CN114955355B - Stacker crane address identification method, device, equipment and storage medium - Google Patents

Abstract

The application is suitable for the technical field of automatic stereoscopic warehouse, and provides a stacker addressing method, a device, equipment and a storage medium, wherein the stacker addressing method comprises the following steps: partitioning the goods shelf goods space according to the specification of the goods shelf goods space; sampling goods shelves in different partitions, and establishing a goods shelf address table based on sampling results; and carrying out partition address identification on goods shelves in different partitions through the goods shelf address table. The application can realize accurate location of the goods shelves with different specifications of goods spaces and improve the compatibility of the stacker for dealing with complex goods spaces to form a warehouse.

Description

Stacker crane address identification method, device, equipment and storage medium

Technical field

The present application belongs to the technical field of automated three-dimensional warehouses, and in particular relates to a stacker address identification method, device, equipment and storage medium.

Background technique

As automated three-dimensional warehouses composed of track-type stackers are increasingly used in various fields, higher and higher requirements are placed on the operating efficiency and safety of stackers. Stacker machine address recognition is an important part of the stacker machine debugging process. The accuracy of the stacker machine address recognition directly affects the failure rate and stability of the stacker machine. It is an important indicator to ensure the safe operation of the automated three-dimensional warehouse. In order to save shelf space and meet the space requirements of goods of different specifications, shelves in the same lane usually have cargo spaces of different specifications. However, it is difficult for the usual stacker identification method to accurately identify shelves with cargo spaces of different specifications. .

Contents of the invention

Embodiments of the present application provide a stacker address identification method, device, equipment and storage medium, which can solve the problem that existing stacker address identification methods are difficult to accurately identify shelves with different specifications of cargo spaces.

The first aspect of the embodiment of the present application provides a stacker crane address identification method, including:

Partition the shelf space according to the specifications of the shelf space;

Sampling the shelf locations in different partitions and establishing a location address table based on the sampling results;

Use the cargo location address table to identify the shelf locations in different partitions.

A second aspect of the embodiment of the present application provides a stacker crane addressing device, including:

The partition module is used to partition the shelf storage space according to the specifications of the shelf storage space;

The sampling module is used to sample shelf locations in different partitions and establish a location address table based on the sampling results;

The address identification module is used to identify the shelf locations in different partitions through the location address table.

A third aspect of the embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the stacker recognition method as described above is implemented. address method.

A fourth aspect of the embodiments of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above-mentioned stacker crane identification method is implemented.

The stacker address identification method provided in the first aspect of the embodiment of the present application partitions the shelf locations according to the specifications of the shelf locations and samples the shelf locations in different partitions, and then establishes a location address table based on the sampling results. And through the cargo location address table, the shelf cargo spaces in different partitions are identified by partition, which can achieve accurate address recognition of shelves with different specifications of cargo spaces, and improve the compatibility of the stacker in dealing with warehouses composed of complex cargo spaces.

It can be understood that the beneficial effects of the above-mentioned second aspect, third aspect and fourth aspect can be referred to the relevant description in the above-mentioned first aspect, and will not be described again here.

Description of the drawings

In order to more clearly explain the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow chart of a stacker crane address identification method provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of step S10 of the stacker crane address identification method provided by the embodiment of the present application;

Figure 3 is a schematic flowchart of step S10 of the stacker crane address identification method provided by the embodiment of the present application;

Figure 4 is a schematic flowchart of step S30 of the stacker crane address identification method provided by the embodiment of the present application;

Figure 5 is a schematic flowchart of step S30 of the stacker crane address identification method provided by the embodiment of the present application;

Figure 6 is a schematic flow chart of the stacker crane address identification method provided by the embodiment of the present application;

Figure 7 is a schematic structural diagram of the stacker crane addressing device provided by the embodiment of the present application;

Figure 8 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the application with unnecessary detail.

It will be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and/or components but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or collections thereof.

It will also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" depending on the context. ". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, to mean "once determined" or "in response to a determination" or "once the [described condition or event] is detected ]" or "in response to detection of [the described condition or event]".

In addition, in the description of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

Reference in this specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Therefore, the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in other embodiments", etc. appearing in different places in this specification are not necessarily References are made to the same embodiment, but rather to "one or more but not all embodiments" unless specifically stated otherwise. The terms “including,” “includes,” “having,” and variations thereof all mean “including but not limited to,” unless otherwise specifically emphasized. "Multiple" means "two or more".

