intelligent positioning method of the stacker under the monitoring of the host computer disclosed in the first aspect of the present application.

[0082] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0083] In the embodiments of the present application, the target physical coordinate parameters of the stacker, the device physical position parameters and the screen track width parameters of the host computer are obtained; the physical width reduction scale factor of the stacker is determined according to the target physical coordinate parameters and the screen track width parameters, and the screen coordinate parameters of the stacker in the host computer are determined according to the device physical position parameters and the physical width reduction scale factor, so as to determine the positioning parameters of the stacker monitored by the host computer. It can be seen that, compared with the traditional positioning method of the stacker, the horizontal axis coordinate value of the stacker can be directly obtained by implementing the present application, the position calculation reliability and accuracy of the stacker are improved, and the corresponding accuracy of the physical position of the stacker and the front-end interface is improved, thereby improving the positioning reliability, positioning accuracy and monitoring accuracy of the stacker under the monitoring of the host computer. BRIEF DESCRIPTION OF DRAWINGS

[0084] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0085] Figure 1 is a flowchart of an intelligent positioning method of a stacker under the monitoring of a host computer disclosed by the embodiments of the present application;

[0086] Figure 2 is a flowchart of another intelligent positioning method of a stacker under the monitoring of a host computer disclosed by the embodiments of the present application;

[0087] Figure 3 is a structural schematic view of a stacker intelligent positioning device based on a host computer monitoring scene disclosed by an embodiment of the present application.

[0088] Figure 4 is a structural schematic view of another stacker intelligent positioning device based on a host computer monitoring scene disclosed by an embodiment of the present application.

[0089] Figure 5 is a structural schematic view of still another stacker intelligent positioning device based on a host computer monitoring scene disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0090] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0091] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or end.

[0092] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0093] The present application discloses a stacker intelligent positioning method and device based on a host computer monitoring scene. Compared with the traditional stacker positioning method, the present application can directly obtain the horizontal axis coordinate value of the stacker, improve the position calculation reliability and accuracy of the stacker, and further improve the corresponding accuracy of the physical position of the stacker and the front-end interface, thereby improving the positioning reliability, positioning accuracy and monitoring accuracy of the stacker in the host computer monitoring scene.

[0094] Embodiment one

[0095] Referring to Figure 1 , Figure 1 is a flowchart of a method for intelligent positioning of a stacker according to an embodiment of the present application. Optionally, the method can be implemented by an intelligent positioning device of the stacker, which can be integrated in a new energy automatic warehouse management system, a warehouse logistics scheduling system, a host computer monitoring terminal, etc., or a local server or a cloud server for processing the intelligent positioning flow of the stacker under the host computer monitoring scenario, etc., which is not limited in the present application. As shown in the figure, the method for intelligent positioning of the stacker under the host computer monitoring scenario can include the following operations: Figure 1

[0096] 101, obtaining target physical coordinate parameters, device physical position parameters and screen track width parameters of the host computer of the stacker.

[0097] In the present application, the target physical coordinate parameters include physical minimum coordinate parameters and physical maximum coordinate parameters. Specifically, the physical minimum coordinate parameters and the physical maximum coordinate parameters can be understood as the minimum displacement value and the maximum displacement value of the stacker on the X axis obtained by establishing a communication connection between the host computer software and the PLC (Programmable Logic Controller), i.e. the physical minimum coordinate parameters are used to indicate the leftmost physical position of the track that the stacker can reach, and the physical maximum coordinate parameters are used to indicate the rightmost physical position of the track that the stacker can reach.

[0098] Further, when the host computer and the PLC establish communication, an industry standard communication protocol (such as Modbus, Profinet or EtherNet / IP, etc.) can be used, and the P_min (physical minimum coordinate parameter) and P_max (physical maximum coordinate parameter) can be obtained by a preset data acquisition instruction (such as reading a specific register address of the PLC). These two parameters are usually entered by engineers during PLC initialization configuration according to the actual physical size of the stacker track (such as the measured distance from the left end to the right end of the track), which are fixed boundary parameters and need to be recalibrated only when the track is modified, and do not need to be frequently updated in daily operation.

