Device for automatically measuring lattice coordinates of stacker

Abstract

The utility model provides a device for automatically measuring lattice coordinates of a stacker, which comprises a goods shelf, the stacker and a positioning measuring device, a plurality of lattices are arranged on the goods shelf in a rectangular array, and the depths of the lattices extend along the Z-axis direction; a telescopic pallet fork is arranged and can move in a reciprocating mode in the Z-axis direction so as to stretch into the goods grids or retract from the goods grids; the stacking machine can drive the telescopic pallet fork to horizontally move in the X-axis direction and do lifting motion in the Y-axis direction, the X-axis direction is the length direction of the goods shelf, and the Y-axis direction is the height direction of the goods shelf. The positioning and measuring device is arranged on the stacking machine and used for measuring the X coordinate, the Y coordinate and the Z coordinate of a goods lattice at a target position and reading the X coordinate and the horizontal walking speed of the goods carrying table when the goods carrying table moves in the X-axis direction and the Y coordinate and the lifting speed of the goods carrying table when the goods carrying table moves in the Y-axis direction in real time; according to the utility model, the measuring efficiency of goods grids is improved, the labor cost is reduced, the operation safety is guaranteed, and the system adapts to the intelligent warehousing development trend.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of stacker storage and retrieval of goods grid coordinate measurement, especially to a kind of device of stacker automatic measurement goods grid coordinate. BACKGROUND

[0002] Stacker is the hoisting and transport equipment of goods between rack aisle in stereoscopic warehouse, and stereoscopic warehouse stores goods by the goods grid formed between the crossbeam and column of rack, fully utilizes vertical space, improves storage density.

[0003] The existing goods grid three-dimensional coordinate is often measured by artificial, and the measurement error can be caused by the influence of sensory, on-site environment and operating skill of artificial operation, and the installation precision and processing precision of rack and pallet fork can also bring error to measurement, when the measurement error value of goods grid measurement coordinate and actual coordinate is greater than the safety distance between pallet fork and the crossbeam and column of rack and goods, it will lead to pallet fork or goods impacting rack, the risk of equipment damage and goods falling, endangering employee safety, causing economic loss. UTILITY MODEL CONTENTS

[0004] The utility model provides a kind of device and method for stacker automatic measurement goods grid coordinate, to solve the measurement error caused by human and environmental factors in prior art by artificial measurement goods grid coordinate to realize the storage and retrieval of goods grid goods, reduce the damage of equipment, avoid the safety hazard brought by personnel aerial work, improve the efficiency of coordinate measurement.

[0005] The utility model provides a kind of device for stacker automatic measurement goods grid coordinate, comprising:

[0006] Rack, a plurality of goods grids are arranged in rectangular array on the rack, and the depth direction of the goods grid extends along the Z-axis direction;

[0007] Stacker, provided with telescopic pallet fork, the telescopic pallet fork can reciprocate along the Z-axis direction to extend into the goods grid or retract from the goods grid;And the stacker can drive the telescopic pallet fork to move horizontally along the X-axis direction and to move up and down along the Y-axis direction, the X-axis direction is the length direction of the rack, and the Y-axis direction is the height direction of the rack;

[0008] Positioning measurement device, set on the stacker, the positioning measurement device is used to measure the X coordinate, Y coordinate and Z coordinate of the goods grid of target position, and is used to read the X coordinate and horizontal walking speed of the load platform when moving along the X-axis direction in real time, and the Y coordinate and lifting speed when moving along the Y-axis direction.

[0009] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, load platform is provided on the stacking machine, telescopic fork sets up in load platform, the stacking machine can drive load platform moves along X axle direction, load platform can do the lifting movement along Y axle direction to move telescopic fork to target position goods grid.

[0010] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, the positioning measurement device includes first distance measurement module, first distance measurement module is laser position sensor first distance measurement module sets up on the stacking machine, load platform and telescopic fork.

[0011] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, the goods shelf includes first crossbeam, second crossbeam and stand, the length direction of first crossbeam and second crossbeam is same with X axle direction, the length direction of stand is same with Y axle direction, first crossbeam with second crossbeam same number and all along Y axle direction equal interval is arranged, a plurality of stand is connected perpendicularly along X axle direction with first crossbeam and second crossbeam, and a plurality of stand is equidistantly arranged, and the goods grid is the storage space that two first crossbeam, two second crossbeam and four stands surround.

