A multi-drive bin stacker crane, its control method and control system

Abstract

This invention discloses a multi-drive bin stacker crane, a control method, and a control system, comprising: acquiring motion parameters; controlling the movement of a plurality of first drive components according to the motion parameters, wherein each first drive component is configured to follow the movement of a virtual axis; acquiring position values ​​between each first drive component, processing them to obtain a first deviation value, and confirming the addition of a first compensation speed; after the virtual axis reaches a target position, acquiring the position value of the corresponding first drive component, processing it to obtain a second deviation value, and confirming the addition of a second compensation speed, until the second deviation value corresponding to each first drive component meets a preset threshold; achieving precise control of the movement position of each first drive component while maintaining synchronization accuracy with the lifting position of the horizontal second drive component, allowing for the integration of more drive devices and increasing the lifting height.

Description

Technical Field

[0001] This invention relates to the field of stacker technology, and in particular to a multi-drive bin stacker, control method and control system. Background Technology

[0002] Stacker cranes are a classic application in the field of automated warehousing and logistics. With the upgrading of domestic industries, production plants across all sectors inevitably need to upgrade the automation, informatization, and digitalization of their in-plant logistics equipment as they enter the digital age. The bin stacker crane is a warehousing and logistics equipment designed for the efficient storage and retrieval of bin-type goods within the automated warehouse stacker crane series. It achieves high-speed vertical and horizontal movement of goods through a track structure, and uses variable-pitch forks or picking devices to precisely grasp bins. Combined with a traveling mechanism, lifting system, and control system, it completes the tasks of transporting and storing goods between racks.

[0003] Existing bin stacker cranes are limited by the rigidity of the lifting rails, which can only be equipped with four sets of drive motors. They also need to achieve a high speed of 3-4 m / s when crawling horizontally, which limits the overall height of the machine to less than 22 meters. In actual operation, there are problems such as uneven rails, motor slippage during operation, and speed differences during synchronous movement due to rigid connections between multiple shafts. This results in inaccurate positioning and problems such as tilting of the lifting rails during operation. Consequently, the goods being lifted and conveyed are tilted, which affects the accuracy of bin stacking position. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-drive bin stacker, its control method, and its control system.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a control method for a multi-drive bin stacker, comprising:

[0006] Obtain motion parameters, wherein the motion parameters are obtained based on the target position of the virtual axis;

[0007] The motion parameters are used to control the movement of a plurality of first drive components, wherein each of the first drive components is configured to move following the virtual axis;

[0008] Obtain the position value between each of the first driving components, process it to obtain the first deviation value, and confirm the addition of the first compensation speed;

[0009] After the virtual axis reaches the target position, the position value of the corresponding first drive component is obtained and processed to obtain a second deviation value. A second compensation speed is then added until the second deviation value corresponding to each first drive component meets a preset threshold.

[0010] As a further description of the above technical solution: the first driving component drives the corresponding second driving component in the horizontal direction to move synchronously.

[0011] As a further description of the above technical solution: the motion parameters are obtained by processing the target position based on the virtual axis, including:

[0012] The virtual axis is generated by programming simulation based on the initial position of the first driving component;

[0013] The target location is determined based on the warehouse location address;

[0014] The motion curve corresponding to the virtual axis is obtained by processing the initial position and the target position;

[0015] The motion parameters are obtained by processing the motion curve, wherein the motion parameters include position, velocity, acceleration, and jerk.

[0016] As a further description of the above technical solution: obtaining the position value between each of the first driving components and processing it to obtain the first deviation value includes:

[0017] Real-time acquisition of the position value of the first driving component;

[0018] Select any position value of the first driving component as a reference value, and obtain the difference between each position value and the reference value;

[0019] The first deviation value is obtained by processing the change in the difference.

[0020] As a further description of the above technical solution: the confirmation of adding the first compensation speed includes:

[0021] Detect whether the first deviation value is greater than the compensation threshold;

[0022] If so, then based on the motion parameters corresponding to the first deviation value, the first compensation speed that needs to be compensated is processed and added to the first drive component and the second drive component for adjustment;

[0023] If not, then continue to maintain the current motion parameters.

