CN118135703A - Goods channel position determining method and device, electronic equipment and storage medium - Google Patents
Goods channel position determining method and device, electronic equipment and storage medium Download PDFInfo
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- CN118135703A CN118135703A CN202311797756.9A CN202311797756A CN118135703A CN 118135703 A CN118135703 A CN 118135703A CN 202311797756 A CN202311797756 A CN 202311797756A CN 118135703 A CN118135703 A CN 118135703A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 235000012054 meals Nutrition 0.000 claims abstract description 173
- 238000012360 testing method Methods 0.000 claims abstract description 76
- 238000004891 communication Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 7
- 230000002159 abnormal effect Effects 0.000 description 6
- 235000013305 food Nutrition 0.000 description 5
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
- G07F9/026—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus for alarm, monitoring and auditing in vending machines or means for indication, e.g. when empty
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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- G—PHYSICS
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- G07F—COIN-FREED OR LIKE APPARATUS
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Abstract
The application relates to a method, a device, electronic equipment and a storage medium for determining a position of a goods channel, wherein the method for determining the position of the goods channel comprises the following steps: determining, for each target lane in the meal taking cabinet, whether the meal taking platform is capable of placing or taking out the test item into or from the target lane; if the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel, acquiring goods channel information of the target goods channel; obtaining the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information; a target position of a target aisle is determined based on the first position and the movement distance for aisle position adjustment. The embodiment of the application can avoid errors caused by manual measurement, improve the accuracy of the position determination of the goods channel, shorten the time for the position determination of the goods channel and improve the efficiency of the position determination of the goods channel.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and apparatus for determining a position of a cargo path, an electronic device, and a storage medium.
Background
The dinner taking cabinet is automatic equipment for purchasing and supplying dinner products in a site purchasing or booking mode, and is usually placed in places such as large-scale office buildings, factories, schools and business centers, and convenient dinner service is provided for people.
In order to store more food, a plurality of goods channels for storing the products are arranged in the food taking cabinet, and the food taking platform can convey the food from the goods channel to the food outlet so as to be taken out by a user.
However, in the production process of taking the dinner cabinet, generally, the height of the goods channel needs to be manually positioned, the situation that the positioning of the goods channel is inaccurate can occur, and the goods channel of the dinner cabinet is not horizontal or is inconsistent in height due to the fact that sheet metal materials are easy to deform, the position of the goods channel changes due to unit vibration in the transportation process, and when the dinner cabinet is transported to a using position, the position of the goods channel is deviated, so that the dinner platform cannot be normally taken out or put into dinner products.
Disclosure of Invention
In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a method, a device, an electronic device and a storage medium for determining a position of a cargo path.
In a first aspect, the present application provides a method for determining a position of a cargo path, including:
Determining, for each target lane in the meal retrieval cabinet, whether the meal retrieval platform is capable of placing or removing a test item into or from the target lane;
if the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel, acquiring goods channel information of the target goods channel;
Acquiring the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
A target position of the target aisle is determined for aisle position adjustment based on the first location and the movement distance.
Optionally, determining whether the meal retrieval platform is capable of placing the test item into the target aisle comprises:
Controlling the meal taking platform bearing the test article to move to a second position;
controlling the meal taking platform to move to a preset position corresponding to the target goods channel;
controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to reversely rotate so as to enable the test article to be pushed into the target goods channel from the meal taking platform;
If the test article is still positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot put the test article into a target goods channel.
Optionally, determining whether the meal retrieval platform is capable of retrieving the test item from the target aisle comprises:
Controlling the meal taking platform bearing the test article to move to a second position;
controlling the meal taking platform to move to a preset position corresponding to the target goods channel;
Controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to rotate positively so as to take out the test object from the goods channel opening of the target goods channel;
If the test article is not positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot take the test article out of the target goods channel.
