Control method, control device, electronic device, computer-readable storage medium

Abstract

The application provides a control method, a control device, an electronic device and a computer readable storage medium. The control method comprises: receiving warehouse entry order information; comparing the received warehouse entry order information with previous executed order information; if the comparison result is not completely consistent, controlling the travelling crane to execute the order task; and if the comparison result is completely consistent, terminating the execution process of the order. The control method of the paper roll warehouse entry travelling crane provided by the application compares the received warehouse entry order information with previous executed order information, decides to execute the order task or terminate the execution of the order according to the comparison result, and in the case that the upper WMS system cannot be modified and no additional hardware is added, the PLC as a lower controller only uses its local limited information and logical operation capability to independently and accurately identify and intercept the repeated historical task from the upper system, so that the collision accident of the physical execution mechanism is eliminated from the root.

Description

Technical Field

[0001] This application relates to the technical field of paper roll stacking crane control, specifically to a control method, control device, electronic device, and computer-readable storage medium for a paper roll warehousing crane. Background Technology

[0002] In modern automated storage and retrieval systems (AS / RS) for the paper industry, the operation of automated guided vehicles (AGVs) is typically controlled by a lower-level PLC (Programmable Logic Controller), while the scheduling and management of the storage area are handled by a higher-level WMS (Warehouse Management System). During normal operation, the WMS sends inbound orders to the PLC, which then controls the ALVs to transport paper rolls to the designated storage location. Once completed, the PLC sends an order completion signal to the WMS, which then updates the inventory and executes the next task.

[0003] Existing technical flaws: In actual operation, due to manufacturer system problems or network interference, communication between the PLC and WMS may be interrupted or intermittently lost. If the communication interruption occurs while the crane is executing an inbound order and the PLC has not yet successfully sent the "order completed" signal to the WMS, the WMS, not receiving confirmation within the timeout window, incorrectly determines that the order has failed. To complete the task, the WMS will continuously resend the same inbound order to the PLC after communication is restored. If the PLC lacks an effective local anti-duplicate detection mechanism, it will treat this duplicate order as a completely new task and execute it again, controlling the crane to put paper rolls into the same storage location again, resulting in a serious "over-loading" accident. This can cause the two paper rolls to collide (i.e., hit the tower), damaging equipment and scrapping products, and even endangering the safety of the entire warehouse.

[0004] The shortcomings of existing solutions: Modifying the underlying protocols and logic of WMS would be extremely time-consuming and costly, and could introduce new system stability risks. Adding additional network redundancy devices or independent security controllers also faces the problems of high hardware costs and significant downtime losses. Summary of the Invention

[0005] The first aspect of this application provides a control method for a paper roll receiving crane, the control method comprising: Receive inbound order information; The received inbound order information is compared with the information of the previous executed order; If the comparison results are not completely consistent, the train will be controlled to execute the order task; if the comparison results are completely consistent, the execution process of the order will be terminated.

[0006] In some optional embodiments, the inbound order information includes at least a unique order identifier, paper roll pickup coordinates, and paper roll release coordinates.

[0007] In some optional embodiments, the step of terminating the order execution process if the comparison results are completely consistent further includes: sending a fault alarm message to the next higher level system.

[0008] In some optional embodiments, if the comparison results are not completely consistent, the step of controlling the vehicle to execute the order task may further include: recording the order completion status; sending the order completion information to the next higher level system; and writing the current inbound order information into the memory area.

[0009] Secondly, embodiments of this application provide a control device for a paper roll receiving crane, the control device comprising: The receiving module is used to receive inbound order information; The comparison module is used to compare the received inbound order information with the information of the previous executed order; The execution module is used to control the crane to execute the order if the comparison results are not completely consistent; if the comparison results are completely consistent, the execution process of the order will be terminated.

[0010] In some optional embodiments, the inbound order information includes at least a unique order identifier, paper roll pickup coordinates, and paper roll release coordinates.

[0011] In some optional embodiments, the execution module is also used to send fault alarm information to the next higher level system.

[0012] In some optional embodiments, the execution module is also used to record the order completion status; send order completion information to the next higher level system; and write the current inbound order information into the memory area.

[0013] Thirdly, embodiments of this application provide an electronic device, including: Memory, which stores program data; and A processor, coupled to the memory, executes the program data during operation to implement the control method described in the above embodiments.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing program data, which, when executed by a processor, is used to implement the control method described in the above embodiments.

