Intelligent CTU rack and Anti-shake control method and apparatus therefor, and terminal

Abstract

An intelligent CTU rack and an anti-shake control method and apparatus therefor, and a terminal. The method comprises: acquiring a goods placement instruction for controlling the operation of an intelligent CTU rack, and on the basis of the goods placement instruction, controlling a retractable structure to clamp a rack body, wherein the goods placement instruction comprises an initial velocity, a terminal velocity and the maximum acceleration for the operation of the intelligent CTU rack; processing the initial velocity, the terminal velocity and the maximum acceleration, so as to obtain a velocity curve; and on the basis of the velocity curve, controlling the operation speed and operation time of the extension of a fork in the rack body, so as to obtain a goods release instruction when the fork in the rack body is extended in place. In the method, the retractable structure is first controlled, on the basis of the goods placement instruction, to clamp the rack body, so as to stabilize the rack body of the intelligent CTU rack, and then the operation speed and operation time of the extension of the fork in the rack body are controlled by means of the velocity curve, such that the fork in the rack body is extended in place, and thus impact forces generated during the extension and retraction of the fork in the intelligent CTU rack are both reduced.

Description

A smart CTU shelving system and its anti-shake control method, device and terminal

[0001] This application claims priority to Chinese Patent Application No. 202411993851.0, filed on December 31, 2024, entitled "An Intelligent CTU Shelf and Its Anti-shake Control Method, Device and Terminal", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of anti-shake control technology for transportation equipment, and in particular to an intelligent CTU rack and its anti-shake control method, device and terminal. Background Technology

[0003] The Container Transport Unit (CTU) robotic shelving system features autonomous navigation, obstacle avoidance, and an intelligent charging system, enabling the simultaneous transport of multiple items. The main advantage of CTU shelving is its ability to fully utilize the high-density advantages of container storage through vertical space, allowing for real-time scheduling and monitoring with various automated equipment. By accurately identifying containers, CTU shelving can pick and carry multiple containers from the shelving area, delivering the required containers to the operator for rapid and efficient inventory turnover.

[0004] Because CTU bin racks typically require picking up and placing bins from high places (such as 10 meters) and carrying multiple bins, the racks themselves are usually quite tall. When picking up and placing bins at high speeds, they are prone to shaking and swaying, which can cause the bins to tip over and create a hazard. Summary of the Invention

[0005] This application provides an intelligent CTU rack and its anti-shaking control method, device and terminal to solve the technical problem that the existing CTU rack body is usually high and is prone to shaking and swaying when the rack is picked up and put down at a fast speed, which can cause the rack to tip over.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] On one hand, a method for anti-shake control of an intelligent CTU rack is provided, applied to an intelligent CTU rack. The intelligent CTU rack includes a rack body and a retractable structure installed below the rack body for stabilizing the rack body. The method for anti-shake control of the intelligent CTU rack includes the following steps:

[0008] The system acquires a delivery command to control the operation of the intelligent CTU shelf, and controls the retractable structure to clamp the shelf body according to the delivery command; the delivery command includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation;

[0009] The initial velocity, the final velocity, and the maximum acceleration are processed to obtain a velocity curve;

[0010] Based on the speed curve, the operating speed and operating time of the forks extending in the rack body are controlled to obtain the cargo release command when the forks in the rack body are extended into place.

[0011] Preferably, the initial velocity, the final velocity, and the maximum acceleration are processed to obtain a velocity curve including:

[0012] Based on the initial velocity, the final velocity, and the maximum acceleration, parameter coefficients and acceleration time are calculated, and the parameter coefficients include a first coefficient, a second coefficient, and a third coefficient.

[0013] Construct velocity and acceleration expressions based on the parameter coefficients;

[0014] Construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression;

[0015] Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

[0016] Preferably, calculating the parameter coefficients and acceleration time based on the initial velocity, the final velocity, and the maximum acceleration includes: calculating the first coefficient and the third coefficient based on the initial velocity and the final velocity; and calculating the second coefficient and the acceleration time based on the initial velocity, the final velocity, and the maximum acceleration.