Optionally, obtaining a moving distance of the meal taking platform from the first position to a limiting tool corresponding to the goods channel information includes:
after the limit tooling corresponding to the goods channel information is adjusted to be in an ejection state from a retraction state, controlling the meal taking platform to move to the first position, wherein the first position and the target goods channel are positioned in the same row in the meal taking cabinet;
controlling the meal taking platform to move towards the direction of the target goods channel until the meal taking platform contacts with the limiting tool, obtaining the walking step number corresponding to the meal taking platform, and returning to execute the step of controlling the meal taking platform to move to the first position until the repetition number reaches the preset number;
And determining the moving distance based on the preset number of walking steps.
Optionally, determining the moving distance based on the preset number of walking steps includes:
calculating the average value of the preset number of walking steps to obtain the average step number;
the moving distance is calculated based on the average number of steps.
Optionally, obtaining the walking steps corresponding to the meal taking platform includes:
Acquiring states of three sequentially arranged microswitches in the limiting tool when the meal taking platform is in contact with the limiting tool;
if the first micro switch close to the first position and the second micro switch in the middle are not closed in the three micro switches in the limiting tool, the first actual walking step number of the motor in the meal taking platform is obtained to serve as the walking step number corresponding to the meal taking platform.
Optionally, obtaining the walking steps corresponding to the meal taking platform further includes:
If all three micro switches in the limiting tool are closed, determining the current speed of the meal taking platform at the limiting tool;
If the current speed is smaller than the preset speed maximum value, acquiring the closing time difference of the three microswitches and the distance between every two adjacent microswitches to determine a deceleration distance, and acquiring the second actual walking step number of the motor in the meal taking platform as the corresponding walking step number of the meal taking platform when the meal taking platform decelerates according to the deceleration distance;
If the current speed is equal to the maximum value of the preset speed, acquiring the closing time difference of the three micro switches and the distance between every two adjacent micro switches to determine the deceleration distance, and acquiring the third actual running step number of the motor in the meal taking platform as the running step number corresponding to the meal taking platform when the meal taking platform decelerates according to the difference value between the original deceleration distance and the deceleration distance.
In a second aspect, the present application provides a lane position determining apparatus comprising:
the first determining module is used for determining whether the meal taking platform can put the test article into or take the test article out of each target goods channel in the meal taking cabinet;
The first acquisition module is used for acquiring the goods channel information of the target goods channel if the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel;
The second acquisition module is used for acquiring the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
And the second determining module is used for determining the target position of the target goods channel based on the first position and the moving distance so as to be used for adjusting the position of the goods channel.
In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
A memory for storing a computer program;
And the processor is used for realizing any goods channel position determining method in the first aspect when executing the program stored in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a program of a lane position determination method, which when executed by a processor, implements the steps of any of the lane position determination methods of the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
According to the embodiment of the application, whether the meal taking platform can put a test object into or take the test object out of the target goods channel is determined according to each target goods channel, so that whether the position of any target goods channel is abnormal is determined, when the meal taking platform cannot put the test object into or take the test object out of the target goods channel, the position of the target goods channel is abnormal, the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information is further acquired, and the accurate target position of the target goods channel is further automatically measured and obtained for goods channel position adjustment, errors caused by manual measurement are avoided, the accuracy of goods channel position determination is improved, the time for goods channel position determination is shortened, and the efficiency of goods channel position determination is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a method for determining a position of a cargo path according to an embodiment of the present application;
FIG. 2 is a block diagram of a table top according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a speed variation of a stepper motor according to an embodiment of the present application;
FIG. 4 is a flowchart of a method for determining a position of a cargo path in practical application according to an embodiment of the present application;
FIG. 5 is a flow chart of a method for locating a target aisle according to an embodiment of the present application;
FIG. 6 is a flowchart for obtaining a single walking step number of a meal taking platform according to an embodiment of the present application;
FIG. 7 is a block diagram of a lane position determining apparatus according to an embodiment of the present application;
fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Because in the production process of getting the dinner cabinet, generally need manual to carry out the location to goods way height, the circumstances that can appear goods way location inaccuracy, moreover because sheet metal material warp easily, also can lead to getting goods way of dinner cabinet not level or high inconsistent, unit vibration leads to goods way position to change in the transportation, above all can lead to getting when the dinner cabinet transports to the position of use, appear goods way position and appear the deviation, lead to getting the unable normal problem of taking out or putting into the dinner article of dinner platform. Therefore, the embodiment of the application provides a method and a device for determining the position of a goods way, electronic equipment and a storage medium.