[0024] As a further description of the above technical solution: the confirmation of adding a second compensation speed includes:

[0025] Detect whether the second deviation value is greater than a preset threshold, wherein the second deviation value is the difference between the position value and the target position;

[0026] If so, a second compensation speed is determined based on the difference between the position value and the target position, and then added to the first drive component and the second drive component for adjustment;

[0027] If not, control the first driving component and the second driving component to stop.

[0028] It also includes a control system for a multi-drive bin stacker crane, comprising:

[0029] The acquisition module acquires motion parameters, wherein the motion parameters are obtained based on the target position of the virtual axis.

[0030] The control module controls the movement of a plurality of first drive components according to the motion parameters, wherein each first drive component is configured to move following the virtual axis;

[0031] The adjustment module acquires the position value between each of the first driving components, processes it to obtain a first deviation value, and confirms the addition of a first compensation speed. After the virtual axis reaches the target position, it acquires the position value of the corresponding first driving component, processes it to obtain a second deviation value, and confirms the addition of a second compensation speed, until the second deviation value corresponding to each of the first driving components meets a preset threshold.

[0032] It also includes a multi-drive bin stacker, comprising:

[0033] Lifting track;

[0034] A cargo platform is provided on the lifting track;

[0035] The lifting track is provided with a plurality of first drive components and second drive components. The first drive components and second drive components have the same structure and are symmetrically arranged on the lifting track to drive the lifting track to reciprocate in the horizontal direction.

[0036] The lifting track is equipped with a lifting drive assembly, which drives the cargo platform to move back and forth in the vertical direction via belt transmission.

[0037] As a further description of the above technical solution: the first driving component or the second driving component includes:

[0038] A connector is provided, which cooperates with the lifting rail. A slide rail is provided on one side of the connector, and a mounting bracket is provided on the slide rail. A motor is provided on one side of the mounting bracket, and the output end of the motor extends through to the other side of the mounting bracket and is provided with an integrated reducer wheel.

[0039] As a further description of the above technical solution: the mounting frame is provided with a tensioning element and a reverse hook clamping wheel, and an anti-tipping clamping wheel is provided on one side of the mounting frame.

[0040] The above technical solution has the following advantages or beneficial effects:

[0041] By designing a virtual axis, the first drive component follows and synchronously drives the second drive component to move. During the movement, the speed of the first and second drive components is compensated by detecting the first deviation value between each first drive component. When the virtual axis reaches the target position, the second deviation value from the target position is detected, and the speed of the first and second drive components is compensated a second time. This achieves precise control of the movement position of each first drive component while maintaining synchronization accuracy with the movement position of the horizontal second drive component. More drive devices can be integrated to increase the lifting height. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0043] Figure 1 This is a flowchart of the control method proposed in this invention;

[0044] Figure 2 This is a flowchart illustrating the process of obtaining motion parameters based on target position processing in this invention;

[0045] Figure 3 This is a flowchart illustrating the process of obtaining the first deviation value in this invention;

[0046] Figure 4 This is a schematic diagram of the control system proposed in this invention.

[0047] Figure 5 This is a perspective view of the stacker crane proposed in this invention.

[0048] Figure 6 for Figure 5 A magnified view of a section at point A in the middle;

[0049] Figure 7 This is a perspective view of the first driving component or the second driving component in this invention.

[0050] Legend:

[0051] 1. Lifting rail; 2. Cargo platform; 3. First drive assembly; 4. Second drive assembly; 5. Connector; 6. Slide rail; 7. Mounting bracket; 8. Motor; 9. Integrated reducer wheel; 10. Tensioner; 11. Anti-hook clamp wheel; 12. Anti-tipping clamp wheel; 13. Lifting drive assembly; 14. Data acquisition module; 15. Control module; 16. Adjustment module. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0053] Existing bin stacker cranes are limited by the rigidity of the lifting rails, which can only be equipped with four sets of drive motors. They also need to achieve a high speed of 3-4 m / s when crawling horizontally, which limits the overall height of the machine to less than 22 meters. In actual operation, there are problems such as uneven rails, motor slippage during operation, and speed differences during synchronous movement due to rigid connections between multiple shafts. This results in inaccurate positioning and problems such as tilting of the lifting rails during operation. Consequently, the goods being lifted and conveyed are tilted, which affects the accuracy of bin stacking position.

