Stacker control device and stacker control system

Abstract

The embodiment of the utility model relates to the field of automatic warehouses, in particular to a stacker control device and a stacker control system, and the stacker control device comprises a mobile control unit, a plurality of pallet fork control units and a processing unit, the movement control unit receives the first driving signal and controls the stacking machine to horizontally move in the transverse direction and / or controls the stacking machine to vertically move in the longitudinal direction after receiving the first driving signal; each pallet fork control unit receives the second driving signal or the third driving signal, and when any pallet fork control unit receives the second driving signal, the pallet fork of the unique corresponding stacking machine is controlled to execute the goods taking action; and when any pallet fork control unit receives the third driving signal, the pallet fork of the unique corresponding stacking machine is controlled to execute the cargo placing action. Compared with the prior art, the stacker control device has higher practicability and a simple structure, and can be networked with other stacker control devices.

Description

Technical Field

[0001] Embodiments of the present utility model relate to the field of automated warehouses, and particularly to a stacker control device and a stacker control system. Background Art

[0002] In modern logistics warehousing systems, automated high-rise warehouses are increasingly widely used. The stacker is a key component of the high-rise warehouse. The performance of the stacker plays a crucial role in the operation of the entire high-rise warehouse. Therefore, designing and developing a stacker control system with a relatively high degree of automation and high efficiency has become the development trend of current high-rise warehouses, and carrying out research related thereto has important theoretical and application values. Content of the Utility Model

[0003] The purpose of the embodiments of the present utility model is to design a stacker control device and a stacker control system, which are not only practical and simple in structure, but also energy-efficient, convenient for networking, and have relatively high stability and scalability.

[0004] To achieve the above purpose, embodiments of the present utility model provide a stacker control device, including:

[0005] A movement control unit, configured to receive a first driving signal, and configured to, after receiving the first driving signal, control the stacker to perform a horizontal movement along the transverse direction and / or control the stacker to perform a vertical movement along the longitudinal direction;

[0006] A plurality of fork control units; each of the fork control units is configured to respectively receive a second driving signal, and any one of the fork control units is configured to, after receiving the second driving signal, control the fork of the uniquely corresponding stacker to perform a picking action; each of the fork control units is configured to receive a third driving signal, and any one of the fork control units is configured to, after receiving the third driving signal, control the fork of the uniquely corresponding stacker to perform a putting action;

[0007] A processing unit, communicatively connected to the horizontal axis control unit, the vertical axis control unit, and each of the fork control units respectively; the processing unit is configured to receive picking position information, and configured to, after receiving the picking position information, send the first driving signal to the movement control unit, and send the second driving signal to at least one fork control unit; the processing unit is further configured to receive putting position information, and configured to, after receiving the putting position information, send the first driving signal to the movement control unit, and send the third driving signal to at least one fork control unit.

[0008] In addition, embodiments of the present utility model further provide a stacker control system, including:

[0009] The host computer is communicatively connected to the conveyor line system and the processing unit of the stacker control device as described above respectively; the host computer is used to send picking position information or receiving position information to the processing unit;

[0010] Wherein, the processing unit is also communicatively connected to the conveyor line system. When the stacker is at the picking station, the processing unit is further used to obtain the conveyor line information collected by the conveyor line system, and when the obtained conveyor line information is in a state of having goods, output a second driving signal to at least one of the fork control units;

[0011] When the stacker is at the goods discharging station, the processing unit is further used to obtain the conveyor line information collected by the conveyor line system, and when the obtained conveyor line information is in a state of goods, output a third driving signal to at least one of the fork control units.

[0012] In the embodiment of the present invention, compared with the prior art, since the stacker can receive the first driving signal sent by the processing unit through the movement control unit of the control device, and can realize the horizontal movement of the stacker along the transverse direction and / or the vertical movement along the longitudinal direction according to the received first driving signal. At the same time, the stacker can also receive the second driving signal or the third driving signal sent by the processing unit through at least one fork control unit of the control device, and can control the fork of the uniquely corresponding stacker to perform the picking action according to the received second driving signal. At the same time, the fork of the uniquely corresponding stacker can also be controlled to perform the goods discharging action according to the received third driving signal. In addition, the processing unit is also communicatively connected to the host computer and the conveyor line system, thus ensuring the two-way information interaction between the control device, the host computer and the conveyor line system, so that the management and scheduling of the stacker can be realized, making the stacker control system have stronger practicability, and having the advantages of simple structure, convenient networking, stable and reliable, easy to expand, etc. Description of the Drawings

[0013] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, the drawings in the drawings do not constitute a proportional limitation.