The embodiment of the application provides a method for determining the position of a goods way, which can comprise the following steps as shown in fig. 1:
Step S101, determining whether a meal taking platform can put test articles into or take test articles out of each target goods channel in a meal taking cabinet;
In the embodiment of the application, as shown in fig. 2, the structure of the dinner taking cabinet can be that a plurality of goods channels are arranged in a cabinet body of the dinner taking cabinet in a grid shape, the goods channels are arranged in the direction perpendicular to the paper surface, a second conveying device is arranged in each goods channel and used for moving articles into the goods channel or moving articles out of the goods channel, a dinner taking platform is also arranged on the dinner taking cabinet body and can move to a goods channel of any goods channel along the transverse direction and/or the longitudinal direction, and a first conveying device is arranged at the bottom of the dinner taking platform and used for moving articles into the dinner taking platform or moving articles out of the dinner taking platform.
Each channel in the meal taking cabinet can be used as a target channel, in the step, whether the meal taking platform can put test articles into or take out of the target channel can be determined by controlling the movement of the meal taking platform, the rotation of the first conveying device and the rotation of the second conveying device, and in order to reduce errors, the test articles can be borne in the movement process of the meal taking platform.
In one embodiment of the application, determining whether the meal retrieval platform is capable of placing a test item into a target aisle comprises: controlling the meal taking platform bearing the test article to move to a second position; controlling the meal taking platform to move to a preset position corresponding to the target goods channel; controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to reversely rotate so as to enable the test article to be pushed into the target goods channel from the meal taking platform; if the test article is still positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot put the test article into a target goods channel.
In another embodiment of the application, determining whether a meal retrieval platform is capable of retrieving the test item from the target lane comprises: controlling the meal taking platform bearing the test article to move to a second position; controlling the meal taking platform to move to a preset position corresponding to the target goods channel; controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to rotate positively so as to take out the test object from the goods channel opening of the target goods channel; if the test article is not positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot take the test article out of the target goods channel.
Step S102, if the meal taking platform cannot put the test article into or take the test article out of the target goods channel, acquiring goods channel information of the target goods channel;
In the embodiment of the application, the goods channel information of the target goods channel can refer to goods channel identification and the like.
Step S103, obtaining the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
According to the embodiment of the application, when the meal taking platform is determined to be incapable of putting the test object into the target goods channel or taking the test object out of the target goods channel, a worker is informed of installing a limiting tool on the cabinet body of the meal taking cabinet; the limiting tools in the retraction state can be preset on the meal taking cabinet, the position of each limiting tool corresponds to the corresponding goods channel identifier of the goods channel, and when the fact that the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel is determined, the limiting tool corresponding to the goods channel identifier of the target goods channel is controlled to be in the ejection state.
In the step, the meal taking platform can be moved to a preset first position, and in order to obtain a more accurate movement distance finally, the first position can be the bottom-most position of the cabinet body in the same row with the target goods channel, and the movement distance from the first position to the movement of the meal taking platform at the limiting tool is obtained.
As shown in fig. 3, the motor cannot be directly operated to a designated position at a constant speed due to the characteristics of the stepping motor. When the moving distance is short, the motor is accelerated to a certain speed and then is decelerated to move to a corresponding position. When the moving distance is longer, the motor is accelerated to the highest speed, and the motor runs for a period of time and then is decelerated to move to the corresponding position. Therefore, the calculated distance and the motion state cannot be expressed in a single linear mode, and the problem that collision is caused by untimely deceleration easily occurs.