[0012] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, the positioning measurement device still includes photoelectric detection module, photoelectric detection module includes first photoelectric detection switch, second photoelectric detection switch, third photoelectric detection switch and fourth photoelectric detection switch, and each photoelectric detection switch all with the controller of stacking machine electricity is connected, first photoelectric detection switch and second photoelectric detection switch are along Z axle direction interval setting in telescopic fork, are used for calibrating Z direction coordinate in goods grid, and the interval of first photoelectric detection switch and second photoelectric detection switch is equal to the interval of the inner wall or outer wall of first crossbeam and second crossbeam, third photoelectric detection switch and fourth photoelectric detection switch are along X axle direction interval setting in the one side of load platform towards goods shelf, are used for corresponding with goods fork and goods grid, to make goods fork is in goods grid safe stretchable fork space.

[0013] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, telescopic fork includes first fork and second fork, first fork with second fork is along X axle direction interval setting, and the length direction of first fork with second fork all is same with Z axle direction, first photoelectric detection switch and second photoelectric detection switch are along Z axle direction interval setting in first fork and / or second fork.

[0014] The utility model provides a device of automatic measurement of goods grid coordinates of stacking machine, the positioning and measuring device still includes second distance measurement module, second distance measurement module includes first distance measurement sensor, second distance measurement sensor and third distance measurement sensor, and the communication interface of each distance measurement sensor is connected with the controller of stacking machine, first distance measurement sensor is installed in the outer wall of the one end of first fork near loading platform, second distance measurement sensor is installed in the outer wall of the one end of second fork near loading platform, third distance measurement sensor is installed in the inner wall or outer wall of the free end of first fork or second fork, is used for when third distance measurement sensor and the first crossbeam below are opposite, measures the interval of first fork or second fork and first crossbeam.

[0015] According to the device of automatic measurement of goods grid coordinates of stacking machine provided by the utility model, the mounting position of the third photoelectric detection switch is lower than the mounting position of the fourth photoelectric detection switch, and the mounting position of the third photoelectric detection switch is flush with the bottom of the first fork.

[0016] According to the device of automatic measurement of goods grid coordinates of stacking machine provided by the utility model, the mounting position of the fourth photoelectric detection switch is lower than the mounting position of the third photoelectric detection switch, and the mounting position of the fourth photoelectric detection switch is flush with the bottom of the first fork.

[0017] According to the device of automatic measurement of goods grid coordinates of stacking machine provided by the utility model, the height difference between the third photoelectric detection switch and the fourth photoelectric detection switch is the height of the second crossbeam in the Y axis direction, when the loading platform is at the lowest point Y0 in the Y axis direction, the positions of the third photoelectric detection switch and the fourth photoelectric detection switch are all lower than the second crossbeam at the bottom.

[0018] The utility model provides a kind of device for automatically measuring goods grid coordinates of stacker, install photoelectric detection sensor and fork on the cargo platform and install photoelectric detection sensor and ranging sensor, the approximate range of goods grid is judged by photoelectric detection switch, then ranging sensor is inserted into goods grid by extension fork to measure, so as to calculate the accurate three-dimensional coordinates of goods grid. Not only can improve stereoscopic warehouse goods storage precision, reduce the measurement error caused by artificial measurement, shelf fork manufacturing and installation, reduce the goods search difficulty, wrong delivery and other problems caused by coordinate error, greatly improve the accuracy of warehousing management;It can also improve work efficiency, automatic measurement system can realize fast, uninterrupted measurement, compared with artificial handheld measurement tool measures each goods grid, speed is greatly improved, reduces the dependence on artificial manual measurement, just a small amount of technical personnel monitoring and maintaining automatic measurement system can, especially for large-scale warehousing facilities, goods grid coordinate measurement work originally needs dozens of people, after introducing automation scheme, it can only need several people, the manpower that is saved can be invested in other more value creation post, reduce enterprise human operation cost.