[0015] The paper roll receiving crane control method provided in this application compares the received receiving order information with the information of the previous executed order. Based on the comparison result, it decides whether to execute the order or terminate the execution of the order. Under the dual constraints of not being able to modify the upper-level WMS system and not adding additional hardware, the PLC, as the lower-level controller, independently, accurately, and promptly identifies and intercepts repetitive historical tasks from the upper-level system, relying solely on its limited local information and logic operation capabilities, thereby eliminating collision accidents of physical actuators from the root. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating an embodiment of the control method for the paper roll receiving crane of this application; Figure 2 This is a flowchart illustrating another embodiment of the control method for the paper roll warehousing crane in this application; Figure 3 This is a schematic diagram of the framework of an embodiment of the control device for the paper roll loading crane of this application; Figure 4 This is a schematic diagram of a computer-readable storage medium in some embodiments of this application; Figure 5 These are schematic diagrams of electronic devices in some embodiments of this application. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0019] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] The paper roll receiving crane control method in this application relates to a control method and device that autonomously prevents task duplication when communication between the lower-level controller and the upper-level management system is unreliable. It is particularly suitable for scenarios involving preventing duplicate receiving of paper rolls in automated warehouses where the crane PLC and WMS are interconnected. A low-cost, high-reliability solution is proposed that only the PLC control logic needs modification, without any changes to the WMS system or field hardware. The specific technical problem to be solved is: how to eliminate the serious safety hazards of duplicate paper roll receiving and physical collisions (collision with the tower) caused by WMS blindly resending the same receiving order due to abnormal communication between the WMS and PLC, without modifying the existing WMS system or adding any field hardware.

[0022] This invention provides a method for preventing duplicate data entry independently implemented by a PLC without modifying the WMS system. The core idea is to upgrade the PLC's internal control program to enable it to "immune" to and "correct" erroneous instructions from the upper-level system, without altering the existing communication architecture and interaction protocol between the WMS and PLC.

[0023] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the control method for a paper roll receiving crane according to this application. It should be noted that the control method in this embodiment is executed on the paper roll receiving crane PLC controller, which interacts with the higher-level WMS system. The control method for the paper roll receiving crane includes, but is not limited to, the following steps.

[0024] Step S100: Receive inbound order information.

[0025] In this step, the inbound order information can be sent by the upper-level WMS system.

[0026] The paper roll trolley PLC controller features indiscriminate reception and parameter caching. When the PLC receives a task entry order from the WMS, regardless of the current communication status, it parses and temporarily stores the key physical operation parameters contained in the order according to the original protocol. These key physical operation parameters include at least: a unique order identifier, paper roll pickup coordinates (source address), and paper roll release coordinates (target storage location address). This set of parameters uniquely defines a physical handling task.

[0027] Step S200: Compare the received inbound order information with the information of the previous executed order.

[0028] In step S200, the PLC controller compares the key physical operation parameters of the current order extracted in step S100 with the "physical operation parameters of the previous executed order" recorded in its internal non-volatile storage area. This storage area is completely transparent to the WMS, and its contents are maintained entirely autonomously by the PLC.

[0029] In step S300, if the comparison results are not completely consistent, control the crane to execute the order task.

[0030] In step S300, if the comparison results are not completely consistent, it is determined that the WMS has issued a completely new inbound task. The PLC controller executes the order according to the normal control logic and controls the crane to complete the paper roll transportation.

[0031] In step S400, if the comparison results are completely consistent, the execution process of the order is terminated.

[0032] In this step, if the comparison results are completely consistent, it is determined that the WMS has resent an executed historical order due to a communication anomaly. At this time, the PLC executes its internal shielding strategy: directly suspending the execution process of the order, prohibiting the issuance of any start / stop or run commands to the crane inverter, motor, or other actuators from the source of the control commands. The crane thus remains stationary and will not perform any dangerous actions on the already occupied storage space.

[0033] The paper roll receiving crane control method provided in this application compares the received receiving order information with the information of the previous executed order. Based on the comparison result, it decides whether to execute the order or terminate the execution of the order. Under the dual constraints of not being able to modify the upper-level WMS system and not adding additional hardware, the PLC, as the lower-level controller, independently, accurately, and promptly identifies and intercepts repetitive historical tasks from the upper-level system, relying solely on its limited local information and logic operation capabilities, thereby eliminating collision accidents of physical actuators from the root.

[0034] Please see Figure 2 , Figure 2 This is a flowchart illustrating another embodiment of the control method for the paper roll receiving crane in this application. The control method in this embodiment includes, but is not limited to, the following steps.

[0035] Step S100: Receive inbound order information.