In one embodiment of the present application, step S103 obtains a moving distance of the meal taking platform from the first position to a limiting tool corresponding to the lane information, including:
Step S201, after the limit tooling corresponding to the goods channel information is adjusted from the retracted state to the ejected state, controlling the meal taking platform to move to the first position, wherein the first position and the target goods channel are positioned in the same row in the meal taking cabinet;
Step S202, controlling the meal taking platform to move towards the direction of the target goods channel until the meal taking platform contacts with the limiting tool, obtaining the walking steps corresponding to the meal taking platform, and returning to execute the step of controlling the meal taking platform to move to the first position until the repetition times reach the preset number;
In another embodiment of the present application, step S202 obtains the number of walking steps corresponding to the meal taking platform, including: acquiring states of three sequentially arranged microswitches in the limiting tool when the meal taking platform is in contact with the limiting tool; if the first micro switch close to the first position and the second micro switch in the middle are not closed in the three micro switches in the limiting tool, the first actual walking step number of the motor in the meal taking platform is obtained to serve as the walking step number corresponding to the meal taking platform.
In the embodiment of the application, three microswitches, a limiter and an intelligent controller are sequentially arranged in the limiting tool, wherein the limiter can be used for limiting the position of the meal taking platform and preventing the movement inertia from exceeding a designated position, so that the problem of inaccurate positioning is generated; the first micro switch can be used for determining whether the meal taking platform is in place or not, the current step number (after the first micro switch is closed, a closing signal is sent to the original main board, the current step number of the stepping motor can be recorded) is transmitted to the original main board through the controller, the second micro switch is used for preventing the meal taking platform from overshooting, so that the problem of collision of the meal taking platform is reduced, and the third micro switch is used for calculating the speed reduction distance of the stepping motor to be finely adjusted; the controller is communicated with the main board of the original meal cabinet, and can transmit the parameters such as the step number, the microswitch state, the limiter state and the like, so that the tool is ensured to be normal.
If all three micro switches in the limiting tool are closed, determining the current speed of the meal taking platform at the limiting tool; if the current speed is smaller than the preset speed maximum value, acquiring the closing time difference of the three microswitches and the distance between every two adjacent microswitches to determine a deceleration distance, and acquiring the second actual walking step number of the motor in the meal taking platform as the corresponding walking step number of the meal taking platform when the meal taking platform decelerates according to the deceleration distance; if the current speed is equal to the maximum value of the preset speed, acquiring the closing time difference of the three micro switches and the distance between every two adjacent micro switches to determine the deceleration distance, and acquiring the third actual running step number of the motor in the meal taking platform as the running step number corresponding to the meal taking platform when the meal taking platform decelerates according to the difference value between the original deceleration distance and the deceleration distance.
Step S203, determining the moving distance based on a preset number of the walking steps.
In one embodiment of the present application, step S203 of determining the moving distance based on a preset number of the walking steps includes: calculating the average value of the preset number of walking steps to obtain the average step number; the moving distance is calculated based on the average number of steps.
Step S104, determining the target position of the target goods channel based on the first position and the moving distance for goods channel position adjustment.
In the step, the sum of the first position and the moving distance can be taken as the longitudinal height of the target goods channel, and the problems of side turning and clamping of the meal can be caused due to inconsistent heights, and the abnormality can not exist due to the wider X-axis of the goods channel, so that the coordinates comprising the transverse position and the longitudinal height of the target goods channel can be directly taken as the target position of the target goods channel, and the goods channel position of the target goods channel can be adjusted according to the target position.
According to the embodiment of the application, whether the meal taking platform can put a test object into or take the test object out of the target goods channel is determined according to each target goods channel, so that whether the position of any target goods channel is abnormal is determined, when the meal taking platform cannot put the test object into or take the test object out of the target goods channel, the position of the target goods channel is abnormal, the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information is further acquired, and the accurate target position of the target goods channel is further automatically measured and obtained for goods channel position adjustment, errors caused by manual measurement are avoided, the accuracy of goods channel position determination is improved, the time for goods channel position determination is shortened, and the efficiency of goods channel position determination is improved.