[0017] Preferably, the velocity expression is:

[0018] The acceleration expression is:

[0019] In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, and a is the acceleration. max For maximum acceleration, V max V is the final velocity. min Let v be the initial velocity, and v be the velocity.

[0020] Preferably, the anti-shake control method of the intelligent CTU rack includes: controlling the rack body to release goods according to the goods release command, thereby obtaining a fork retraction command for the forks in the rack body; controlling the retractable structure to release the rack body and reset according to the fork retraction command, and controlling the forks in the rack body to reset.

[0021] On another front, a shake control device for an intelligent CTU shelf is provided, which is applied to the intelligent CTU shelf. The intelligent CTU shelf includes a shelf body and a retractable structure installed below the shelf body for stabilizing the shelf body. The shake control device for the intelligent CTU shelf includes an instruction acquisition module, a curve generation module and a first execution module.

[0022] The instruction acquisition module is used to acquire the delivery instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the delivery instruction; the delivery instruction includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation;

[0023] The curve generation module is used to process the initial velocity, the final velocity, and the maximum acceleration to obtain a velocity curve;

[0024] The first execution module is used to control the running speed and running time of the forks extending in the rack body according to the speed curve, so as to obtain the cargo release command when the forks in the rack body are extended into place.

[0025] Preferably, the anti-shake control device of the intelligent CTU shelf further includes a second execution module and a third execution module;

[0026] The second execution module is used to control the rack body to release goods according to the goods release command, and to obtain a fork retraction command for the forks in the rack body;

[0027] The third execution module is used to control the retractable structure to release the rack body and reset it according to the return fork command, and to control the forks in the rack body to reset.

[0028] Preferably, the curve generation module includes a calculation submodule, a construction submodule, and a curve generation submodule;

[0029] The calculation submodule is used to calculate, based on the initial velocity, the final velocity, and the maximum acceleration, the parameter coefficients and the acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient, and a third coefficient.

[0030] The construction submodule is used to construct velocity expressions and acceleration expressions based on the parameter coefficients;

[0031] The curve generation submodule is used to construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression.

[0032] Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

[0033] On the other hand, an intelligent CTU rack is provided, including a rack body and a controller for controlling the operation of the rack body. The bottom end of the rack body is provided with a telescopic structure for stabilizing the rack body. The telescopic structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism. The moving mechanism includes a drive source, two telescopic rods connected to the drive source, and a support rod installed at the end of each telescopic rod. The controller controls the rack body to retrieve goods according to the anti-shake control method of the intelligent CTU rack described above.

[0034] On the other hand, a terminal device is provided, including a processor and a memory;

[0035] The memory is used to store program code and transmit the program code to the processor;

[0036] The processor is used to execute the anti-shake control method of the intelligent CTU shelf described above according to the instructions in the program code.

[0037] The intelligent CTU rack and its anti-shake control method, device, and terminal are disclosed. The anti-shake control method for the intelligent CTU rack includes acquiring a loading command to control the operation of the intelligent CTU rack, and controlling a retractable structure to clamp the rack body according to the loading command. The loading command includes the initial speed, final speed, and maximum acceleration of the intelligent CTU rack. The initial speed, final speed, and maximum acceleration are processed to obtain a speed curve. The speed curve is used to control the running speed and running time of the forks extending in the rack body to obtain a goods release command when the forks in the rack body are in place.

[0038] As can be seen from the above technical solutions, this application has the following advantages: The anti-shaking control method of the intelligent CTU rack first controls the telescopic structure to clamp the rack body and stabilize the rack body according to the delivery instruction, and then controls the running speed and running time of the forks in the rack body through the speed curve to make the forks in the rack body extend into place. This makes the intelligent CTU rack doubly reduce the impact force generated when the forks extend and retract, and solves the technical problem that the existing CTU bin rack body is usually high and is prone to shaking and swaying when the bin is picked up and put down quickly, which leads to the bin tipping over.