[0054] Reference Figure 1 One embodiment of the present invention provides a control method for a multi-drive bin stacker crane, comprising:

[0055] S1. Obtain motion parameters, which are obtained based on the target position of the virtual axis;

[0056] S2. Control the movement of several first drive components according to motion parameters, wherein each first drive component is configured to move following a virtual axis;

[0057] S3. Obtain the position value between each first driving component, process it to obtain the first deviation value, and confirm the addition of the first compensation speed;

[0058] S4. After the virtual axis reaches the target position, the position value of the corresponding first drive component is obtained and processed to obtain the second deviation value. The second compensation speed is added until the second deviation value corresponding to each first drive component meets the preset threshold.

[0059] The first drive component drives the corresponding second drive component in the horizontal direction to move synchronously.

[0060] In this embodiment, during drive control, motion parameters under ideal conditions are determined based on the virtual axis simulated in the programming. The obtained motion parameters are sent to several first drive components and second drive components through a servo controller. The first drive components move according to the received motion parameters, following a set virtual axis, thus driving the lifting track to move horizontally. During the movement, the position value of each first drive component is acquired, and a first deviation value is obtained. For first drive components with larger first deviation values, a first compensation speed is added, which improves the displacement accuracy of the synchronous movement of the several first drive components at equal intervals, enabling stable and accurate movement of the lifting track. After the virtual axis reaches the target position, a second deviation value is obtained based on the position value of the corresponding first drive component. It is then determined whether the positioning error is greater than a preset threshold. If so, a second compensation speed is added to adjust the movement position of the first drive components, realizing synchronous control of multiple drive components. This achieves precise control of the movement position of each first drive component while ensuring the synchronization accuracy with the horizontal second drive component. More drive devices can be integrated, facilitating the increase of the lifting track height.

[0061] Furthermore, when controlling the movement of several first drive components based on motion parameters, the motion parameters of the virtual axis are acquired according to a preset time period and sent to the second drive component. The motion parameters of the second drive component are then updated, and the movement state of the second drive component is adjusted to make it move synchronously with the first drive component. The preset time period can be selected as 4ms.

[0062] The system can optionally have eight drive components, divided into four groups, with each group consisting of components on the same layer. Each group includes a first drive component and a second drive component, with the second drive component following the first drive component. Based on the generated virtual axis, the four first drive components move along the virtual axis, decelerating when their speed exceeds the virtual axis's speed and accelerating when it does not, ensuring that the displacement error is controlled within a certain range during movement. Finally, after the virtual axis reaches the target position, the positioning error generated during movement is corrected using the position value.

[0063] Reference Figure 2 The motion parameters are obtained by processing the target position based on the virtual axis, including:

[0064] S11. Based on the initial position of the first driving component, perform programming simulation to generate a virtual axis;

[0065] S12. Determine the target location based on the cargo location address;

[0066] S13. Based on the initial position and target position, obtain the motion curve corresponding to the virtual axis;

[0067] S14. Obtain motion parameters based on the motion curve, including position, velocity, acceleration, and jerk.

[0068] In this embodiment, the actual initial positions of all first drive components, such as the initial coordinates of the horizontal axis and the lifting axis, are acquired through encoders or position sensors. Simulation models corresponding to the first drive components are then established in control software, such as the SMC_MoveAbsolute motion control module provided by the Codesys software platform or in the PLC programming environment. The initial position data is imported into the model to construct virtual axes. The response speed, load adaptability, and other motion characteristics of the virtual axes are consistent with those of the first drive components, avoiding a disconnect between simulation and actual motion. By controlling the movement of the virtual axes for each first drive component, all first drive components can be driven by follow logic, reducing control complexity.

[0069] Based on the actual cargo transportation needs, the Siemens PLC calculates the cargo location address to obtain the target position in the horizontal direction (X) and the lifting direction (Y). Taking the initial position of the virtual axis as the starting point and the target position as the ending point, and combining the mechanical performance parameters of the stacker crane, such as maximum speed, maximum acceleration, and allowable jerk, the corresponding motion curve is obtained, usually an S-curve, which is a seven-segment curve consisting of acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration, and deceleration. This reduces mechanical impact during movement. The S-curve avoids rigid impact, reduces the risk of hopper shaking and falling, and also reduces the wear of the first and second drive components.