[0014] Figure 1 It is a system module block diagram of a stacker control device in some embodiments of the present invention;

[0015] Figure 2 It is a system module block diagram of a stacker control system in some embodiments of the present invention. Detailed Embodiments

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will elaborate on each embodiment of the present utility model in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present utility model, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0017] Embodiment 1

[0018] The first embodiment of the present utility model relates to a stacker control device. As Figure 1 shown, the stacker control device includes: a movement control unit 31, a plurality of fork control units 32, and a processing unit 33.

[0019] Among them, in this embodiment, in combination with Figure 1 shown, the movement control unit 31 is configured to receive a first driving signal and, after receiving the first driving signal, control the stacker to perform horizontal movement along the transverse direction and / or control the stacker to perform vertical movement along the longitudinal direction.

[0020] Secondly, in this embodiment, in combination with Figure 1 shown, each fork control unit 32 is configured to receive a second driving signal or a third driving signal respectively. And when any one of the fork control units 32 receives the second driving signal, the fork control unit 32 can control the fork of the uniquely corresponding stacker to perform a picking operation. When any one of the fork control units 32 receives the third driving signal, the fork control unit 32 can control the fork of the uniquely corresponding stacker to perform a placing operation.

[0021] Finally, in this embodiment, in combination with Figure 1 shown, the processing unit 33 is communicatively connected to the horizontal axis control unit and the movement control unit 31 respectively. Among them, the processing unit 33 is configured to receive picking position information and, after receiving the picking position information, send a first driving signal to the movement control unit 31 and send a second driving signal to at least one of the fork control units 32. In addition, the processing unit 33 is further configured to receive placing position information and, after receiving the placing position information, send a first driving signal to the movement control unit 31 and send a third driving signal to at least one of the fork control units 32.

[0022] It is not difficult to see from the above that since the stacker can receive the first drive signal sent by the processing unit 33 through the movement control unit 31 of the stacker control device 3, and can, according to the received first drive signal, achieve the horizontal movement of the stacker in the lateral direction and / or the vertical movement in the longitudinal direction. At the same time, the stacker can also receive the second drive signal or the third drive signal sent by the processing unit 33 through at least one fork control unit 32 of the stacker control device 3, and can control the fork of the uniquely corresponding stacker to perform the goods-taking action according to the received second drive signal. At the same time, it can also control the fork of the uniquely corresponding stacker to perform the goods-releasing action according to the received third drive signal. In addition, the processing unit 33 can also be communicatively connected to the host computer and the conveyor line system, thus ensuring the two-way information interaction between the stacker control device, the host computer, and the conveyor line system, so that the management and scheduling of the stacker can be realized, making the stacker control device more practical, with a simple structure, and can be networked with other stacker control devices 1.

[0023] Specifically, in some embodiments, the processing unit 33 can adopt a programmable logic controller PLC. For example, the PLC can adopt a programmable logic controller of the Siemens PLC S7-1200 series. In addition, combined with Figure 1 As shown, the movement control unit 31 includes: a horizontal axis control subunit 311 and a vertical axis control subunit 312. Among them, both the horizontal axis control subunit 311 and the vertical axis control subunit 312 are communicatively connected to the processing unit 33. For example, the horizontal axis control subunit 311 and the vertical axis control subunit 312 can be directly electrically connected to the processing unit 33, so that the horizontal axis control subunit 311 can receive the first drive signal sent by the processing unit 33, and the vertical axis control subunit 312 can receive the second drive signal sent by the processing unit 33. When the horizontal axis control subunit 311 receives the first drive signal, it controls the stacker to move horizontally in the lateral direction. When the vertical axis control subunit 312 receives the first drive signal, it can control the stacker to move vertically in the longitudinal direction.