[0039] The anti-shake control device of this intelligent CTU rack uses three modules—instruction acquisition module, curve generation module, and third execution module—to control the intelligent CTU rack. According to the delivery instruction, the retractable structure can control the rack body to clamp and stabilize the rack body. Then, the speed curve controls the running speed and running time of the forks extending in the rack body to ensure that the forks extend into place. This reduces the impact force generated when the forks extend and retract, thus improving the reliability of picking up goods. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 is a flowchart of the anti-shake control method for the intelligent CTU shelf described in an embodiment of this application;

[0042] Figure 2 is a schematic diagram of the structure of the intelligent CTU shelf in the anti-shake control method of the intelligent CTU shelf described in the embodiment of this application;

[0043] Figure 3 is a line graph of the speed curve in the anti-shake control method of the intelligent CTU shelf described in the embodiment of this application;

[0044] Figure 4 is a schematic diagram of the anti-shake control device of the intelligent CTU shelf described in the embodiment of this application;

[0045] Figure 5 is a schematic diagram of the terminal device described in an embodiment of this application. Detailed Implementation

[0046] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] In the description of the embodiments of this application, the terms "first" and "second" are used 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0048] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0049] Terminology Explanation: CTU intelligent storage rack is an automated three-dimensional storage system designed specifically for use with CTU (Container Transferring Unit) robots.

[0050] This application provides an intelligent CTU rack and its anti-shake control method, device, and terminal, solving the technical problem that existing CTU racks are typically tall and prone to shaking and wobbling when picking up and placing boxes at high speeds, leading to box tipping. This intelligent CTU rack and its anti-shake control method, device, and terminal can be applied not only to intelligent racks but also to warehouse retrieval carts. In this embodiment, an intelligent CTU rack is used as an example for illustration.

[0051] Example 1:

[0052] Figure 1 is a flowchart of the anti-shake control method for the intelligent CTU shelf according to an embodiment of this application, and Figure 2 is a schematic diagram of the structure of the intelligent CTU shelf in the anti-shake control method for the intelligent CTU shelf according to an embodiment of this application.

[0053] As shown in Figures 1 and 2, this application provides a method for anti-shake control of intelligent CTU shelves, which is used on intelligent CTU shelves.

[0054] As shown in Figures 2 and 3, in this embodiment of the application, the intelligent CTU rack includes a rack body 1 and a telescopic structure 2 installed below the rack body 1 for stabilizing the rack body 1. The telescopic structure 2 includes a lifting mechanism and a moving mechanism installed on the lifting mechanism. The moving mechanism includes a drive source, two telescopic rods 21 connected to the drive source, and a support rod 22 installed at the end of each telescopic rod 21.

[0055] It should be noted that, to improve the anti-sway capability of the rack body 1 itself, retractable structures 2 are installed on the lower sides of the rack body 1. As shown in Figure 2, when the intelligent CTU rack is in operation, before picking up or placing goods, the drive source of the moving mechanism drives the telescopic rod 21 to extend the support rod 22. Then, the lifting mechanism drives the moving mechanism to rise, so that the support rods 22 on both sides of the rack body 1 rest against the uprights of the rack body 1. The two support rods 22 abut against the uprights of the rack body 1, which can play a certain role in stabilizing the rack body 1 when it shakes, thus improving the safety of picking up and placing the material box on the intelligent CTU rack. When the intelligent CTU rack is not in operation, the lifting mechanism drives the moving mechanism to rise, so that the support rods 22 on both sides of the rack body 1 are lowered and disengaged from the uprights of the rack body 1. The drive source of the moving mechanism drives the telescopic rod 21 to retract the support rod 22. In this embodiment, the drive source can be a cylinder, an electric motor, or various forms of cylinder or push-type power devices. The lifting mechanism is used to drive the moving mechanism to rise or fall, and the moving mechanism is used to control the extension and retraction of the support rod 22. The lifting mechanism can be implemented by connecting the output shaft of the cylinder to the moving mechanism, or it can be any other existing structure that can achieve the lifting function. This embodiment does not make any specific limitations.

[0056] Figure 3 is a line graph of the speed curve in the anti-shake control method of the intelligent CTU shelf described in the embodiment of this application.

[0057] As shown in Figures 1 and 3, the anti-shake control method of this intelligent CTU shelf includes the following steps:

[0058] S1. Obtain the delivery command for controlling the operation of the intelligent CTU rack, and control the retractable structure to clamp the rack body according to the delivery command; the delivery command includes the initial speed, final speed and maximum acceleration of the intelligent CTU rack operation.