[0019] The utility model as a key link of intelligent warehousing, goods grid coordinate automatic measurement can be seamlessly connected with automatic stacker, AGV trolley and other intelligent logistics equipment, these devices cooperate according to accurate goods grid coordinate information, realize the intelligent control of goods from warehousing, storage to delivery whole process, promote the warehousing industry to higher level of intelligent advancement. ACCURACY

[0020] In order to more clearly illustrate the technical scheme in the utility model or prior art, the following will be to the embodiment or prior art description needed to use a simple introduction to the drawing, obviously, the following description in the drawing is some embodiments of the utility model, for those skilled in the art, without creative labor, according to these drawings, other drawings can also be obtained.

[0021] Figure 1 It is the front view of the device for automatically measuring goods grid coordinates of stacker of the utility model embodiment.

[0022] Figure 2 It is the plan view of single pallet goods grid shelf of the device for automatically measuring goods grid coordinates of stacker of the utility model embodiment.

[0023] Reference signs:

[0024] 1, shelf;11, goods grid;12, first crossbeam;13, second crossbeam;14, stand;

[0025] 2, telescopic fork; 21, first fork; 22, second fork; 23, first photoelectric detection switch; 24, second photoelectric detection switch; 25, first distance measuring sensor; 26, second distance measuring sensor; 27, third distance measuring sensor;

[0026] 3, loading platform; 31, third photoelectric detection switch; 32, fourth photoelectric detection switch; 33, fifth photoelectric detection switch; 34, sixth photoelectric detection switch;

[0027] 4, pallet; 5, stacker. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely below in combination with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0029] The utility model discloses a kind of stacker automatic measurement goods grid coordinate device and method. Figures 1-2 The utility model discloses a kind of stacker automatic measurement goods grid coordinate device and method.

[0030] The utility model provides a kind of stacker automatic measurement goods grid coordinate device, comprising: goods shelf 1, stacker 5 and positioning measurement device.

[0031] Among them, multiple goods grids 11 are arranged in rectangular array on goods shelf 1, and the depth direction of the goods grid 11 is the same as the Z-axis direction.

[0032] Stacker 5 is provided with telescopic fork 2, and telescopic fork 2 can reciprocate along the Z-axis direction to extend into goods grid 11 or retract from goods grid 11;And stacker 5 can drive telescopic fork 2 to move horizontally along X-axis direction and to move up and down along Y-axis direction, and X-axis direction is the length direction of goods shelf 1, and Y-axis direction is the height direction of goods shelf 1.

[0033] Positioning measurement device is arranged on stacker 5, and the positioning measurement device is used to measure the X coordinate, Y coordinate and Z coordinate of target position goods grid 11, and is used to read the X coordinate and horizontal walking speed when loading platform 3 moves along X-axis direction in real time, and Y coordinate and lifting speed when moving along Y-axis direction.

[0034] Optionally, multiple goods shelves 1 can be provided, and multiple goods shelves 1 are arranged along Z-axis direction.

[0035] In this embodiment, the stacker 5 is provided with the loading platform 3, and the telescopic forks 2 are arranged on the loading platform 3. The stacker 5 can drive the loading platform 3 to move along the X-axis direction. The loading platform 3 can move up and down along the Y-axis direction to move the telescopic forks 2 to the target position of the goods grid 11. The telescopic forks 2 can reciprocate along the Z-axis direction to extend into the goods grid 11 or retract from the goods grid 11.

[0036] The loading platform 3 described above is arranged on the lifting track of the stacker 5 by traction, and drives the platform to carry and transport goods. It should be noted that the stacker 5 belongs to the product in the prior art, and the telescopic structure and principle of the loading platform 3 and the telescopic forks 2 do not belong to the focus of this paper. Therefore, it will not be described here.

[0037] In this embodiment, the positioning and measuring device includes a first distance measuring module. The first distance measuring module is a laser position sensor first distance measuring module arranged on the stacker 5, the loading platform 3 and the telescopic forks 2. It is used to read the X coordinate and horizontal walking speed when the loading platform 3 moves along the X-axis direction, the Y coordinate and lifting speed when the loading platform 3 moves along the Y-axis direction, and the extension distance of the telescopic forks 2.