[0099] Further, P_phys (i.e. the device physical position parameter) can be understood as the X axis dynamic position data of the stacker collected by the PLC in real time, and its data source is the position detection device (such as an optical encoder, a laser ranging sensor, etc.) provided by the stacker, so as to ensure that the moving state of the stacker can be reflected in real time; at the same time, P_phys needs to be marked with units - if the original unit of the PLC is “0.1mm”, the unit identifier can be carried during data transmission, so as to reduce the deviation caused by unit confusion in subsequent calculation. ​

[0100] Further, W_screen (i.e. the screen track width parameter) can be obtained by calling the DOM attribute (such as offsetWidth) of the stacker track simulation container through the front-end code of the host computer, and the parameter needs to exclude the size of the non-track display area such as the border and internal margin (padding) of the track container. For example, if the track container is set with 10px left and right internal margin, the clientWidth attribute (only including the content area width) needs to be recalculated to ensure that W_screen accurately corresponds to the pixel width of the "track 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, so as to avoid the invalidation of the scaling factor due to the change of the interface size.

[0101] 102. Determine the physical width scaling factor of the stacker according to the target physical coordinate parameter and the screen track width parameter, and determine the screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width scaling factor.

[0102] In the embodiment of the application, it can be understood that by obtaining the container width of the simulated stacker in the front-end interface, a dynamic scaling relationship between the actual physical width of the stacker calculated based on the target physical coordinate parameter and the container width is established, and then the screen pixel position of the stacker in the host computer is calculated through a coordinate conversion algorithm.

[0103] 103. Determine the positioning parameter of the stacker monitored by the host computer according to the screen coordinate parameter of the stacker in the host computer.

[0104] In the embodiment of the application, it can be understood that the display position of the stacker in the interface, i.e. the stacker interface position that can be directly observed by the operator, is updated in real time according to the calculated screen pixel position of the stacker in the host computer. The display position can be updated by CSS progressive rendering, such as setting the position of the stacker element through the style.right attribute, to dynamically adapt to the real-time rendering process of the stacker at any speed. Specifically, the style.right attribute is used instead of the style.left attribute because the right edge position of the track container is fixed (usually aligned to the right side of the interface), and the style.right attribute can directly control the distance from the right edge of the element to the fixed right edge, which is more logical for the physical scenario of the stacker moving left and right along the track, and there is no need to frequently calculate the left edge position of the track container.

[0105] It can be seen that, compared with the traditional stacker positioning method, the horizontal axis coordinate value of the stacker can be directly obtained by implementing the present application, the position calculation reliability and accuracy of the stacker are improved, and then the corresponding accuracy of the physical position of the stacker and the front-end interface is improved, thereby improving the positioning reliability, positioning accuracy and monitoring accuracy of the stacker in the host computer monitoring scene.

[0106] Embodiment two

[0107] Please refer to Figure 2 , Figure 2 is another flowchart of the stacker intelligent positioning method based on the host computer monitoring scene disclosed by the embodiments of the present application. Optionally, the method can be implemented by a stacker intelligent positioning device, which can be integrated in, for example, a new energy automatic warehouse management system, a warehouse logistics scheduling system, a host computer monitoring terminal, etc., or can be a local server or a cloud server for processing the stacker intelligent positioning process based on the host computer monitoring scene, and the embodiments of the present application do not limit the stacker intelligent positioning device. As shown in Figure 2 , the stacker intelligent positioning method based on the host computer monitoring scene can include the following operations:

[0108] 201. Obtain the target physical coordinate parameter, the device physical position parameter and the screen track width parameter of the host computer of the stacker.

[0109] 202. Calculate the difference value of the physical maximum coordinate parameter and the physical minimum coordinate parameter to obtain the physical width parameter of the track.

[0110] In the embodiments of the present application, W_phys (i.e. the physical width parameter of the track) = P_max - P_min.

[0111] 203. Determine the physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter, and determine the screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width reduction scale factor.

[0112] In the embodiments of the present application, further, the physical width reduction scale factor is:

[0113] K = W_phys / W_screen;

[0114] wherein W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter (the unit can be pixels).

[0115] Further, before determining the physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter, the method further includes:

[0116] performing a validity verification operation on the screen track width parameter to obtain a verification result of the screen track width parameter;

[0117] when the verification result of the screen track width parameter indicates that the screen track width parameter is valid, determining a physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter;

[0118] when the verification result of the screen track width parameter indicates that the screen track width parameter is invalid, correcting the screen track width parameter to obtain a corrected screen track width parameter, and determining the physical width reduction scale factor of the stacker according to the corrected screen track width parameter and the physical width parameter of the track.

[0119] wherein whether the screen track width parameter is valid can be determined by judging whether the screen track width parameter is greater than 0, and if yes, the screen track width parameter is valid, otherwise, the screen track width parameter is invalid; and the correction operation can be understood as changing the screen track width parameter to a default value or correcting the screen track width parameter by an operation and maintenance personnel.