[0059] It should be noted that in step S1, the loading command for controlling the operation of the intelligent CTU rack is first obtained. Then, according to the loading command, the retractable structure 2 clamps the rack body 1, improving the anti-shaking and swaying ability of the intelligent CTU rack. In this embodiment, the loading command includes the initial speed, final speed, and maximum acceleration of the intelligent CTU rack. The values ​​of the initial speed, final speed, and maximum acceleration can be set according to requirements and are not limited here.

[0060] S2. Process the initial velocity, final velocity, and maximum acceleration to obtain the velocity curve.

[0061] It should be noted that in step S2, the velocity curve shown in Figure 3 is constructed based on the three parameters of initial velocity, final velocity and maximum acceleration contained in the delivery instruction in step S1, so as to provide data for subsequent control of the operation of the rack body.

[0062] S3. Control the running speed and running time of the forks extending in the rack body according to the speed curve, and obtain the cargo release command when the forks in the rack body are extended into place.

[0063] It should be noted that in step S3, the forks and the goods carried by the forks in the rack body are extended together according to the speed curve obtained in step S2, which facilitates the removal of goods from the intelligent CTU rack. To reduce the impact force caused by the sudden acceleration when the intelligent CTU rack starts or stops, the extension or retraction of the forks in the rack body is controlled by the speed curve to mitigate the impact force of the forks extending, avoid damage to the forks, and improve the service life of the intelligent CTU rack.

[0064] In this embodiment of the application, the anti-shake control method of the intelligent CTU rack includes: S4. Controlling the rack body to release goods according to the goods release command, obtaining a fork retraction command for the forks in the rack body; controlling the telescopic structure to release the rack body and reset according to the fork retraction command, and controlling the forks in the rack body to reset.

[0065] It should be noted that in step S4, the goods carried by the forks in the intelligent CTU shelf are released according to the goods release command in step S3. This can be understood as the forks in the shelf body being extended by the intelligent CTU shelf through step S3, indicating that the goods are in the unloading state. After the goods in the intelligent CTU shelf are unloaded, a fork return command is obtained. Then, the forks in the intelligent CTU shelf are controlled to retract back to their original position according to the fork return command, and the intelligent CTU shelf completes one goods retrieval process.

[0066] In this embodiment, the anti-shake control method of the intelligent CTU rack first controls the telescopic structure to clamp the rack body and stabilize the rack body according to the delivery command, and then controls the running speed and running time of the forks in the rack body through the speed curve so that the forks in the rack body extend into place, thereby reducing the impact force generated when the forks extend and retract.

[0067] This application provides a method for anti-shaking control of an intelligent CTU rack, including acquiring a loading command to control the operation of the intelligent CTU rack, and controlling a retractable structure to clamp the rack body according to the loading command. The loading command includes the initial speed, final speed, and maximum acceleration of the intelligent CTU rack. The initial speed, final speed, and maximum acceleration are processed to obtain a speed curve. The speed curve is used to control the extension speed and time of the forks in the rack body to obtain a release command for the goods when the forks in the rack body are fully extended. This anti-shaking control method for the intelligent CTU rack first stabilizes the rack body by controlling the retractable structure to clamp the rack body according to the loading command, and then controls the extension speed and time of the forks in the rack body according to the speed curve to ensure that the forks in the rack body are fully extended. This method reduces the impact force generated by the extension and retraction of the forks in the intelligent CTU rack. It solves the technical problem that existing CTU racks are usually tall, and when the speed of picking and placing boxes is fast, they are prone to shaking and swaying, which can cause the boxes to tip over.

[0068] In one embodiment of this application, the initial velocity, final velocity, and maximum acceleration are processed to obtain a velocity curve including:

[0069] Based on the initial velocity, final velocity, and maximum acceleration, the parameter coefficients and acceleration time are calculated. The parameter coefficients include the first coefficient, the second coefficient, and the third coefficient.

[0070] Construct velocity and acceleration expressions based on the parameter coefficients;

[0071] Construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, velocity expression, and acceleration expression;

[0072] Specifically, during the acceleration period, the speed at which the forks extend from the rack body are controlled to follow the speed curve, so that the forks in the rack body extend into place.