[0024] In addition, it is worth mentioning that in order for the horizontal axis control subunit 311 to control the stacker to achieve horizontal movement, in some embodiments, such as Figure 1As shown, the horizontal axis control subunit 311 includes: a horizontal axis servo controller 3111, a horizontal axis encoder 3112, and a horizontal axis rangefinder 3113. Among them, the horizontal axis servo controller 3111 is communicatively connected to the processing unit 33. The horizontal axis servo controller 3111 is configured to receive the first driving signal sent by the processing unit 33, and after receiving the first driving signal, drive and control the lateral servo motor of the stacker, so that the stacker can move horizontally along the lateral direction. Secondly, the horizontal axis encoder 3112 is electrically connected to the horizontal axis servo controller 3111. The horizontal axis encoder 3112 is configured to detect the first rotation angle of the lateral servo motor in real time, and feedback the detected first rotation angle to the horizontal axis servo controller 3111, so that the horizontal axis servo controller 3111 can implement closed-loop control of the lateral servo motor, thereby ensuring the accuracy of the lateral servo motor when driving the stacker to move horizontally. Finally, as Figure 1 shown, the horizontal axis rangefinder 3113 is also electrically connected to the horizontal axis servo controller 3111. The horizontal axis rangefinder 3113 can detect the lateral movement distance of the stacker in real time, and feedback the detected lateral movement distance to the processing unit 33. The processing unit 33 is configured to receive the lateral movement distance feedback by the horizontal axis rangefinder 3113, and when the received lateral movement distance reaches the preset distance, send a first stop signal to the horizontal axis servo controller 3111, so that the horizontal axis servo controller 3111 can control the lateral servo motor to stop operating, thereby completing the lateral movement of the stacker.

[0025] Similarly, in order to enable the vertical axis control subunit 312 to control the stacker to move horizontally, in some embodiments, as Figure 1 shown, the vertical axis control subunit 312 includes: a vertical axis servo controller 3121, a vertical axis encoder 3122, and a vertical axis rangefinder 3123. Among them, the vertical axis servo controller 3121 is communicatively connected to the processing unit 33. And the vertical axis servo controller 3121 is configured to receive the first driving signal sent by the processing unit 33, and after receiving the first driving signal, drive and control the longitudinal servo motor of the stacker, so that the stacker can move vertically along the longitudinal direction. Secondly, the vertical axis encoder 3122 is electrically connected to the vertical axis servo controller 3121. The vertical axis encoder 3122 is configured to detect the second rotation angle of the longitudinal servo motor in real time, and feedback the detected second rotation angle to the vertical axis servo controller 3121, so that the vertical axis servo controller 3121 can implement closed-loop control of the longitudinal servo motor, thereby ensuring the accuracy of the longitudinal servo motor when driving the stacker to move vertically. Finally, as Figure 1As shown in the figure, the vertical axis distance measurer 3123 is also electrically connected to the vertical axis servo controller 3121. Through the vertical axis distance measurer 3123, the longitudinal movement distance of the stacker can be detected in real time, and the detected longitudinal movement distance is fed back to the processing unit 33. The processing unit 33 is used to receive the longitudinal movement distance fed back by the vertical axis distance measurer 3123, and when the received longitudinal movement distance reaches a preset distance, it sends a first stop signal to the vertical axis servo controller 3121, so that the vertical axis servo controller 3121 can control the longitudinal servo motor to stop operating, thereby completing the longitudinal movement of the stacker.

[0026] It can be easily seen from this that since the horizontal axis control sub-unit 311 includes: a horizontal axis servo controller 3111, a horizontal axis encoder 3112, and a horizontal axis distance measurer 3113, and the vertical axis control sub-unit 312 includes: a vertical axis servo controller 3121, a vertical axis encoder 3122, and a vertical axis distance measurer 3123, the horizontal axis servo controller 3111 can achieve closed-loop control of the lateral servo motor according to the horizontal axis distance measurer 3113 and the horizontal axis encoder 3112. The vertical axis servo controller 3121 can achieve closed-loop control of the longitudinal servo motor according to the vertical axis distance measurer 3123 and the vertical axis encoder 3122. And it should be noted that in some embodiments, the horizontal axis encoder 3112 and the vertical axis encoder 3122 can both adopt laser distance measurers, and through the laser distance measurers, the horizontal movement distance and the vertical movement distance of the stacker can be accurately detected. Of course, in some other embodiments, the vertical axis distance measurer 3123 and the horizontal axis distance measurer 3113 can also adopt other detection elements, and in this embodiment, the types of the vertical axis distance measurer 3123 and the horizontal axis distance measurer 3113 are not specifically limited.