[0120] 204. determining a positioning parameter of the stacker monitored by the upper computer according to a screen coordinate parameter of the stacker in the upper computer.

[0121] In the embodiments of the present application, for other descriptions of steps 201 and 204, please refer to the detailed description of steps 101 and 103 in Embodiment One, and the embodiments of the present application will not be repeated here.

[0122] It can be seen that by implementing the embodiments of the present application, the physical width parameter of the track can be calculated according to the physical maximum coordinate parameter and the physical minimum coordinate parameter, and then the physical width reduction scale factor of the stacker can be determined according to the physical width parameter of the track and the screen track width parameter. In this way, compared with the traditional stacker positioning method, the positioning error problem caused by the fixed scale or single sensor is solved through the dynamic scale conversion algorithm, and the error accuracy of the front view positioning and the actual physical positioning is improved, thereby ensuring the accurate display of the stacker position in the interface.

[0123] In an optional embodiment, the determination of the screen coordinate parameter of the stacker in the upper computer according to the device physical position parameter and the physical width reduction scale factor in step 203 comprises:

[0124] performing a magnitude conversion operation on the device physical position parameter according to a magnitude unit corresponding to the device physical position parameter and a magnitude unit of the target physical coordinate parameter to obtain a converted device physical position parameter;

[0125] The converted device physical position parameter and the physical minimum coordinate parameter are subtracted to obtain a normalized device physical position parameter, and the normalized device physical position parameter and a physical width reduction scale factor are used to determine the screen coordinate parameter of the stacker in the host computer.

[0126] In this optional embodiment, the screen coordinate parameter of the stacker in the host computer is:

[0127] X_screen = P_norm / K;

[0128] P_norm is the normalized device physical position parameter.

[0129] It should be noted that P_phys is the original physical position of the stacker fed back by the PLC, and its original unit may not be consistent with P_max / P_min (for example, the original unit of P_phys is 0.1 mm, and the unit of P_max / P_min is 1 mm), and unit conversion (for example, P_phys 适配后值 = P_phys 原生值 / 10) needs to be performed first, and then the normalized device physical position parameter P_norm = P_phys 适配后值 -P_min is calculated, so that the accurate calculation of X_screen can be ensured.

[0130] It can be seen that the optional embodiment can adaptively perform magnitude conversion on the device physical position parameter to obtain a converted device physical position parameter, and then subtract the physical minimum coordinate parameter to obtain a normalized device physical position parameter, so as to determine the screen coordinate parameter of the stacker in the host computer according to the normalized device physical position parameter and the physical width reduction scale factor. In this way, compared with the traditional stacker positioning method, the processing reliability and accuracy of the device physical position parameter are improved, and the determination reliability and accuracy of the screen coordinate parameter of the stacker in the host computer are improved, thereby improving the positioning accuracy of the stacker in the host computer monitoring scene.

[0131] In another optional embodiment, the step 204 of determining the positioning parameter of the stacker monitored by the host computer according to the screen coordinate parameter of the stacker in the host computer includes:

[0132] obtaining a stacker screen element width parameter of the host computer;

[0133] correcting the screen coordinate parameter of the stacker in the host computer according to the stacker screen element width parameter to obtain a corrected screen coordinate parameter;

[0134] According to the preset element position attribute parameter, the corrected screen coordinate parameter is converted to obtain a converted screen coordinate parameter as the positioning parameter of the stacker monitored by the upper computer.

[0135] In the optional embodiment, the corrected screen coordinate parameter is obtained by visual center correction through the following formula:

[0136] X_final = X_screen - (W_element / 2);

[0137] X_screen is the corrected screen coordinate parameter, W_element is the stacker screen element width parameter (unit: pixel), and X_final is the corrected screen coordinate parameter.

[0138] In the optional embodiment, the position of the stacker element can be set using CSS according to the calculated X_final value. The rendering and display of the stacker in the interface are realized through the JavaScript key code style.right=X_final+'px' (unit) to provide intuitive visual feedback. In this way, by subtracting the element half-width, the screen position corresponding to the physical center (X_screen) is converted to the screen position corresponding to the right edge of the element (X_final), ensuring that the center of the visual element is aligned with the actual physical center of the stacker. For example, X_screen=500px (the physical center is at 500px on the screen track), W_element=100px (element half-width 50px), and X_final=450px. At this time, the right edge of the element is 450px away from the right edge of the track, and the center of the element falls exactly at 500px, which is precisely matched with the physical center.