[0073] It should be noted that the anti-shake control method of this intelligent CTU shelf first obtains the coefficients and acceleration time of the speed curve expression based on the three data points of initial speed, final speed and maximum acceleration contained in the delivery instruction. Then, it constructs the speed expression and acceleration expression based on the obtained coefficients. Finally, it plots the speed curve based on the speed expression, acceleration expression and acceleration time.

[0074] In this embodiment of the application, based on the initial velocity V min Final velocity V max and maximum acceleration a max The calculations to obtain the parameter coefficients and acceleration time include: calculating the first and third coefficients based on the initial and final velocities; and calculating the second coefficient and acceleration time based on the initial velocity, final velocity, and maximum acceleration.

[0075] It should be noted that the first coefficient A = (V max -V min ) / 2, the second coefficient B = 2*a max / (V max -V min ), the third coefficient C = (V max +V min ) / 2; Acceleration time T=π*((V max -V min ) / (2*a max )).

[0076] In one embodiment of this application, the velocity expression is:

[0077] The expression for acceleration is:

[0078] In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, and a is the acceleration. max For maximum acceleration, V max V is the final velocity. min Let v be the initial velocity, and v be the velocity.

[0079] Example 2:

[0080] Figure 4 is a schematic diagram of the anti-shake control device of the intelligent CTU shelf described in the embodiment of this application.

[0081] As shown in Figure 4, this application embodiment provides a shake-proof control device for an intelligent CTU shelf, which is applied to an intelligent CTU shelf. The intelligent CTU shelf includes a shelf body and a retractable structure installed below the shelf body to stabilize the shelf body. The shake-proof control device for the intelligent CTU shelf includes an instruction acquisition module 10, a curve generation module 20 and a first execution module 30.

[0082] The instruction acquisition module 10 is used to acquire the delivery instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the delivery instruction; the delivery instruction includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation;

[0083] The curve generation module 20 is used to process the initial velocity, the final velocity, and the maximum acceleration to obtain a velocity curve;

[0084] The first execution module 30 is used to control the running speed and running time of the forks extending in the rack body according to the speed curve, so as to obtain the cargo release command when the forks in the rack body are extended into place.

[0085] It should be noted that the module content of the anti-shake control device of the intelligent CTU shelf corresponds to the steps in the method of Embodiment 1. Embodiment 1 has already described the steps of the anti-shake control method of the intelligent CTU shelf in detail, and the module content of the anti-shake control device of the intelligent CTU shelf will not be repeated in this embodiment. The anti-shake control device of the intelligent CTU shelf controls the intelligent CTU shelf to stabilize the shelf body by controlling the retractable structure to hold the shelf body according to the delivery command through the instruction acquisition module 10, the curve generation module 20 and the third execution module 30. Then, the speed curve controls the running speed and running time of the fork extension in the shelf body to ensure that the fork in the shelf body extends into place. This reduces the impact force generated when the fork extends and retracts, thus improving the reliability of picking up goods from the intelligent CTU shelf.

[0086] In this embodiment of the application, the anti-shake control device of the intelligent CTU shelf further includes a second execution module and a third execution module;

[0087] The second execution module is used to control the rack body to release goods according to the goods release command, and to obtain a fork retraction command for the forks in the rack body;

[0088] The third execution module is used to control the retractable structure to release the rack body and reset it according to the return fork command, and to control the forks in the rack body to reset.

[0089] In this embodiment of the application, the curve generation module includes a calculation submodule, a construction submodule, and a curve generation submodule;

[0090] The calculation submodule is used to calculate, based on the initial velocity, the final velocity, and the maximum acceleration, the parameter coefficients and the acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient, and a third coefficient.

[0091] The construction submodule is used to construct velocity expressions and acceleration expressions based on the parameter coefficients;

[0092] The curve generation submodule is used to construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression.

[0093] Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

[0094] Example 3:

[0095] As shown in Figure 2, this application embodiment provides an intelligent CTU shelf, including a shelf body 1 and a controller for controlling the operation of the shelf body 1. The bottom end of the shelf body 1 is provided with a telescopic structure 2 for stabilizing the shelf body. The telescopic structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism. The moving mechanism includes a drive source, two telescopic rods 21 connected to the drive source, and a support rod 22 installed at the end of each telescopic rod 21. The controller controls the shelf body to pick up goods according to the anti-shake control method of the intelligent CTU shelf described above.