[0038] Optionally, the loading platform 3 moves in the X direction by driving the running motor and the stacker 5 together. The X coordinate of the goods grid 11 is measured by using the laser position sensor to read the current X coordinate and running speed of the loading platform 3 in real time. The loading platform 3 moves up and down in the Y direction by the traction of the lifting motor. The Y coordinate of the goods grid 11 is measured by using the laser position sensor to read the current Y coordinate and lifting speed of the loading platform 3 in real time. The origin X0 on the X-axis refers to the minimum coordinate that the stacker 5 can reach along the X-axis direction. The origin Y0 on the Y-axis refers to the minimum coordinate that the loading platform 3 can reach along the Y-axis direction.

[0039] In this embodiment, the extension distance Z of the telescopic forks 2 is the same as the depth of the goods grid 11. In order to facilitate the manufacture, installation and management of the goods shelf 1, the goods grid 11 can adopt a unified specification, so that the extension distance of the telescopic forks 2 in the Z direction is fixed, that is, the Z direction coordinate Z0 is fixed. p The extension distance of the telescopic forks 2 in the Z direction is fixed, that is, the Z direction coordinate Z0 is fixed.

[0040] In some specific embodiments, the goods shelf 1 includes a first cross beam 12, a second cross beam 13 and a column 14. The length direction of the first cross beam 12 and the second cross beam 13 is the same as the X-axis direction, and the length direction of the column 14 is the same as the Y-axis direction. The number of the first cross beam 12 and the second cross beam 13 is the same, and they are arranged equidistantly along the Y-axis direction. A plurality of columns 14 are connected perpendicularly to the first cross beam 12 and the second cross beam 13 along the X-axis direction, and the plurality of columns 14 are arranged equidistantly. The goods grid 11 is a storage space surrounded by two adjacent first cross beams 12, two second cross beams 13 and four columns 14.

[0041] ​In the embodiment, the positioning measuring device comprises a photoelectric detection module, the photoelectric detection module comprises a first photoelectric detection switch 23, a second photoelectric detection switch 24, a third photoelectric detection switch 31 and a fourth photoelectric detection switch 32, each photoelectric detection switch is electrically connected with the controller of the stacker crane 5; the first photoelectric detection switch 23 and the second photoelectric detection switch 24 are arranged on the telescopic fork 2 in the Z-axis direction and are spaced apart, are used for calibrating the Z-direction coordinate in the goods shelf 11, and the interval of the first photoelectric detection switch 23 and the second photoelectric detection switch 24 is equal to the interval of the inner wall or the outer wall of the first cross beam 12 and the second cross beam 13, the inner wall refers to the face closest to the two forks in the X direction, and the outer wall refers to the face farthest from the two forks in the X direction. The third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are arranged on the side of the goods carrying table 3 facing the goods shelf 1 in the X-axis direction and are spaced apart, are used for corresponding the fork and the goods shelf 11, so that the fork is in the safe telescopic fork space in the goods shelf 11.

[0042] That is, when the interval of the first photoelectric detection switch 23 and the second photoelectric detection switch 24 is fixed, the extension distance of the telescopic fork 2 is Z p , the first photoelectric detection switch 23 and the second photoelectric detection switch 24 have no reflection signal, when the first photoelectric detection switch 23 or the second photoelectric detection switch 24 has a reflection signal, the goods shelf 1 has a machining or installation error, the extension distance of the fork is adjusted so that the first photoelectric detection switch 23 and the second photoelectric detection switch 24 have no signal, the actual coordinate of the goods shelf 11 in the Z direction is obtained by reading the laser position sensor value , and is stored in the controller.

[0043] Further, the fifth photoelectric detection switch 33 and the sixth photoelectric detection switch 34 are arranged on the other side of the goods carrying table 3 in the X-axis direction and are spaced apart, are used for corresponding the fork and the goods shelf 11 on the other row of goods shelves 1.

[0044] In the embodiment, the telescopic fork 2 comprises a first fork 21 and a second fork 22, the first fork 21 and the second fork 22 are arranged in the X-axis direction and are spaced apart, and the length direction of the first fork 21 and the second fork 22 is the same as the Z-axis direction, the first photoelectric detection switch 23 and the second photoelectric detection switch 24 are arranged on the first fork 21 and / or the second fork 22 in the Z-axis direction and are spaced apart.