[0036] In this step, the inbound order information can be sent by the upper-level WMS system.

[0037] The paper roll trolley PLC controller features indiscriminate reception and parameter caching. When the PLC receives a task entry order from the WMS, regardless of the current communication status, it parses and temporarily stores the key physical operation parameters contained in the order according to the original protocol. These key physical operation parameters include at least: a unique order identifier, paper roll pickup coordinates (source address), and paper roll release coordinates (target storage location address). This set of parameters uniquely defines a physical handling task.

[0038] Step S200: Compare the received inbound order information with the information of the previous executed order.

[0039] In step S200, the PLC controller compares the key physical operation parameters of the current order extracted in step S100 with the "physical operation parameters of the previous executed order" recorded in its internal non-volatile storage area. This storage area is completely transparent to the WMS, and its contents are maintained entirely autonomously by the PLC.

[0040] In step S300, if the comparison results are not completely consistent, control the crane to execute the order task.

[0041] In step S300, if the comparison results are not completely consistent, it is determined that the WMS has issued a completely new inbound task. The PLC controller executes the order according to the normal control logic and controls the crane to complete the paper roll transportation.

[0042] Unlike the previous embodiment, the control method in this embodiment further includes step S500, recording the order completion status; step S600, sending order completion information to the next higher level system; and step S700, writing the current inbound order information into the memory area.

[0043] This invention further precisely defines the update timing of the "previous executed order" memory area within the PLC controller to ensure the absolute reliability of the verification benchmark. The update operation is only triggered when both of the following conditions are met simultaneously: (1) The PLC controller has controlled the crane actuator to complete a complete physical handling cycle, and the paper roll has been correctly placed in the target storage location; (2) The PLC controller has successfully sent an "order complete" signal for the order.

[0044] Only after it is determined that "the physical world has been irreversibly changed by this order" and "the notification has been sent to the best of our ability" will the PLC overwrite the parameters of the current order into the aforementioned memory area, which will serve as the sole reference for the next anti-duplicate verification.

[0045] In step S400, if the comparison results are completely consistent, the execution process of the order is terminated.

[0046] In this step, if the comparison results are completely consistent, it is determined that the WMS has resent an executed historical order due to a communication anomaly. At this time, the PLC executes its internal shielding strategy: directly suspending the execution process of the order, prohibiting the issuance of any start / stop or run commands to the crane inverter, motor, or other actuators from the source of the control instructions. The crane thus remains stationary and will not perform any dangerous actions on the already occupied storage space.

[0047] Step S800: Send fault alarm information to the next higher level system.

[0048] After identifying and blocking duplicate orders, the PLC controller proactively triggers a fault alarm message and notifies the WMS via the existing communication link. This allows the operator to intervene promptly using the WMS's existing alarm display module without modifying the WMS's internal program logic, and may interrupt the WMS's continuous retransmission cycle for that order.

[0049] The control method in this embodiment has the following significant advantages compared with the prior art: Eliminating the risk of tower collisions: By adding anti-duplicate verification at the PLC end, the vulnerability of traditional systems that rely entirely on WMS feedback is overcome. Even if a communication anomaly causes the WMS to blindly resend orders, the PLC can accurately identify and intercept duplicate instructions, fundamentally preventing tower collision accidents caused by "one extra roll fed". Extremely low engineering implementation cost and zero downtime: The modification target of this invention is limited to PLC control programs. No new hardware purchases are required, no paid modification services from WMS vendors are needed, and no rewiring of the fieldbus is required. The entire modification process can be scheduled during regular equipment maintenance intervals for program updates, causing almost no impact on normal production, perfectly meeting the factory's requirements for "low cost and rapid deployment." Ensuring production continuity: By adding PLC-based unilateral autonomous verification and proactive error correction functions, the fault tolerance of the entire warehousing system is significantly improved. When a similar anomaly occurs again in the communication network, it can prevent crane shutdowns or tower collisions caused by communication failures, greatly improving the overall operating efficiency and equipment safety of the automated warehousing system.

[0050] Additionally, this application embodiment also provides a control device for a paper roll receiving crane, which is used to implement the above-described control method. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of the framework of an embodiment of the control device for the paper roll receiving crane of this application. The control device 100 may include a receiving module 10, a comparison module 20, and an execution module 30. The receiving module 10, the comparison module 20, and the execution module 30 can cooperate to implement the above-described control method.