In order to facilitate understanding, the application also provides an embodiment of a method for determining the position of the goods way in practical application.
As shown in fig. 4, after the user sets the automatic walking program, the current meal needs to be placed on the meal taking platform, the meal taking platform gradually moves to the corresponding position according to the earliest positioning steps, then the meal taking platform roller is reversed, the goods channel motor is reversed, and the meal is returned to the goods channel. When the photoelectric sensor of the meal taking platform is detected to be not closed for a long time (defaulting to 15 seconds and can be set by a display screen), the fact that the meal cannot be pushed back to the goods channel is indicated, the corresponding number of lines is recorded at the moment, the roller and the goods channel motor rotate forwards, the fact that the meal cannot topple over when the meal taking platform moves is ensured, and the next position is positioned again after the meal taking platform returns to the original point is ensured. If the photoelectric sensor of the meal taking platform is closed, the roller and the goods channel motor are rotated forwards again, and when the photoelectric sensor of the meal taking platform is detected to be long (defaulting to 15 seconds and can be set by a display screen) and not disconnected, the fact that the meal cannot be pushed to the meal taking platform from the goods channel is indicated, and the corresponding number of lines is recorded; if the photoelectric sensor of the meal taking platform is detected to be disconnected, the meal is successfully pushed to the meal taking platform, and the line number does not need to be repositioned.
When all the positions are detected, the controller prompts all goods channels to be repositioned at the display screen, and at the moment, only the limiting tools for prompting the positions can be selected to be installed, or all the limiting tools can be installed. If all rows are provided with limiting tools, the controller can send a control signal for closing limiting to tools which are not needed to be used, and limiting retraction of each tool (communication with an original main board through a microcontroller and retraction of a testing tool through a relay) does not influence unit positioning.
As shown in FIG. 5, after the installation of the limiting tool is completed, the main board of the meal cabinet moves the meal taking platform to the bottommost end, and meanwhile, the limiting switch to be repositioned is turned on. When the test is started, the meal taking platform ascends to the position of the limiting tool 1, whether the micro switch is closed or not is judged, and after the switch is closed, the coordinates of the current walking position are recorded; and meanwhile, judging the walking times, and repeating the process when the walking times are not more than 3, until the average value of the walking is taken as the height of the final goods channel after 3 times, and synchronously retracting the main board to limit the main board, so that the interference of the meal taking platform in the next test is prevented. At this time, whether the number X of the limiting tools is smaller than the set number of the limiting tools is judged, when the number X is smaller than the set value, the number X is automatically increased, and the number X is moved up to the limiting tools again to carry out next positioning judgment, and the meal taking platform can be directly moved to the position of the limiting tools X due to the fact that the limiting tools X-1 are limited and retracted at this time. When the number X is equal to the number of the set limit tools, all the tests are completed, the tools can be retracted, and the tools can be normally used after being electrified again.
After the height positioning is finished, the normal meal outlet flow is recommended to retest the goods way again, so that the actual use is ensured to be free from abnormality. The meal taking process is automatically completed by the program without manual intervention. All the limiting tools are universal, synchronous delivery can be performed by random groups, on-site debugging is guaranteed, convenience and rapidness are achieved, manpower resources are reduced, and the difficulty of after-sales goods channel height adjustment is reduced.
As shown in fig. 3, the motor cannot be directly operated to a designated position at a constant speed due to the characteristics of the stepping motor. When the moving distance is short, the motor is accelerated to a certain speed and then is decelerated to move to a corresponding position. When the moving distance is longer, the motor is accelerated to the highest speed, and the motor runs for a period of time and then is decelerated to move to the corresponding position. Therefore, the calculated distance and the motion state cannot be expressed in a single linear mode, and the problem that collision is caused by untimely deceleration easily occurs.