[0045] In the embodiment, the positioning measuring device comprises a distance measuring module, the distance measuring module comprises a first distance measuring sensor 25, a second distance measuring sensor 26 and a third distance measuring sensor 27, and the communication interfaces of the distance measuring sensors are connected with the controller of the stacker 5; the first distance measuring sensor 25 is installed on the outer wall of the first fork 21 close to one end of the loading platform 3, the second distance measuring sensor 26 is installed on the outer wall of the second fork 22 close to one end of the loading platform 3, and the first distance measuring sensor 25 and the second distance measuring sensor 26 can measure the distance between the first fork 21 and the second fork 22 and the first cross beam 12 when the first fork 21 and the second fork 22 are perpendicular to the first cross beam 12. p After that, the position corresponds to the column, and the sensor can measure data; the third distance measuring sensor 27 is installed on the inner wall or the outer wall of the free end of the first fork 21 or the second fork 22, and is used for measuring the distance between the first fork 21 or the second fork 22 and the first cross beam 12 when the third distance measuring sensor 27 is perpendicular to the first cross beam 12.

[0046] As preferred, the distance between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is greater than the distance between the outer walls of the first fork 21 and the second fork 22.

[0047] In some embodiments, the installation position of the third photoelectric detection switch 31 is lower than the installation position of the fourth photoelectric detection switch 32, and the installation position of the third photoelectric detection switch 31 is flush with the bottom of the first fork 21; and the height difference between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is the height of the second cross beam 13 in the Y-axis direction, and when the loading platform 3 is at the lowest point Y0 in the Y-axis direction, the positions of the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are both lower than the lowest second cross beam 13.

[0048] In some embodiments, the installation position of the third photoelectric detection switch 31 is lower than the installation position of the fourth photoelectric detection switch 32, and the installation position of the third photoelectric detection switch 31 is flush with the bottom of the first fork 21; and the height difference between the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 is the height of the second cross beam 13 in the Y-axis direction, and when the loading platform 3 is at the lowest point Y0 in the Y-axis direction, the positions of the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 are both lower than the lowest second cross beam 13.

[0049] The embodiment of the utility model further provides a kind of method for automatically measuring goods grid coordinate of stacker, it is applied to each goods grid 11 place a pallet 4 of shelf 1, referring to Figure 1 And Figure 2 In the present case, the installation height of the third photoelectric detection switch 31 in the Y direction is lower than that of the fourth photoelectric detection switch 32, and the relative positions of the other photoelectric detection switches and distance measuring sensors are as shown in Figure 2 Specifically comprising the following steps.

[0050] Step one, place the stacker 5 at the origin (X0, Y0, Z0).

[0051] Step 2: The stacker crane 5 controller controls the stacker crane 5 to move at a constant speed along the X direction to the storage compartment 11 located in the first row, first column, first layer. After the fourth photoelectric detection switch 32 illuminates the left column 14 of the target storage compartment 11, it moves at a low speed until the third photoelectric detection switch 31 passes the column 14 and stops moving.

[0052] Step 3: The loading platform 3 rises along the Y-axis and enters the range of the first compartment 11 located in the first row, first column, first layer. When the fourth photoelectric detection switch 32 illuminates the second crossbeam 13 on the outer side of the bottom layer of the compartment 11, the loading platform 3 decelerates and rises until the transmission signal of the lowest position third photoelectric detection switch 31 passes through the second crossbeam 13. After confirming that there is no signal from both the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32, the lifting and lowering stops.

[0053] Step 4: Activate the telescopic forks 2 to enter the storage compartment 11 located in the first row, first column, first layer. When the telescopic forks 2 extend Z... p Then stop. If there is a signal from the first photoelectric detection switch 23 or the second photoelectric detection switch 24, adjust at low speed until there is no signal feedback from either the first photoelectric detection switch 23 or the second photoelectric detection switch 24.