[0070] Based on the obtained S-curve, motion parameters at corresponding moments can be extracted according to a preset time period, including position Y, velocity V1, acceleration A, and jerk J. These parameters are used to control the motion states of the first and second drive components.

[0071] Reference Figure 3 The position values ​​between each first driving component are obtained, and the first deviation value is obtained by processing it, including:

[0072] S31. Real-time acquisition of the position value of the first driving component;

[0073] S32. Select the position value of any first driving component as the reference value, and obtain the difference between each position value and the reference value;

[0074] S33. The first deviation value is obtained by processing the change in the difference.

[0075] In this embodiment, an encoder is provided on the first drive component to collect the position value of each first drive component in real time, and the position value is transmitted to the motion controller in the form of a digital signal.

[0076] Select the position value of any first drive component as the reference value. For example, select a specific first drive component, such as the topmost first drive component or the first drive component with the most stable performance, and use its position value as the reference value. Alternatively, dynamically select the first drive component whose current position value is closest to the virtual axis position as the reference value, obtain the difference between the position value of each first drive component and the reference value, and calculate the rate of change of the difference. By analyzing the trend of the difference, determine whether the deviation is a static deviation, such as that caused by mechanical clearance, or a dynamic deviation, such as that caused by motor slippage or load fluctuation, so that subsequent speed compensation is more targeted.

[0077] Confirm the addition of the first compensation speed, including:

[0078] Check if the first deviation value is greater than the compensation threshold;

[0079] If so, the first compensation speed that needs to be compensated is obtained by processing the motion parameters corresponding to the first deviation value and added to the first drive component and the second drive component for adjustment.

[0080] If not, then continue to maintain the current motion parameters.

[0081] In this embodiment, a compensation threshold is used to determine whether synchronous compensation needs to be initiated. The motion controller reads the first deviation value in real time and compares it with the preset compensation threshold. If the absolute value of the first deviation value is greater than the compensation threshold, it is determined that the synchronous deviation exceeds the standard, triggering the position compensation process to obtain the first compensation speed. The first compensation speed is not only added to the corresponding first drive component, but also synchronously added to the horizontal second drive component driven by the first drive component; synchronous control is performed. If it is less than the compensation threshold, the current motion parameters are maintained to avoid ineffective adjustment.

[0082] Specifically, a compensation threshold of 20mm is set. When the difference between the position value of any first drive component and the reference value exceeds the set 20mm, the position compensation process is triggered. The 20mm position difference is input into the displacement deviation required for compensation, at a preset speed of 100mm / s and 500mm / s. 2 Acceleration and deceleration 50mm / s 3 A virtual axis compensation motion curve is constructed, and the first compensation speed V2 calculated based on the compensation motion curve is written to the controller. At this time, the speed is V1 (motion curve calculated speed) + V2 (first compensation speed). Position compensation is turned off when it is less than the compensation threshold, and the current motion parameters are maintained. It is turned on again when the compensation threshold is detected to be exceeded.

[0083] Confirm the addition of a second compensation speed, including:

[0084] Detect whether the second deviation value is greater than a preset threshold, wherein the second deviation value is the difference between the position value and the target position;

[0085] If so, the second compensation speed is determined based on the difference between the position value and the target position, and then added to the first drive component and the second drive component for adjustment;

[0086] If not, control the first and second drive components to stop.

[0087] In this embodiment, the second deviation value is the difference between the position value of the first drive component and the target position of the virtual axis. The sign of the second deviation value reflects whether the first drive component is ahead or behind the target position, and the magnitude of the absolute positioning error. When the virtual axis reaches the target position, i.e., the motion phase ends, and the velocity V1 in the original motion parameters drops to 0, a detection and judgment is performed to accurately identify the positioning deviation of each first drive component and determine whether position calibration is required. The second compensation speed is synchronously added to the first drive component and the second drive component it drives, so that the first and second drive components adjust their positions synchronously. When the absolute value of the second deviation value of all first drive components is less than or equal to a preset threshold, the first and second drive components are immediately stopped, and the positioning calibration is completed.