[0027] In addition, in some embodiments, as Figure 1 shown, in order to enable the forklift control unit 32 to drive the uniquely corresponding forklift to perform the picking or placing action, each forklift control unit 32 includes: a forklift frequency converter 321 and a forklift encoder 322. Among them, the forklift frequency converter 321 is communicatively connected to the processing unit 33, and the forklift frequency converter 321 is used to receive the second drive signal and the third drive signal sent by the processing unit 33. And when any one of the forklift frequency converters 321 receives the second drive signal, this forklift frequency converter 321 can drive and control the forklift servo motor of the uniquely corresponding forklift of the stacker, so that this forklift can perform the picking action. And when any one of the forklift frequency converters 321 receives the third drive signal, this forklift frequency converter can drive and control the forklift servo motor of the uniquely corresponding forklift of the stacker, so that this forklift can perform the placing action.

[0028] Secondly, as Figure 1As shown in the figure, in any one of the fork control units 32, the fork encoder 322 of the fork control unit 32 is communicatively connected to the processing unit 33, and the fork encoder 322 is used to detect in real time the third rotation angle of the fork servo motor of the uniquely corresponding fork, and can feedback the detected third rotation angle to the processing unit 33. For example, when any one of the forks of the stacker is performing a picking operation, the processing unit 33 is used to stop immediately sending the second drive signal to the uniquely corresponding fork frequency converter 321 when the received third rotation angle reaches the preset angle, which means that the fork frequency converter 321 has driven the uniquely corresponding fork to move to the picking position and the picking operation has been completed. At this time, the processing unit 33 can immediately stop sending the second drive signal to the uniquely corresponding fork frequency converter 321, so that the fork frequency converter 321 controls the fork servo motor of the uniquely corresponding fork to stop operating. Another example is that when any one of the forks of the stacker is performing a goods placing operation, the processing unit 33 is used to stop immediately sending the third drive signal to the fork frequency converter 321 when the received third rotation angle reaches the preset angle, which means that the fork frequency converter 321 has driven the uniquely corresponding fork to move to the goods placing position and the goods placing operation has been completed. At this time, the processing unit 33 can immediately stop sending the third drive signal to the fork frequency converter 321, so that the fork frequency converter 321 controls the fork servo motor of the uniquely corresponding fork to stop operating.

[0029] In addition, as Figure 1As shown in the figure, the stacker control device of this embodiment includes an information acquisition unit 34. The information acquisition unit 34 is electrically connected to the processing unit 33, the fork frequency converters 321 and fork encoders 322 of each fork control unit 32 respectively. The processing unit 33 can send a second drive signal or a third drive signal to the fork frequency converter 321 through the information acquisition unit 34, so as to control the picking action or the placing action of the fork frequency converter 321. Secondly, the information acquisition unit 34 is also electrically connected to the material state detection sensor and the shelf location detection sensor. During application, the information acquisition unit 34 can be used to collect the material state information in the warehouse detected by the material state detection sensor and the location state information of the shelf detected by the shelf location detection sensor. And the information acquisition unit 34 is also used to send the collected material state information and location state information to the processing unit 33. The processing unit 33 can not only send a first drive signal to the horizontal axis control subunit 311 and / or the vertical axis control subunit 312, so that the horizontal axis control subunit 311 can control the lateral servo motor and / or the longitudinal servo motor of the stacker to drive the stacker to move horizontally and longitudinally. At the same time, the processing unit 33 can also judge whether there is goods at the placing position or the picking position in the warehouse according to the material state information and location state information collected by the information acquisition unit 34. For example, if the processing unit 33 determines that there is no goods at the placing position according to the received material state information and location state information, the processing unit 33 can control at least one fork frequency converter 321 to drive the uniquely corresponding fork to perform the placing action. On the contrary, if the processing unit 33 determines that there is goods at the placing position according to the received material state information and location state information, the placing action is not performed.