[0139] It can be seen that the optional embodiment can adaptively correct the screen coordinate parameter of the stacker in the upper computer according to the stacker screen element width parameter of the upper computer, to obtain the corrected screen coordinate parameter, and then convert the corrected screen coordinate parameter according to the element position attribute parameter to obtain the positioning parameter of the stacker monitored by the upper computer. In this way, compared with the traditional stacker positioning method, the determination reliability and accuracy of the positioning parameter of the stacker monitored by the upper computer are improved, so that the stacker position seen by the operator in the monitoring interface is completely consistent with the actual physical position, reducing the operation misjudgment caused by visual deviation, thereby improving the efficiency, accuracy and safety of the warehouse operation.

[0140] In yet another optional embodiment, before determining the screen coordinate parameter of the stacker in the upper computer according to the normalized device physical position parameter and the physical width reduction scale factor, the method further comprises:

[0141] According to the physical width parameter of the track, validity verification is performed on the normalized device physical position parameter, to obtain a verification result of the normalized device physical position parameter;

[0142] When the verification result indicates that the normalized device physical position parameter is valid, a screen coordinate parameter of the stacker in the host computer is determined according to the normalized device physical position parameter and the physical width reduction scale factor;

[0143] When the verification result indicates that the normalized device physical position parameter is invalid, boundary safety processing is performed on the normalized device physical position parameter to obtain a processed device physical position parameter, and a screen coordinate parameter of the stacker in the host computer is determined according to the processed device physical position parameter and the physical width reduction scale factor.

[0144] In this optional embodiment, the processed device physical position parameter is processed by the following formula:

[0145] P_norm_after = MAX(0, MIN(P_norm, W_phys));

[0146] P_norm_after is the processed device physical position parameter.

[0147] Specifically, the formula can be understood as follows: when P_norm exceeds the upper limit of the track (P_norm > W_phys), it is forced to be limited to W_phys (i.e., the stacker 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 forced to be limited to 0 (i.e., the stacker is virtually positioned at the leftmost end of the track); if the inner result ≥ 0, the inner result is retained, thereby achieving boundary constraint.

[0148] Further, according to the physical width parameter of the track, validity verification is performed on the normalized device physical position parameter, to obtain a verification result of the normalized device physical position parameter, including:

[0149] It is determined whether the normalized device physical position parameter is greater than or equal to zero and less than or equal to the physical width parameter of the track;

[0150] When the determination result is yes, it is determined that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is valid;

[0151] When the determination result is no, it is determined that the verification result of the normalized device physical position parameter indicates that the normalized device physical position parameter is invalid.

[0152] The optional embodiment can be understood as follows: the lower limit verification ensures that the offset of the stacker relative to the left end of the track does not exceed the starting point of the track, and the upper limit verification ensures that the offset of the stacker relative to the left end of the track does not exceed the end point of the track, so as to ensure that the calculated actual physical position of the stacker is within the movable range of the track, and reduce the occurrence of the situation that P_norm exceeds the reasonable interval due to abnormal PLC data (such as sensor interference, communication packet loss).

[0153] It can be seen that the optional embodiment can adaptively perform validity verification on the normalized device physical position parameter, and perform boundary safety processing on the normalized device physical position parameter when the normalized device physical position parameter is invalid, and then determine the screen coordinate parameter of the stacker in the upper computer based on the processed device physical position parameter and the physical width reduction scale factor. In this way, compared with the traditional stacker positioning method, the determination reliability, determination accuracy and effectiveness of the screen coordinate parameter of the stacker in the upper computer are improved, and the rendering abnormality of the visual elements of the stacker running out of the track in the interface is avoided, so that the accuracy and effectiveness of the positioning parameter of the stacker monitored by the upper computer are further improved, so as to further ensure the continuous and stable operation of the warehouse operation.

[0154] Embodiment three

[0155] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of a stacker intelligent positioning device based on an upper computer monitoring scene disclosed by the embodiment of the application. As shown in Figure 3 , the stacker intelligent positioning device based on the upper computer monitoring scene can include:

[0156] The acquisition module 301 is configured to acquire a target physical coordinate parameter of a stacker, a device physical position parameter, and a screen track width parameter of an upper computer.

[0157] The determination module 302 is configured to determine a physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter, and determine a screen coordinate parameter of the stacker in the upper computer according to the device physical position parameter and the physical width reduction scale factor; and determine a positioning parameter of the stacker monitored by the upper computer according to the screen coordinate parameter of the stacker in the upper computer.