[0051] In some optional embodiments, the receiving module 10 is used to receive inbound order information; wherein, the inbound order information includes at least a unique order identifier, paper roll pick-up coordinates, and paper roll release coordinates. The comparison module 20 is used to compare the received inbound order information with the information of the previous executed order; the execution module 30 is used to control the crane to execute the order task if the comparison result is not completely consistent; if the comparison result is completely consistent, the execution process of the order is terminated.

[0052] Optionally, the execution module 30 is also used to send fault alarm information to the upper-level system and to record the order completion status; send order completion information to the upper-level system and write the current inbound order information into the memory area. For the specific control methods and flows of the receiving module 10, comparison module 20, and execution module 30, please refer to the relevant descriptions in the foregoing embodiments, which will not be repeated here.

[0053] The following describes a computer-readable storage medium. Please refer to [link / reference]. Figure 4 , Figure 4This is a schematic diagram of a computer-readable storage medium in some embodiments of this application. The computer-readable storage medium 200 is used to store program data 201, which, when executed by a processor, is used to implement the control method in any of the above embodiments. The computer-readable storage medium 200 can also be used in the control device 100 described above. In some embodiments, the computer-readable storage medium 200 can be a memory as described in the above embodiments.

[0054] The computer-readable storage medium 200 can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or a medium that can store program data 201. Alternatively, it can be a server that stores the program data 201. The server can send the stored program data 201 to other devices for execution, or it can run the stored program data 201 itself.

[0055] The following describes an electronic device. Please refer to [link / reference]. Figure 5 , Figure 5 This is a schematic diagram of an electronic device in some embodiments of this application. This electronic device can be applied to the control methods described above. The electronic device 300 includes a processor 301 and a memory 302 coupled together. The memory 302 stores program data, which, when executed by the processor 301, is used to implement the control methods in any of the above embodiments. The memory 302 can be the memory described in the above embodiments.

[0056] In some embodiments, the processor 301 is used to run program data stored in the memory 302 to implement the control method of any of the above embodiments. Specifically, the processor 301 controls the operation of the electronic device, and the processor 301 may also be referred to as a CPU (Central Processing Unit). The processor 301 may be an integrated circuit chip with signal and image processing capabilities. The processor 301 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0057] In some embodiments, memory 302 is used to store program data executed by processor 301 and data generated by processor 301 during processing. Memory 302 may include a non-volatile storage portion for storing the program data. In another embodiment, memory 302 may serve solely as memory for processor 301, caching data generated during processing. This program data is actually stored in a device outside of processor 301. Processor 301 connects to the external device and executes corresponding processing by calling the externally stored program data.

[0058] In some embodiments, the program data may be the program data 201 in the above embodiments.

[0059] In some embodiments, the memory 302 can be Figure 4 The computer-readable storage medium 200 in the middle.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0062] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0063] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A control method for a paper roll receiving crane, characterized in that, The control method includes: Receive inbound order information; The received inbound order information is compared with the information of the previous executed order; If the comparison results are not completely consistent, the train will be controlled to execute the order task; if the comparison results are completely consistent, the execution process of the order will be terminated.

2. The control method according to claim 1, characterized in that, The inbound order information includes at least the unique order identifier, the paper roll pickup coordinates, and the paper roll release coordinates.

3. The control method according to claim 1, characterized in that, The step of terminating the order execution process if the comparison results are completely consistent also includes: sending a fault alarm message to the next higher-level system.

4. The control method according to claim 1, characterized in that, If the comparison results are not completely consistent, the step of controlling the vehicle to execute the order task further includes: recording the order completion status; sending the order completion information to the next higher level system; and writing the current inbound order information into the memory area.

5. A control device for a paper roll receiving crane, characterized in that, The control device includes: The receiving module is used to receive inbound order information; The comparison module is used to compare the received inbound order information with the information of the previous executed order; The execution module is used to control the crane to execute the order if the comparison results are not completely consistent; if the comparison results are completely consistent, the execution process of the order will be terminated.

6. The control device according to claim 5, characterized in that, The inbound order information includes at least the unique order identifier, the paper roll pickup coordinates, and the paper roll release coordinates.

7. The control device according to claim 5, characterized in that, The execution module is also used to send fault alarm information to the next higher level system.

8. The control device according to claim 5, characterized in that, The execution module is also used to record the order completion status; send order completion information to the next higher level system; and write the current inbound order information into the memory area.

9. An electronic device, characterized in that, include: Memory, which stores program data; as well as A processor, coupled to the memory, which executes the program data during operation to implement the control method as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program data, which, when executed by a processor, is used to implement the control method as described in any one of claims 1-4.

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