[0096] It should be noted that the anti-shake control method of the intelligent CTU shelf has been described in Embodiment 1, and the module content of the anti-shake control method of the intelligent CTU shelf will not be repeated in this embodiment. In this embodiment, in order to improve the anti-shaking ability of the shelf body 1 itself, a telescopic structure 2 is provided on the lower sides of the shelf body 1. As shown in Figure 2, when the intelligent CTU shelf is working, before picking up or placing goods, the telescopic rod 21 is driven by the drive source of the moving mechanism to extend the support rod 22. Then, the lifting mechanism drives the moving mechanism to rise and place the support rods 22 on both sides of the shelf body 1 against the uprights of the shelf body 1. The two support rods 22 abut against the uprights of the shelf body 1. When the shelf body 1 shakes, it can play a certain role in stabilizing the shelf to a certain extent and improve the safety of picking up and placing the material box of the intelligent CTU shelf. When the intelligent CTU shelf is not working, the lifting mechanism drives the moving mechanism to rise and lower the support rods 22 on both sides of the shelf body 1 to disengage from the uprights of the shelf body 1. The telescopic rod 21 is driven by the drive source of the moving mechanism to retract the support rods 22. In this embodiment, the drive source can be a cylinder, an electric motor, or various forms of cylinder or push-type power devices. The lifting mechanism is used to drive the moving mechanism to rise or fall, and the moving mechanism is used to control the extension and retraction of the support rod 22. The intelligent CTU rack controls the rack body to pick up goods through the anti-shake control method of the intelligent CTU rack, reducing the impact force generated when the forks in the rack body 1 extend and retract.

[0097] Example 4:

[0098] Figure 5 is a schematic diagram of the terminal device described in an embodiment of this application.

[0099] As shown in Figure 5, this application embodiment provides a terminal device, including a processor and a memory;

[0100] Memory is used to store program code and transfer the program code to the processor;

[0101] The processor is used to execute the anti-shake control method of the intelligent CTU shelf according to the instructions in the program code.

[0102] It should be noted that the processor is used to execute the steps in the above-described embodiment of the anti-shake control method for an intelligent CTU shelf according to the instructions in the program code. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described system / device embodiments.

[0103] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device.

[0104] Terminal devices can be computing devices such as desktop computers, laptops, handheld computers, and cloud servers. Terminal devices may include, but are not limited to, processors and memory. Those skilled in the art will understand that this does not constitute a limitation on the terminal device, which may include more or fewer components than illustrated, or combinations of certain components, or different components. For example, a terminal device may also include input / output devices, network access devices, buses, etc.

[0105] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (dSICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor, etc.

[0106] Memory can be an internal storage unit of a terminal device, such as a hard drive or RAM. Memory can also be an external storage device, such as a plug-in hard drive, smart memory card (SMC), secure digital card (SD) card, or flash card. Furthermore, memory can include both internal and external storage units. Memory is used to store computer programs and other programs and data required by the terminal device. Memory can also be used to temporarily store data that has been output or will be output.

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0109] 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 according to actual needs.

[0110] 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.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0112] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for anti-shake control of intelligent CTU shelves, applied to intelligent CTU shelves, characterized in that, The intelligent CTU rack includes a rack body and a retractable structure installed below the rack body for stabilizing the rack body. The anti-shake control method of the intelligent CTU rack includes the following steps: The system acquires a delivery command to control the operation of the intelligent CTU shelf, and controls the retractable structure to clamp the shelf body according to the delivery command; the delivery command includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation; The initial velocity, the final velocity, and the maximum acceleration are processed to obtain a velocity curve; Based on the speed curve, the operating speed and operating time of the forks extending in the rack body are controlled to obtain the cargo release command when the forks in the rack body are extended into place.