[0158] In the embodiment of the application, the target physical coordinate parameter includes a physical minimum coordinate parameter and a physical maximum coordinate parameter.

[0159] It can be seen that the embodiment Figure 3Compared with the traditional stacker positioning method, the described stacker intelligent positioning device based on host computer monitoring scene can directly obtain the horizontal axis coordinate value of the stacker, improves the position calculation reliability and accuracy of the stacker, and further improves the corresponding accuracy of the physical position of the stacker and the front-end interface, thereby improving the positioning reliability, positioning accuracy and monitoring accuracy of the stacker in the host computer monitoring scene.

[0160] In an optional embodiment, the physical minimum coordinate parameter is used to indicate the leftmost physical position of the track that the stacker can reach, and the physical maximum coordinate parameter is used to indicate the rightmost physical position of the track that the stacker can reach.

[0161] The determination module 302 determines the physical width reduction scale factor of the stacker according to the target physical coordinate parameter and the screen track width parameter.

[0162] The physical maximum coordinate parameter and the physical minimum coordinate parameter are subjected to difference calculation to obtain the physical width parameter of the track.

[0163] The physical width reduction scale factor of the stacker is determined according to the physical width parameter of the track and the screen track width parameter.

[0164] In this optional embodiment, the physical width reduction scale factor is:

[0165] K = W_phys / W_screen.

[0166] W_phys is the physical width parameter of the track, and W_screen is the screen track width parameter.

[0167] It can be seen that the implementation Figure 4 The described stacker intelligent positioning device based on host computer monitoring scene can further calculate the physical width parameter of the track according to the physical maximum coordinate parameter and the physical minimum coordinate parameter, and then determine the physical width reduction scale factor of the stacker according to the physical width parameter of the track and the screen track width parameter. In this way, compared with the traditional stacker positioning method, the dynamic scale conversion algorithm solves the positioning error problem caused by fixed scale or single sensor, and further improves the positioning error accuracy of the front-end view and the actual physical positioning, thereby ensuring the accurate display of the stacker position in the interface.

[0168] In another optional embodiment, the determination module 302 determines the screen coordinate parameter of the stacker in the host computer according to the device physical position parameter and the physical width reduction scale factor.

[0169] According to the magnitude unit corresponding to the device physical position parameter and the magnitude unit of the target physical coordinate parameter, the device physical position parameter is subjected to a magnitude conversion operation to obtain a converted device physical position parameter;

[0170] The converted device physical position parameter and the physical minimum coordinate parameter are subjected to a difference calculation to obtain a normalized device physical position parameter, and the normalized device physical position parameter and a physical width reduction scale factor are used to determine the screen coordinate parameter of the stacker in the host computer.

[0171] In this optional embodiment, the screen coordinate parameter of the stacker in the host computer is:

[0172] X_screen = P_norm / K;

[0173] P_norm is the normalized device physical position parameter.

[0174] It can be seen that the implementation Figure 4 The described intelligent positioning device of the stacker based on the host computer monitoring scene can adaptively perform a magnitude conversion operation on the device physical position parameter to obtain a converted device physical position parameter, and then perform a difference calculation on the converted device physical position parameter and a physical minimum coordinate parameter to obtain a normalized device physical position parameter, so as to determine the screen coordinate parameter of the stacker in the host computer according to the normalized device physical position parameter and a physical width reduction scale factor. In this way, compared with the traditional stacker positioning method, the processing reliability and accuracy of the device physical position parameter are improved, and the determination reliability and accuracy of the screen coordinate parameter of the stacker in the host computer are improved, thereby improving the positioning accuracy of the stacker in the host computer monitoring scene.

[0175] In yet another optional embodiment, the determination module 302 determines the positioning parameter of the stacker monitored by the host computer according to the screen coordinate parameter of the stacker in the host computer, and the determination manner specifically includes:

[0176] Obtaining a stacker screen element width parameter of the host computer;

[0177] According to the stacker screen element width parameter, the screen coordinate parameter of the stacker in the host computer is subjected to a visual center correction to obtain a corrected screen coordinate parameter;

[0178] According to a preset element position attribute parameter, the corrected screen coordinate parameter is subjected to a conversion operation to obtain a converted screen coordinate parameter as the positioning parameter of the stacker monitored by the host computer.