[0054] Step 5: The stacker crane controller 5 records the reading X of the first ranging sensor 25 at this time via communication. 11 The reading X of the second ranging sensor 26 12 The reading Y of the third ranging sensor 27 11 The distance X of stacker crane 5 from the origin 10 The height Y of the loading platform 3 from the origin 10 The data Z1 of the fork extension is used; the coordinates of the storage compartment 11 in the X direction are calculated as X1 and the coordinates in the Y direction are calculated as Y1, and the coordinates X1, Y1 and Z1 of the storage compartment 11 are stored in the controller of the stacker crane 5.

[0055] in, , Z1 Z p Y 12 The ideal height difference between the telescopic fork 2 and the bottom crossbeam of the compartment 11.

[0056] Step 6: Retract the telescopic fork 2, and repeat steps 3 to 5 to measure the coordinates of the next layer's storage compartment 11 until all layers of storage compartment 11 in the first row and first column have been measured.

[0057] Step 7: The loading platform 3 descends to the Y-axis origin Y0. Then, execute step 2 to start measuring the coordinates of the first row, second column, storage cell 11. Repeat steps 3 to 6 until all the coordinates of the first row, second column, storage cell 11 have been measured.

[0058] Step eight, in turn, is executed until the first row of all the coordinates of the goods grid 11 is measured.

[0059] Further, when measuring the coordinates of the Z direction of the second row of goods grid 11, jump to step one in turn, wherein the third photoelectric detection switch 31 and the fourth photoelectric detection switch 32 in step two and step three are replaced by the fifth photoelectric detection switch 33 and the sixth photoelectric detection switch 34, until the second row of all the coordinates of the goods grid 11 is measured.

[0060] The utility model discloses a third photoelectric detection switch 31, fourth photoelectric detection switch 32, fifth photoelectric detection switch 33, sixth photoelectric detection switch 34 are installed on the loading platform 3, can judge the approximate range of goods grid 11 X direction and Y direction, guarantee telescopic fork 2 to exist safe space of stretching, utilize the first photoelectric detection switch 23, second photoelectric detection switch 24 installed on telescopic fork 2 calibrate the theoretical fork elongation distance Z p , and the reading of first distance measuring sensor 25 and second distance measuring sensor 26 installed on telescopic fork 2 calculates the accurate coordinate of goods grid 11 X direction, and third distance measuring sensor 27 reading calculates the accurate coordinate of goods grid 11 Y direction.

[0061] Among them, utilize the first photoelectric detection switch 23 and second photoelectric detection switch 24 can accurately measure goods grid 11 Z direction coordinate, reduce the influence of the machining, installation error between the first crossbeam 12 and the second crossbeam 13 of goods shelf 1, through the reading of first distance measuring sensor 25 and second distance measuring sensor 26 can accurately obtain goods grid 11 X direction coordinate, avoid the influence of the machining, installation error of adjacent two of goods shelf 1, utilize the reading of third distance measuring sensor 27 can accurately obtain the coordinate of goods grid 11 Y direction, and the accurate safety space is reserved between telescopic fork 2 and the first crossbeam 12 and the second crossbeam 13.

[0062] Finally, it should be noted that: the above examples are only used to illustrate the technical scheme of the utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical scheme recorded in the foregoing each embodiment, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the spirit and scope of the technical scheme of each embodiment of the utility model.

Claims

1. A device for automatically measuring the coordinates of a cargo compartment of a stacker, characterized in that, The application relates to a rack (1) provided with a plurality of racks (11) arranged in a rectangular array, the depth of the racks (11) extending along a Z-axis direction; a stacker (5) provided with telescopic forks (2) capable of reciprocating along the Z-axis direction to extend into or retract from the racks (11); and the stacker (5) capable of driving the telescopic forks (2) to move horizontally along an X-axis direction and to move up and down along a Y-axis direction, the X-axis direction being the length direction of the rack (1), and the Y-axis direction being the height direction of the rack (1); a positioning and measuring device arranged on the stacker (5), the positioning and measuring device being used for measuring the X coordinate, Y coordinate and Z coordinate of the racks (11) at a target position, and being used for reading the X coordinate and horizontal walking speed of the telescopic forks (2) when moving along the X-axis direction in real time, and the Y coordinate and lifting speed when moving along the Y-axis direction. The stacker (5) is provided with a loading platform (3), the telescopic forks (2) are arranged on the loading platform (3), the stacker (5) can drive the loading platform (3) to move along the X-axis direction, and the loading platform (3) can move up and down along the Y-axis direction to move the telescopic forks (2) to the racks (11) at a target position. The positioning and measuring device comprises a first distance measuring module, the first distance measuring module is a laser position sensor, and the first distance measuring module is arranged on the stacker (5), the loading platform (3) and the telescopic forks (2) respectively. The rack (1) comprises first cross beams (12), second cross beams (13) and columns (14), the length direction of the first cross beams (12) and the second cross beams (13) is the same as the X-axis direction, the length direction of the columns (14) is the same as the Y-axis direction, the first cross beams (12) and the second cross beams (13) are equal in number and are arranged at equal intervals along the Y-axis direction, a plurality of the columns (14) are connected perpendicularly to the first cross beams (12) and the second cross beams (13) along the X-axis direction, and the plurality of columns (14) are arranged at equal intervals, and the racks (11) are storage spaces surrounded by two adjacent first cross beams (12), two adjacent second cross beams (13) and four adjacent columns (14).

2. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 1, characterized in that, ​ 3. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 2, characterized in that, ​ 4. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 2, characterized in that, ​ 5. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 4, characterized in that, The positioning measurement device further comprises a photoelectric detection module, the photoelectric detection module comprises a first photoelectric detection switch (23), a second photoelectric detection switch (24), a third photoelectric detection switch (31) and a fourth photoelectric detection switch (32), each photoelectric detection switch is electrically connected with the controller of the stacker (5); the first photoelectric detection switch (23) and the second photoelectric detection switch (24) are arranged on the telescopic fork (2) in the Z-axis direction, are used for calibrating the Z-direction coordinate in the goods grid (11), and the interval of the first photoelectric detection switch (23) and the second photoelectric detection switch (24) is equal to the interval of the inner wall or the outer wall of the first cross beam (12) and the second cross beam (13), the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) are arranged on the side of the load platform (3) facing the goods shelf (1) in the X-axis direction, are used for corresponding the fork with the goods grid (11), so that the fork is in the safe telescopic fork space in the goods grid (11).

6. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 5, characterized in that, The telescopic fork (2) comprises a first fork (21) and a second fork (22), the first fork (21) and the second fork (22) are arranged in the X-axis direction, and the length direction of the first fork (21) and the second fork (22) is the same as the Z-axis direction, the first photoelectric detection switch (23) and the second photoelectric detection switch (24) are arranged on the first fork (21) and / or the second fork (22) in the Z-axis direction.

7. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 6, characterized in that, The positioning measurement device further comprises a second distance measurement module, the second distance measurement module comprises a first distance measurement sensor (25), a second distance measurement sensor (26) and a third distance measurement sensor (27), the communication interface of each distance measurement sensor is connected with the controller of the stacker (5); the first distance measurement sensor (25) is installed on the outer wall of the first fork (21) close to one end of the load platform (3), the second distance measurement sensor (26) is installed on the outer wall of the second fork (22) close to one end of the load platform (3), and the third distance measurement sensor (27) is installed on the inner wall or the outer wall of the free end of the first fork (21) or the second fork (22), for measuring the interval between the first fork (21) or the second fork (22) and the first cross beam (12) when the third distance measurement sensor (27) is opposite to the first cross beam (12) below.

8. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 7, characterized in that, The installation position of the third photoelectric detection switch (31) is lower than the installation position of the fourth photoelectric detection switch (32), and the installation position of the third photoelectric detection switch (31) is flush with the bottom of the first fork (21).

9. The device for automatically measuring the coordinates of a cargo cell of a stacker according to claim 8, characterized in that, The installation position of the fourth photoelectric detection switch (32) is lower than the installation position of the third photoelectric detection switch (31), and the installation position of the fourth photoelectric detection switch (32) is flush with the bottom of the first fork (21).

10. The device for automatic measurement of the coordinates of the cells of the stacker according to claim 8 or 9, characterized in that, The height difference between the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) is the height of the second cross beam (13) in the Y-axis direction, and when the cargo platform (3) is at the lowest point Y0 in the Y-axis direction, the positions of the third photoelectric detection switch (31) and the fourth photoelectric detection switch (32) are both lower than the bottommost second cross beam (13).

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