2. The anti-shake control method for the intelligent CTU shelf according to claim 1, characterized in that, Processing the initial velocity, the final velocity, and the maximum acceleration yields a velocity curve including: Based on the initial velocity, the final velocity, and the maximum acceleration, parameter coefficients and acceleration time are calculated, and the parameter coefficients include a first coefficient, a second coefficient, and a third coefficient. Construct velocity and acceleration expressions based on the parameter coefficients; Construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression; Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

3. The anti-shake control method for the intelligent CTU shelf according to claim 2, characterized in that, The calculation of parameter coefficients and acceleration time based on the initial velocity, the final velocity, and the maximum acceleration includes: calculating the first coefficient and the third coefficient based on the initial velocity and the final velocity; and calculating the second coefficient and the acceleration time based on the initial velocity, the final velocity, and the maximum acceleration.

4. The anti-shake control method for the intelligent CTU shelf according to claim 2, characterized in that, The velocity expression is: The acceleration expression is: In the formula, A is the first coefficient, B is the second coefficient, C is the third coefficient, and a is the acceleration. max For maximum acceleration, V max V is the final velocity. min Let v be the initial velocity, and v be the velocity.

5. The anti-shake control method for the intelligent CTU shelf according to any one of claims 1-4, characterized in that, include: According to the cargo release command, the rack body is controlled to release the cargo, and a fork retraction command is obtained in the rack body to retract the forks; according to the fork retraction command, the retractable structure is controlled to release the rack body and then reset, and the forks in the rack body are controlled to reset.

6. A vibration control device for an intelligent CTU shelf, applied to an intelligent CTU shelf, characterized in that, The intelligent CTU rack includes a rack body and a retractable structure installed below the rack body for stabilizing the rack body. The anti-shake control device of the intelligent CTU rack includes an instruction acquisition module, a curve generation module and a first execution module. The instruction acquisition module is used to acquire the delivery instruction for controlling the operation of the intelligent CTU shelf, and control the retractable structure to clamp the shelf body according to the delivery instruction; the delivery instruction includes the initial speed, final speed and maximum acceleration of the intelligent CTU shelf operation; The curve generation module is used to process the initial velocity, the final velocity, and the maximum acceleration to obtain a velocity curve; The first execution module is used to control the running speed and running time of the forks extending in the rack body according to the speed curve, so as to obtain the cargo release command when the forks in the rack body are extended into place.

7. The anti-shake control device for the intelligent CTU shelf according to claim 6, characterized in that, It also includes a second execution module and a third execution module; The second execution module is used to control the rack body to release goods according to the goods release command, and to obtain a fork retraction command for the forks in the rack body; The third execution module is used to control the retractable structure to release the rack body and reset it according to the return fork command, and to control the forks in the rack body to reset.

8. The anti-shake control device for the intelligent CTU shelf according to claim 6, characterized in that, The curve generation module includes a calculation submodule, a construction submodule, and a curve generation submodule; The calculation submodule is used to calculate, based on the initial velocity, the final velocity, and the maximum acceleration, the parameter coefficients and the acceleration time, wherein the parameter coefficients include a first coefficient, a second coefficient, and a third coefficient. The construction submodule is used to construct velocity expressions and acceleration expressions based on the parameter coefficients; The curve generation submodule is used to construct a velocity curve with velocity as the vertical axis and time as the horizontal axis based on the acceleration time, the velocity expression, and the acceleration expression. Specifically, during the acceleration time, the operating speed of the forks extending from the rack body is controlled to follow the speed curve so that the forks in the rack body extend into place.

9. An intelligent CTU shelf, characterized in that, The system includes a rack body and a controller for controlling the operation of the rack body. The bottom of the rack body is provided with a retractable structure for stabilizing the rack body. The retractable structure includes a lifting mechanism and a moving mechanism installed on the lifting mechanism. The moving mechanism includes a drive source, two telescopic rods connected to the drive source, and a support rod installed at the end of each telescopic rod. The controller controls the rack body to retrieve goods according to the anti-shake control method of the intelligent CTU rack as described in any one of claims 1-5.

10. A terminal device, characterized in that, Including the processor and memory; The memory is used to store program code and transmit the program code to the processor; The processor is configured to execute the anti-shake control method for the intelligent CTU shelf as described in any one of claims 1-5 according to the instructions in the program code.

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