[0179] In this optional embodiment, the corrected screen coordinate parameter is obtained by visual center correction through the following formula:

[0180] X_final = X_screen - (W_element / 2);

[0181] X_screen is a corrected screen coordinate parameter, W_element is a stacker screen element width parameter, and X_final is a corrected screen coordinate parameter.

[0182] It can be seen that the implementation Figure 4 The described intelligent positioning device of the stacker based on the host computer monitoring scene can adaptively correct the screen coordinate parameter of the stacker in the host computer according to the screen element width parameter of the stacker of the host computer, obtain a corrected screen coordinate parameter, and then realize the transformation process of the corrected screen coordinate parameter according to the element position attribute parameter to obtain the positioning parameter of the stacker monitored by the host computer. In this way, compared with the traditional stacker positioning method, the determination reliability and accuracy of the positioning parameter of the stacker monitored by the host computer are improved, so that the stacker position seen by the operator on the monitoring interface is completely consistent with the actual physical position, reducing the operation misjudgment caused by visual deviation, thereby improving the efficiency, accuracy and safety of the warehouse operation.

[0183] In yet another optional embodiment, the device further comprises:

[0184] The verification module 303 is configured to, before the determination module 302 determines the screen coordinate parameter of the stacker in the host computer according to the normalized device physical position parameter and the physical width reduction scale factor, perform an effectiveness verification operation on the normalized device physical position parameter according to the physical width parameter of the track to obtain a verification result of the normalized device physical position parameter.

[0185] The determination module 302 is further configured to, when the verification result of the verification module 303 indicates that the normalized device physical position parameter is valid, determine the screen coordinate parameter of the stacker in the host computer according to the normalized device physical position parameter and the physical width reduction scale factor.

[0186] The processing module 304 is configured to, when the verification result of the verification module 303 indicates that the normalized device physical position parameter is invalid, perform a boundary safety processing on the normalized device physical position parameter to obtain a processed device physical position parameter.

[0187] The determination module 302 is further configured to determine the screen coordinate parameter of the stacker in the host computer according to the processed device physical position parameter and the physical width reduction scale factor.

[0188] In this optional embodiment, the processed device physical position parameter is processed by the following formula:

[0189] P_norm_after = MAX(0,MIN(P_norm,W_phys));

[0190] P_norm_after represents the processed physical location parameters of the device.

[0191] 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:

[0192] 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;

[0193] 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.

[0194] 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.

[0195] It is evident that implementation Figure 4 The 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.

[0196] Example 4

[0197] 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:

[0198] Memory 401 storing executable program code;

[0199] Processor 402 coupled to memory 401;

[0200] The processor 402 invokes the executable program code stored in the memory 401 to execute the steps of the intelligent positioning method of the stacker based on the host computer monitoring the scene according to the embodiment one or the embodiment two.

[0201] Embodiment five

[0202] The embodiment of the present application discloses a computer storage medium, which stores computer instructions, and the computer instructions are used to execute the steps of the intelligent positioning method of the stacker based on the host computer monitoring the scene according to the embodiment one or the embodiment two when being invoked.

[0203] Embodiment six

[0204] The embodiment of the present application discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the intelligent positioning method of the stacker based on the host computer monitoring the scene according to the embodiment one or the embodiment two.

[0205] The above-described apparatus embodiments are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, that is, can be located in one place, or can be distributed on multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0206] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that contributes to the present application can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0207] Finally, it should be noted that: the disclosed intelligent positioning method and device of the stacker based on the host computer monitoring scene disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

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 a minimum physical coordinate parameter and a maximum physical coordinate parameter. 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 difference between the maximum physical coordinate parameter and the minimum physical coordinate parameter is calculated to obtain the physical width parameter of the track, and the physical width reduction factor of the stacker is determined based on the physical width parameter of the track and the screen track width parameter. 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. Obtain the screen element width parameter of the stacker crane from the host computer, and perform visual center correction on the screen coordinate parameter of the stacker crane in the host computer based on the screen element width parameter of the stacker crane to obtain the corrected screen coordinate parameter. 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. 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; 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; 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.

2. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 1, 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.

3. The intelligent positioning method for stacker cranes in a host computer monitoring scenario according to claim 2, 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.

4. A stacker crane intelligent positioning device based on a host computer monitoring scenario, characterized in that, The device is used to execute the intelligent positioning method for stacker cranes in a host computer monitoring scenario as described in any one of claims 1-3, and the device comprises: 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.

5. 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 1-3.

6. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the stacker crane intelligent positioning method based on a host computer monitoring scenario as described in any one of claims 1-3.

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