Embodiment 1

Embodiment 1 of the present application provides a stacker crane address recognition method, which can be executed by the processor of the terminal device when running a corresponding computer program, and is used to partition the shelf cargo spaces according to the specifications of the shelf cargo spaces and to partition different zones. Sampling the shelf locations, and then establishing a location address table based on the sampling results, and identifying the shelf locations in different partitions through the location address table, which can achieve accurate address identification of shelves with different specifications of cargo locations, and improve stacking The stacker crane is compatible with warehouses composed of complex cargo locations.

As shown in Figure 1, the stacker crane address identification method provided by this embodiment includes the following steps S10 to S30:

S10. Partition the shelf cargo spaces according to the specifications of the shelf cargo spaces.

In the application, different partition strategies can be selected according to the conditions of the shelves. For shelves with multiple specifications of cargo spaces, they can be divided into different partitions according to the specifications of the cargo spaces. If there are shelves with two specifications of cargo spaces, the two can be divided into different partitions. The cargo space of each specification is divided into two partitions.

S20. Sampling the shelf locations in different partitions and establishing a location address table based on the sampling results.

In the application, different locations of the shelves in different partitions can be sampled. The samples are distributed in a grid-like node distribution within the shelf. The sampling results are transformed through certain rules to establish a cargo location address table. The cargo locations in the cargo location address table are Bit address can choose different addresses according to the situation of the shelf.

S30. Use the cargo location address table to identify the shelf locations in different partitions.

In the application, after the shelf cargo spaces are partitioned according to the specifications of the shelf cargo spaces, the shelf cargo spaces in different partitions can be identified through the cargo space address table. The address identification process between different partitions is relatively independent, and different locations can be identified. The address identification results of the partitions can be combined to obtain the address identification results of the entire shelf.

The stacker address identification method provided by the embodiments of this application partitions the shelf locations according to the specifications of the shelf locations and samples the shelf locations in different partitions, and then establishes a location address table based on the sampling results and passes the location The address table identifies the shelves in different partitions, which can accurately identify the shelves with different specifications of shelves, and improves the stacker's compatibility with warehouses composed of complex cargo spaces.

Embodiment 2

Embodiment 2 of the present application provides a stacker crane addressing method implemented based on Embodiment 1, which can be executed by the processor of the terminal device when running a corresponding computer program.

As shown in Figure 2, step S10 includes steps S11 to S13:

S11. Divide shelf spaces with the same theoretical specifications into the first partition.

In applications, shelves with multiple specifications of cargo spaces can be divided into different partitions according to the specifications of the cargo spaces. If the theoretical specifications of the shelf cargo spaces are the same, these shelf cargo spaces with the same theoretical specifications can be divided into the first partition. .

S12. Obtain the deviation value between the actual specifications and the theoretical specifications of the shelf space in the first partition.

In the application, if there is an installation error in the shelf space in the first partition, the partition boundary is determined based on the deviation value between the actual specification and the theoretical specification of the shelf space, and further partitioning is performed.

S13. Divide the shelf locations with deviation values greater than the preset value in the first partition into the second partition.

In the application, when the deviation value between the actual specifications and the theoretical specifications of the shelf space in the first partition is greater than the preset value, then the shelf space in the first partition with the deviation value greater than the preset value is divided into the second Partition and re-address.

In the usual stacker identification method, if there is a deviation in the shelf during the installation process, even if the error is within the scope of the engineering requirements, as long as it exceeds the stacker's identification requirements (generally above 5mm), it needs to be corrected. Calibrating the shelves wastes a lot of labor costs and construction time.

The stacker address recognition method provided by the embodiment of the present application obtains the deviation value between the actual specifications and the theoretical specifications of the shelf cargo spaces in the first partition and divides the shelf cargo spaces with the deviation value in the first partition greater than the preset value into the first partition. Second partition, thereby re-addressing the shelf cargo space in the second partition, can solve the problem of cargo space deviation caused by shelf installation at a lower cost, and can be compatible with the deviation during the shelf installation process.

As shown in Figure 3, in one embodiment, step S10 also includes steps S14 and S15:

S14. Obtain the position limit of the deformation or settlement of the shelf cargo space in the first partition.

In the application, if there are mechanical deformation and accumulated settlement of shelf spaces in the first partition, the location limits of the shelf deformation and settlement can be found through sampling.

S15. Divide the shelf spaces in the first partition that exceed the location limit into the second partition.

In the application, the shelves with deformation or settlement in the first partition can be divided into the second partition for re-addressing.

In the usual stacker location identification method, if some mechanical settlement or ground subsidence occurs in the shelf cargo space after installation and identification, resulting in overall irregularity of the cargo space, but it will not cause equipment hazards, but the overall shelf needs to be rectified. Then re-addressing will waste a lot of labor costs and time costs.