[0030] And it should be noted that in order to enable the information acquisition unit 34 to collect the material state information and the location state information, in some embodiments, as Figure 1 shown, the information acquisition unit 34 adopted is an IO information acquisition unit. Of course, in other embodiments, the information acquisition unit 34 can also adopt other acquisition units. In this embodiment, the type of the information acquisition unit 34 is not specifically limited.

[0031] In addition, in some other embodiments, the stacker control device further includes: a safety protection unit, and the safety protection unit includes: a soft limit travel protection mechanism, a hard limit travel protection mechanism, a loose rope detection protection mechanism, a travel limit buffer mechanism, and a safety fence lock mechanism. Among them, the soft limit travel protection mechanism is that the processing unit 33 performs travel distance protection according to the horizontal movement distance and vertical movement distance of the stacker truck fed back by the horizontal axis control subunit 311 and the vertical axis control subunit 312. The hard limit travel protection mechanism and the travel limit buffer mechanism can be set at different positions of the sky track for the stacker truck to move and the stacker column according to actual needs to limit the movement of the stacker. The loose rope detection protection mechanism is used for safety protection when the steel wire rope of the stacker is loose or disconnected, and the safety fence lock mechanism is used to stop the equipment operation when the stacker is maintained and enters the warehouse.

[0032] In addition, as a preferred solution, in some other embodiments, as Figure 1 shown, the stacker control device further includes: a human-machine operation unit 35, and the human-machine operation unit 35 is communicatively connected to the processing unit 33. The human-machine operation unit 35 is used to send control instructions to the processing unit 33, so that the processing unit 33 can send a first drive signal to the movement control unit 31, and send a second drive signal or a third drive signal to at least one fork control unit 32. Independent control of the movement control unit 31 and the fork control unit 32 can be achieved by means of the human-machine operation unit 35. And, in some embodiments, the human-machine operation unit 35 can also be a touch terminal. Of course, in some other embodiments, the human-machine operation unit 35 can also be other terminal devices, and in this embodiment, the type of the human-machine operation unit 35 is not specifically limited.

[0033] Embodiment 2

[0034] The second embodiment of the present invention relates to a stacker control system, as Figure 2 shown, including: a host computer 4, the stacker control device 3 as described in Embodiment 1, and the host computer 4 is communicatively connected to the conveyor line system and the processing unit 33 of the stacker control device 3 as described in Embodiment 1 respectively. Among them, the host computer 4 is used to send the pick-up position information or the receiving position information to the processing unit 33.

[0035] In addition, in combination with Figure 2As shown in the figure, the processing unit 33 is also communicatively connected to the conveyor line system 5. Moreover, when the stacker crane is at the picking station, the processing unit 33 is further configured to obtain the conveyor line information collected by the conveyor line system 5, and when the obtained conveyor line information indicates the state of having goods, it outputs a second driving signal to at least one forklift control unit 32. When the stacker crane is at the goods placing station, the processing unit 33 is further configured to output a third driving signal to at least one forklift control unit 32 when the obtained conveyor line information indicates the state of having no goods.

[0036] From the above content, it is not difficult to see that the stacker crane can receive the first driving signal sent by the processing unit 33 through the movement control unit 31 of the stacker crane control device 3, and can realize the horizontal movement of the stacker crane along the transverse direction and / or the vertical movement along the longitudinal direction according to the received first driving signal. At the same time, the stacker crane can also receive the second driving signal or the third driving signal sent by the processing unit 33 through at least one forklift control unit 32 of the stacker crane control device 3, and can control the forklift of the corresponding stacker crane to perform the picking action according to the received second driving signal. At the same time, it can also control the forklift of the corresponding stacker crane to perform the goods placing action according to the received third driving signal. In addition, since the processing unit 33 is also communicatively connected to the host computer 4 and the conveyor line system 5, the two-way information interaction between the stacker crane control device 3, the host computer 4 and the conveyor line system 5 is ensured, so that the management and scheduling of the stacker crane can be realized, making the stacker crane control device more practical, with a simple structure, and can be networked with other stacker crane control devices 1.