[0088] Specifically, the second compensation speed is much lower than the speed during the motion phase, moving in a crawling state. When the virtual spindle reaches the target position, i.e., when the speed V1 is 0, it is determined whether the current second deviation value is within the preset threshold range. The preset threshold can be ±5mm. If it does not meet the requirement, the motion curve of the virtual axis from the current position to the target position is regenerated through the SMC_FollowVelocity function module of the simulation software, and a second compensation speed V3 is output. The current speed is V1+V2+V3. The second compensation speed is only fine-tuned when the second deviation value is greater than the preset threshold, and stops immediately after meeting the threshold to avoid repeated shaking after positioning and reduce the risk of the material box shaking and falling.

[0089] Reference Figure 4 It also includes an embodiment of a control system for a multi-drive bin stacker crane, comprising:

[0090] Acquisition module 14 acquires motion parameters, which are obtained by processing the target position based on the virtual axis;

[0091] Control module 15 controls the movement of several first drive components according to motion parameters, wherein each first drive component is configured to move following a virtual axis;

[0092] The adjustment module 16 acquires the position values ​​between each first drive component, processes them to obtain a first deviation value, and confirms the addition of a first compensation speed. After the virtual axis reaches the target position, it acquires the position value of the corresponding first drive component, processes it to obtain a second deviation value, and confirms the addition of a second compensation speed until the second deviation value corresponding to each first drive component meets the preset threshold.

[0093] In this embodiment, the acquisition module 14 determines the target position based on the cargo location address and obtains the position values ​​between each of the first drive components. The control module 15 performs programming simulation based on the target position obtained by the acquisition module 14 and the initial position of the first drive components to generate the virtual axis. It processes the virtual axis to obtain the motion curve corresponding to the virtual axis and processes the motion curve to obtain the motion parameters. The adjustment module 16 receives the position value obtained by the acquisition module 14, processes it to obtain the first deviation value, and confirms the addition of the first compensation speed. After the virtual axis reaches the target position, it obtains the position value of the corresponding first drive component and processes it to obtain the second deviation value, so that the first drive component and the corresponding second drive component move synchronously.

[0094] Reference Figures 5-7 It also includes an embodiment of a multi-drive bin stacker crane, comprising:

[0095] Lifting track 1; a loading platform 2 is provided on lifting track 1; several first drive components 3 and second drive components 4 are provided on lifting track 1. The first drive components 3 and second drive components 4 have the same structure and are symmetrically arranged on lifting track 1 to drive lifting track 1 to reciprocate in the horizontal direction.

[0096] The lifting track 1 is equipped with a lifting drive assembly 13, which drives the cargo platform 2 to move back and forth in the vertical direction via belt drive.

[0097] In this embodiment, the loading platform 2 is used to carry the material box, and the lifting track 1 can be a small-section aluminum track, which is low in cost and can provide guidance and support for the guide wheels of the loading platform 2. A lifting drive assembly 13 is provided at one end of the lifting track 1, which controls the lifting movement of the loading platform 2 through toothed belt drive. The first drive assembly 3 and the second drive assembly 4 have the same structure and are symmetrically arranged on the lifting track 1 to drive the two sides of the lifting track 1 to move horizontally synchronously.

[0098] The first drive component 3 or the second drive component 4 includes:

[0099] Connector 5, which cooperates with lifting rail 1, has a slide rail 6 on one side, a mounting bracket 7 on the slide rail 6, a motor 8 on one side of the mounting bracket 7, and the output end of the motor 8 extends to the other side of the mounting bracket 7 and is equipped with a reducer wheel 9.

[0100] In this embodiment, the connector 5 is adapted to the lifting rail 1, and the mounting frame 7 is slidably connected to the lifting rail via the slide rail 6 to drive the lifting rail 1 to move horizontally. When the lifting movement is performed, the cargo platform 2 is in a cantilevered state. Therefore, the first drive component 3 and the second drive component 4 will be subjected to the overall cantilevered state force and the torsional force generated when they lift and move. At the same time, in order to ensure that the drive wheel can float up and down to adapt to the error of the lifting rail 1, it is slidably connected to the lifting rail 1 via the slide rail 6. The slide rail 6 is embedded in the lifting rail 1 and can withstand the torque in three directions and a small gap, while ensuring the ability to slide up and down. Mounting bracket 7 serves as the mounting reference for either the first drive assembly 3 or the second drive assembly 4. Motor 8 is fixed on mounting bracket 7, with its output end passing through the mounting bracket and fitted with an integrated reducer wheel 9. Motor 8 is a DC servo motor, which is small in size. The integrated reducer wheel 9 uses the reducer housing as a hub, increasing integration and reducing the overall size of the machine. At the same time, it converts the speed and torque of motor 8, controlling the lifting rail 1 to reciprocate along the horizontal direction, ensuring stable transmission, reducing noise, and avoiding friction and slippage.