The stacker address identification method provided by the embodiment of the present application obtains the position limit of the deformation or settlement of the shelf cargo space in the first partition and divides the shelf cargo space that exceeds the position limit in the first partition into the second partition, thereby identifying the third partition. The re-addressing of shelf cargo spaces in the second partition can expand the rectification methods for shelf cargo space deformation and settlement.

In one embodiment, step S20 includes:

Conduct evenly distributed sampling of the preset positions of shelf cargo locations in different partitions, and establish a cargo location address table based on the sampling results.

In the application, the sampling method of shelf cargo locations is uniformly distributed sampling. The above-mentioned preset positions can be the top, bottom, first and last rows of shelf cargo locations. A cargo location address table is established based on the sampling results. The cargo location address table can include : The actual value of the cargo space position at the four corners in each partition; the distance between the first and second floors in each partition, the distance between the second and third floors; the distance between the first and second rows, and the distance between the second and third rows in each zone .

As shown in Figure 4, in one embodiment, step S30 includes steps S31 and S32:

S31. Obtain algorithm logic and addressing logic.

In the application, algorithm logic and addressing logic program blocks can be written to utilize the algorithm logic and addressing logic in the PLC.

S32. Input the cargo location address table into the algorithm logic and addressing logic to obtain the actual address values of the shelf cargo locations in different partitions.

In the application, the algorithm logic and addressing logic in the PLC are used to fill in the actual values of the cargo locations at the four corners, the distance between the first and second floors in each partition, the distance between the second and third floors, and the first column in each partition. The distance between the second column and the second column and the distance between the second column and the third column can automatically calculate the actual address value corresponding to each cargo location.

As shown in Figure 5, in one embodiment, step S30 also includes steps S33 and S34:

S33. Establish address identification data blocks corresponding to shelf locations in different partitions.

In the application, corresponding address data blocks can be established for each shelf location.

S34. Write the actual address value into the initial value of the corresponding address data block.

In the application, the PLC snapshot function can be used to write the calculated actual address value of each cargo location into the initial value of the corresponding address data block to confirm the actual address value of each shelf location.

As shown in Figure 6, in one embodiment, the stacker crane identification method also includes step S40:

S40. Conduct address recognition review on the shelf cargo space after partition address recognition.

In the application, the above-mentioned address recognition review of the shelf cargo locations after partition address recognition can be a sampling inspection of the shelf cargo locations after partition address recognition, especially testing of special cargo locations.

Embodiment 3

As shown in Figure 7, this embodiment also provides a stacker crane addressing device. The stacker crane addressing device 700 includes:

The partitioning module 701 is used to partition the shelf storage space according to the specifications of the shelf storage space;

The sampling module 702 is used to sample the shelf locations in different partitions and establish a location address table based on the sampling results;

The address recognition module 703 is used to perform partition address recognition on the shelf cargo locations in different partitions through the cargo location address table.

Optionally, the partition module 701 includes:

The first partition unit is used to divide shelf spaces with the same theoretical specifications into the first partition.

The deviation acquisition unit is used to acquire the deviation value between the actual specifications and the theoretical specifications of the shelf cargo space in the first partition.

The deviation partition unit is used to divide the shelf locations with deviation values greater than the preset value in the first partition into second partitions.

Optionally, the partition module 701 also includes:

The limit acquisition unit is used to obtain the position limit of the deformation or settlement of the shelf cargo space in the first partition.

Boundary partition unit is used to divide the shelf space in the first partition that exceeds the location limit into a second partition.

Optionally, the sampling module 702 is used to uniformly distribute samples of preset positions of shelf slots in different partitions, and establish a slot address table based on the sampling results.

Optionally, the address recognition module 703 includes:

Logic acquisition unit, used to acquire algorithm logic and addressing logic.

The actual address recognition unit is used to input the cargo location address table into the algorithm logic and addressing logic to obtain the actual address recognition values of the shelf cargo locations in different partitions.

Optionally, the address recognition module 703 also includes:

The address data unit is used to establish address data blocks corresponding to shelf locations in different partitions.

The address writing unit is used to write the actual address value into the initial value of the corresponding address data block.

Optionally, the stacker crane addressing device 700 also includes:

The review module is used to review the address recognition of shelf cargo locations after partition address recognition.

It should be noted that the information interaction, execution process, etc. between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For details of their specific functions and technical effects, please refer to the method embodiments section. No further details will be given.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application. For the specific working processes of the units and modules in the above system, please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.

The embodiment of the present application also provides a terminal device 800, as shown in Figure 8, including a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and executable on the processor 802. The processor 802 executes the computer program 803. Program 803 is a step to implement the stacker crane address identification method provided in the first aspect.