[0037] Specifically, in some embodiments, as Figure 2 shown, the stacker crane control system further includes: a switch 6, and the switch 6 is electrically connected to the host computer 4, the conveyor line system 5 and the processing unit 33 respectively. Secondly, as Figure 2 shown, the processing unit 33 is also communicatively connected to the host computer 4 and the conveyor line system, thus ensuring the two-way information interaction between the control device, the host computer 4 and the conveyor line system 5, so that the management and scheduling of the stacker crane can be realized, making the stacker crane control system more practical, with a simple structure, convenient networking, stable and reliable, easy to expand and other advantages.

[0038] In addition, it is worth noting that in some embodiments, the host computer 4, the switch 6, the conveyor line system 5 and the stacker crane control device can form a communication network through the industrial local area network PROFINET. The communication network formed by PROFINET ensures the high-speed real-time two-way information interaction between the host computer 4 and the stacker crane control device 3, realizes the management and scheduling of the stacker crane to perform operations, and has the advantages of scientific design, high efficiency, energy saving, strong practicability, simple structure, convenient networking, stable and reliable, easy to expand.

[0039] Those of ordinary skill in the art can understand that the above-described embodiments are specific embodiments for implementing the present utility model, and in actual applications, various changes can be made to it in form and details without departing from the spirit and scope of the present utility model.

Claims

1. A stacker control device, characterized in that: include: A movement control unit, configured to receive a first drive signal, and to control the stacker to move horizontally in a lateral direction and / or to control the stacker to move vertically in a longitudinal direction after receiving the first drive signal; A plurality of fork control units; each of the fork control units is used to receive a second drive signal, and any one of the fork control units is used to control the fork of the only corresponding stacker to perform a picking action after receiving the second drive signal; each of the fork control units is used to receive a third drive signal, and any one of the fork control units is used to control the fork of the only corresponding stacker to perform a placing action after receiving the third drive signal; A processing unit is communicatively connected with the mobile control unit and each fork control unit respectively; the processing unit is used to receive cargo pickup position information, and after receiving the cargo pickup position information, sends a first drive signal to the mobile control unit, and sends a second drive signal to at least one fork control unit; the processing unit is also used to receive cargo placement position information, and after receiving the cargo placement position information, sends a first drive signal to the mobile control unit, and sends a third drive signal to at least one fork control unit.

2. The stacker control device according to claim 1, characterized in that: The mobile control unit comprises: a horizontal axis control subunit, which is in communication with the processing unit, and is used to receive the first drive signal sent by the processing unit, and to control the stacker to move horizontally in a lateral direction after receiving the first drive signal; The vertical axis control subunit is communicatively connected with the processing unit, and is used to receive the first drive signal sent by the processing unit, and is used to control the stacker to move vertically in the longitudinal direction after receiving the first drive signal.

3. The stacker control device according to claim 2, characterized in that: The horizontal axis control subunit comprises: a horizontal axis servo controller, which is in communication with the processing unit, and is used to receive the first drive signal sent by the processing unit, and is used to drive and control the lateral servo motor of the stacker after receiving the first drive signal, so that the stacker moves horizontally in the lateral direction; a horizontal axis encoder, electrically connected to the horizontal axis servo controller, for detecting a first rotation angle of the lateral servo motor in real time, and for feeding back the detected first rotation angle to the horizontal axis servo controller, so that the horizontal axis servo controller performs closed-loop control on the lateral servo motor; A horizontal axis distance meter, electrically connected to the horizontal axis servo controller, for detecting the lateral movement distance of the stacker in real time, and feeding back the detected lateral movement distance to the processing unit; The processing unit is used to receive the lateral movement distance fed back by the horizontal axis rangefinder, and when receiving the lateral movement distance reaching a preset distance, sends a first stop signal to the horizontal axis servo controller, so that the horizontal axis servo controller controls the lateral servo motor to stop.