[0101] The mounting frame 7 is equipped with a tensioning element 10 and a reverse hook clamping wheel 11, and an anti-tipping clamping wheel 12 is provided on one side of the mounting frame 7.

[0102] In this embodiment, the tensioning element 10 is a tension spring. The elastic tension of the tensioning element 10 ensures that the mounting frame 7 does not float arbitrarily. The anti-hook clamping wheel 11 and the anti-tipping clamping wheel 12 are connected to the lifting rail 1 to provide auxiliary clamping force for the movement of the lifting rail 1, increasing the pressure between them and ensuring the friction between them. The anti-hook clamping wheel 11 consists of a hinge device that can move freely with the spring force, a spring, and a pair of clamping wheels. Since the tensioning element 10 cannot maintain the same pressure at all times, an additional external pressure source is needed to compensate for the lack of pressure. The spring of the anti-hook clamping wheel 11 transmits the force to the clamping wheel and the mounting frame 7 through the linkage hinge device, so that the two clamp the lifting rail 1, providing stable pressure, thereby reducing slippage during operation and reducing the difficulty of synchronous control.

[0103] It also includes a computer-readable storage medium storing a computer program for operating the control method, wherein the computer program causes the computer to perform the following steps:

[0104] S1. Obtain motion parameters, which are obtained based on the target position of the virtual axis;

[0105] S2. Control the movement of several first drive components according to motion parameters, wherein each first drive component is configured to move following a virtual axis;

[0106] S3. Obtain the position value between each first driving component, process it to obtain the first deviation value, and confirm the addition of the first compensation speed;

[0107] S4. After the virtual axis reaches the target position, the position value of the corresponding first drive component is obtained and processed to obtain the second deviation value. The second compensation speed is added until the second deviation value corresponding to each first drive component meets the preset threshold.

[0108] The computer-readable storage medium can be a computer storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of a computer program from one location to another. A computer storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the ASIC can reside in a user equipment. Of course, the processor and the computer-readable storage medium can also exist as discrete components in a communication device.

[0109] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0110] It also includes an electronic device, comprising:

[0111] One or more processors; memory; and

[0112] One or more programs, wherein the programs are stored in memory and configured to be executed by one or more processors, the programs being used to perform the following steps:

[0113] S1. Obtain motion parameters, which are obtained based on the target position of the virtual axis;

[0114] S2. Control the movement of several first drive components according to motion parameters, wherein each first drive component is configured to move following a virtual axis;

[0115] S3. Obtain the position value between each first driving component, process it to obtain the first deviation value, and confirm the addition of the first compensation speed;

[0116] S4. After the virtual axis reaches the target position, the position value of the corresponding first drive component is obtained and processed to obtain the second deviation value. The second compensation speed is added until the second deviation value corresponding to each first drive component meets the preset threshold.

[0117] Memory is used to store computer programs. This memory may include high-speed random access memory (RAM) and may also include non-volatile memory (Non-volatile memory). Volatile Memory (NVM), such as at least one disk storage device, can also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0118] A processor is used to execute computer programs stored in memory. The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0119] Alternatively, the memory can be either standalone or integrated with the processor.

[0120] When memory is a device independent of the processor, electronic devices may also include a bus. This bus is used to connect the memory and the processor. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc.