In an application, the terminal device may include, but is not limited to, a processor and a memory. Figure 8 is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or Combine certain components, or different components, such as input and output devices, network access devices, etc. Input and output devices can include cameras, audio collection/playback devices, displays, etc. The network access device may include a communication module for wireless communication with external devices.

In an application, the processor can be a central processing unit (CPU), which can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit) , ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

In applications, the memory may be an internal storage unit of the terminal device in some embodiments, such as a hard disk or memory of the terminal device. In other embodiments, the memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, or a flash memory equipped on the terminal device. Flash Card, etc. The memory may also include both an internal storage unit of the terminal device and an external storage device. Memory is used to store operating systems, application programs, boot loaders, data, and other programs, such as program codes of computer programs. The memory can also be used to temporarily store data that has been output or will be output.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps in each of the above method embodiments can be implemented.

This application implements all or part of the processes in the methods of the above embodiments, which can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by the processor, the computer program can Implement the steps of each of the above method embodiments. Wherein, the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. For example, U disk, mobile hard disk, magnetic disk or CD, etc.

In the above embodiments, each embodiment is described with its own emphasis. For parts that are not detailed or documented in a certain embodiment, please refer to the relevant descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. On the other hand, the coupling or direct coupling or communication connection between the devices shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the device may be electrical. sexual, mechanical or other form.

The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still implement the above-mentioned implementations. The technical solutions described in the examples are modified, or some of the technical features are equivalently replaced; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of this application, and should be included in within the protection scope of this application.

Claims (8)

1. A stacker crane address identification method, which is characterized by including: Partition the shelf cargo spaces according to the specifications of the shelf cargo spaces; Sampling the shelf locations in different partitions and establishing a location address table based on the sampling results; Perform partition address identification on the shelf cargo locations in different partitions through the cargo location address table; The partitioning of the shelf cargo spaces according to the specifications of the shelf cargo spaces includes: Divide the shelf spaces with the same theoretical specifications into the first partition; Obtain the deviation value between the actual specifications of the shelf cargo space in the first partition and the theoretical specifications; Divide the shelf slots in the first partition whose deviation value is greater than the preset value into a second partition; The zoning of the shelf cargo spaces according to the specifications of the shelf cargo spaces also includes: Obtain the position limit of the deformation or settlement of the shelf cargo space in the first partition; The shelf spaces in the first partition that exceed the location limit are divided into second partitions. 2. The stacker crane address identification method as claimed in claim 1, wherein the step of sampling the shelf cargo locations in different partitions and establishing a cargo location address table based on the sampling results includes: Preset positions of the shelf cargo locations in different partitions are evenly distributed and sampled, and the cargo location address table is established based on the sampling results. 3. The stacker crane address identification method according to claim 1, characterized in that the partition address identification of the shelf cargo locations in different partitions through the cargo location address table includes: Get algorithmic logic and addressing logic; The cargo location address table is input into the algorithm logic and the addressing logic to obtain the actual address values of the shelf cargo locations in different partitions. 4. The stacker crane address identification method according to claim 3, wherein the step of performing partition address identification on the shelf cargo locations in different partitions through the cargo location address table further includes: Establishing address identification data blocks corresponding to the shelf locations in different partitions; The actual address value is written into the corresponding initial value of the address data block. 5. The stacker machine address recognition method as claimed in claim 1, characterized in that the stacker machine address recognition method further includes: Conduct address recognition review on the shelf cargo space after partition address recognition. 6. A stacker crane address identification device, characterized in that it includes: A partitioning module, used to partition the shelf storage space according to the specifications of the shelf storage space; A sampling module, used to sample the shelf cargo locations in different partitions and establish a cargo location address table based on the sampling results; The address recognition module is used to perform partition address recognition on the shelf cargo locations in different partitions through the cargo location address table; The partition module includes: The first partition unit is used to divide the shelf cargo spaces with the same theoretical specifications into the first partition; A deviation acquisition unit, used to acquire the deviation value between the actual specifications of the shelf storage space in the first partition and the theoretical specifications; A deviation partitioning unit, used to divide the shelf slots in the first partition whose deviation value is greater than the preset value into a second partition; The partition module also includes: A limit acquisition unit, used to obtain the position limit of the deformation or settlement of the shelf cargo space in the first partition; A boundary partition unit is used to divide the shelf slots in the first partition that exceed the position limit into second partitions. 7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, it implements the claims as claimed in The stacker crane address identification method described in any one of 1 to 5. 8. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the stacking process as claimed in any one of claims 1 to 5 is realized. Machine identification method.