4. The stacker control device according to claim 3, characterized in that: The vertical axis control subunit comprises: a vertical axis servo controller, which is in communication with the processing unit, and is used to receive the first drive signal sent by the processing unit, and is used to drive and control the longitudinal servo motor of the stacker after receiving the first drive signal, so that the stacker moves vertically in the longitudinal direction; a vertical axis encoder, electrically connected to the vertical axis servo controller, for detecting the second rotation angle of the longitudinal servo motor in real time, and for feeding back the detected second rotation angle to the vertical axis servo controller, so that the vertical axis servo controller performs closed-loop control on the longitudinal servo motor; A vertical axis distance meter, electrically connected to the vertical axis servo controller, for detecting the longitudinal movement distance of the stacker in real time, and feeding back the detected longitudinal movement distance to the processing unit; The processing unit is used to receive the horizontal movement distance fed back by the horizontal axis rangefinder, and when receiving the horizontal movement distance reaching a preset distance, sends a first stop signal to the horizontal axis servo controller, so that the horizontal axis servo controller controls the longitudinal servo motor to stop.

5. The stacker control device according to claim 1, characterized in that: Each of the fork control units comprises: A fork frequency converter is communicatively connected to the processing unit and is used to receive the second drive signal and the third drive signal sent by the processing unit; wherein the fork frequency converter is used to drive and control the fork servo motor of the fork uniquely corresponding to the stacker after receiving the second drive signal, so that the fork performs a picking action; the fork frequency converter is also used to drive and control the fork servo motor of the fork uniquely corresponding to the stacker after receiving the third drive signal, so that the fork performs a placing action; a fork encoder, which is in communication connection with the processing unit, and is used for detecting in real time a third rotation angle of a fork servo motor of the unique corresponding fork, and for feeding back the detected third rotation angle to the processing unit; When the fork performs a picking action, the processing unit is used to stop sending the second driving signal to the fork inverter when the received third rotation angle reaches a preset angle, so that the fork inverter controls the fork servo motor of the only corresponding fork to stop moving; When the fork performs a cargo releasing action, the processing unit is used to stop sending the third driving signal to the fork inverter when the received third rotation angle reaches a preset angle, so that the fork inverter controls the fork servo motor of the unique corresponding fork to stop moving.

6. The stacker control device according to any one of claims 1 to 5, characterized in that: The stacker control device comprises: An information collection unit; the information collection unit is electrically connected to the processing unit, the fork frequency converter and the fork encoder of each fork control unit, and the information collection unit is also electrically connected to the material status detection sensor and the shelf cargo position detection sensor; The information collection unit is used to collect the material status information in the warehouse detected by the material status detection sensor, and is used to collect the shelf location status information detected by the shelf location detection sensor; The information collection unit is also used to send the collected material status information and the cargo location status information to the processing unit.

7. The stacker control device according to claim 6, characterized in that: The information collection unit includes: an IO information collection unit.

8. The stacker control device according to any one of claims 1 to 5, characterized in that: The stacker control device also includes: The human-machine operating unit is communicatively connected to the processing unit and is used to send a control instruction to the processing unit, so that the processing unit sends the first drive signal to the mobile control unit, and sends the second drive signal or the third drive signal to at least one fork control unit.

9. A stacker control system, characterized in that: include: A host computer is respectively connected to the conveyor line system and the processing unit of the stacker control device according to any one of claims 1 to 8; the host computer is used to send pickup location information or receiving location information to the processing unit; Wherein, the processing unit is also in communication connection with the conveyor line system. When the stacker is at the cargo pickup station, the processing unit is also used to obtain the conveyor line information collected by the conveyor line system, and when the obtained conveyor line information indicates that there is cargo, the processing unit is used to output the second driving signal to at least one of the cargo fork control units; When the stacker is at the cargo placement platform, the processing unit is further used to obtain the conveyor line information collected by the conveyor line system, and to output the third drive signal to at least one of the fork control units when the conveyor line information obtained is in a cargo state.

10. The stacker control system according to claim 9, characterized in that: The stacker control system also includes: The switch is electrically connected to the host computer, the conveyor line system and the processing unit respectively.

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