[0121] It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the prior art, can be embodied in the form of software products. These computer software products can be stored in computer-readable storage media, such as ROM / RAM, magnetic disks, optical disks, etc., and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain portions of the embodiments. In this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0122] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control method for a multi-drive magazine stacker, characterized by, The multi-drive bin stacker includes: Lifting track (1); A cargo platform (2) is provided on the lifting track (1); The lifting track (1) is provided with a plurality of first drive components (3) and second drive components (4). The first drive components (3) and second drive components (4) have the same structure and are symmetrically arranged on the lifting track (1) to drive the lifting track (1) to reciprocate in the horizontal direction. The lifting track (1) is equipped with a lifting drive assembly (13), which drives the cargo platform (2) to move back and forth in the vertical direction via belt transmission; The control method includes: Obtain motion parameters, wherein the motion parameters are obtained based on the target position of the virtual axis; The motion parameters are used to control the movement of a plurality of first drive components, wherein each of the first drive components is configured to move following the virtual axis; Obtain the position value between each of the first driving components, process it to obtain the first deviation value, and confirm the addition of the first compensation speed; After the virtual axis reaches the target position, the position value of the corresponding first drive component is obtained and processed to obtain a second deviation value. A second compensation speed is added until the second deviation value corresponding to each first drive component meets a preset threshold. The second deviation value is the difference between the position value and the target position. The first driving component drives the corresponding second driving component in the horizontal direction to move synchronously. The step of obtaining the position value between each of the first driving components and processing it to obtain the first deviation value includes: Real-time acquisition of the position value of the first driving component; Select any position value of the first driving component as a reference value, and obtain the difference between each position value and the reference value; The first deviation value is obtained by processing the change in the difference.

2. The control method according to claim 1, characterized in that: The motion parameters are obtained by processing the target position based on the virtual axis, including: The virtual axis is generated by programming simulation based on the initial position of the first driving component; The target location is determined based on the warehouse location address; The motion curve corresponding to the virtual axis is obtained by processing the initial position and the target position; The motion parameters are obtained by processing the motion curve, wherein the motion parameters include position, velocity, acceleration, and jerk.

3. The control method according to claim 1, characterized in that: The confirmation of adding the first compensation speed includes: Detect whether the first deviation value is greater than the compensation threshold; If so, then based on the motion parameters corresponding to the first deviation value, the first compensation speed that needs to be compensated is processed and added to the first drive component and the second drive component for adjustment; If not, then continue to maintain the current motion parameters.

4. The control method according to claim 1, characterized in that: The confirmation of adding a second compensation speed includes: Detect whether the second deviation value is greater than a preset threshold; If so, a second compensation speed is determined based on the difference between the position value and the target position, and then added to the first drive component and the second drive component for adjustment; If not, control the first driving component and the second driving component to stop.

5. The control method according to claim 1, characterized in that: The first driving component (3) or the second driving component (4) includes: Connector (5), the connector (5) cooperates with the lifting rail (1), a slide rail (6) is provided on one side of the connector (5), a mounting frame (7) is provided on the slide rail (6), a motor (8) is provided on one side of the mounting frame (7), the output end of the motor (8) extends through to the other side of the mounting frame (7), and a reducer integrated wheel (9) is provided.

6. The control method according to claim 5, characterized in that: The mounting frame (7) is provided with a tensioning element (10) and a reverse hook clamping wheel (11), and an anti-tipping clamping wheel (12) is provided on one side of the mounting frame (7).

7. A control system for a multi-drive bin stacker crane, characterized in that, The multi-drive bin stacker includes: Lifting track (1); A cargo platform (2) is provided on the lifting track (1); The lifting track (1) is provided with a plurality of first drive components (3) and second drive components (4). The first drive components (3) and second drive components (4) have the same structure and are symmetrically arranged on the lifting track (1) to drive the lifting track (1) to reciprocate in the horizontal direction. The lifting track (1) is equipped with a lifting drive assembly (13), which drives the cargo platform (2) to move back and forth in the vertical direction via belt transmission; The control system includes: The acquisition module acquires motion parameters, wherein the motion parameters are obtained based on the target position of the virtual axis. The control module controls the movement of a plurality of first drive components according to the motion parameters, wherein each first drive component is configured to move following the virtual axis; The adjustment module acquires the position value between each of the first driving components, processes it to obtain a first deviation value, and confirms the addition of a first compensation speed; after the virtual axis reaches the target position, it acquires the position value of the corresponding first driving component, processes it to obtain a second deviation value, and confirms the addition of a second compensation speed, until the second deviation value corresponding to each of the first driving components meets a preset threshold. Wherein, the second deviation value is the difference between the position value and the target position; The first driving component drives the corresponding second driving component in the horizontal direction to move synchronously. The step of obtaining the position value between each of the first driving components and processing it to obtain the first deviation value includes: Real-time acquisition of the position value of the first driving component; Select any position value of the first driving component as a reference value, and obtain the difference between each position value and the reference value; The first deviation value is obtained by processing the change in the difference.

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