As shown in fig. 6, the limiting tool can be used for optimizing the problem, when the movement is faster, the dining platform is easy to be decelerated and untimely, so that collision is caused, three microswitches are all closed, the related slope can be calculated through three microswitches closing time differences, and specifically, the slope can be calculated by dividing the distance between the two microswitches by the closing time difference, namely, the speed of the dining platform at the position.
If the slope is smaller than Vmax (maximum speed of a stepping motor), the fact that the moving speed of the meal taking platform is higher or the speed reducing distance of the meal taking platform is insufficient is indicated, the speed reducing distance L2 to be increased can be calculated continuously according to the closing time difference of the three micro switches, specifically, the speed V1 can be calculated according to the closing time difference of the first two micro switches, the speed V2 can be calculated according to the closing time difference of the second two micro switches, then the acceleration can be calculated according to (V2-V1)/t, namely, the distance to be reduced can be calculated according to L2=V22/2 a, and finally the speed reducing distance is transmitted to the original main board;
if the slope is equal to Vmax (maximum speed of the stepping motor), the required deceleration distance is longer, the motor is accelerated to the maximum speed, deceleration can be performed in advance, and the position of the advanced deceleration can be obtained by subtracting L2 from the original deceleration distance;
after the speed is adjusted, the microcontroller is communicated with the original main board, when the first micro switch is closed and the second micro switch is not closed after the time threshold, the fact that the calculated step number of the stepping motor is just the actual step number is indicated, and the calculated step number is ensured to be consistent with the actual movement step number is ensured, that is, when the first micro switch is closed and the second micro switch is not closed, the original main board can record the step number of the stepping motor movement at the moment into a memory, and the subsequent walking step can move according to the step number again, so that position deviation can be avoided, wherein the actual step number refers to the step number obtained by the stepping motor movement instead of calculation.
In still another embodiment of the present application, there is also provided a lane position determining apparatus, as shown in fig. 7, including:
A first determining module 11 for determining, for each target aisle in the meal order cabinet, whether the meal order platform is capable of placing or removing test items into or from the target aisle;
A first obtaining module 12, configured to obtain lane information of the target lane if the meal taking platform cannot put the test article into the target lane or take the test article out of the target lane;
The second obtaining module 13 is used for obtaining the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
A second determining module 14 is configured to determine a target position of the target lane for lane position adjustment based on the first position and the moving distance.
In yet another embodiment of the present application, there is provided an electronic device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;
A memory for storing a computer program;
and the processor is used for realizing the goods channel position determining method according to any method embodiment when executing the program stored in the memory.
According to the electronic equipment provided by the embodiment of the invention, the processor determines whether the meal taking platform can put a test object into or take the test object out of the target goods channel by executing the program stored in the memory, so as to determine whether the position of any target goods channel is abnormal, when the meal taking platform cannot put the test object into or take the test object out of the target goods channel, the position of the target goods channel is indicated to be abnormal, the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information is further acquired, and the accurate target position of the target goods channel is automatically measured and obtained for adjusting the position of the goods channel, so that errors introduced by manual measurement are avoided, the accuracy of the position determination of the goods channel is improved, the time for determining the position of the goods channel is shortened, and the efficiency of the position determination of the goods channel is improved.
The communication bus 1140 mentioned above may be a peripheral component interconnect standard (PeripheralComponentInterconnect, PCI) bus or an extended industry standard architecture (ExtendedIndustryStandardArchitecture, EISA) bus, etc. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
The communication interface 1120 is used for communication between the electronic device and other devices described above.
The memory 1130 may include Random Access Memory (RAM) or non-volatile memory (non-volatilememory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor 1110 may be a general-purpose processor, including a Central Processing Unit (CPU), a network processor (NetworkProcessor NP), and the like; but also digital signal processors (DigitalSignalProcessing, DSP for short), application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC for short), field-programmable gate arrays (Field-ProgrammableGateArray, FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In yet another embodiment of the present application, there is also provided a computer readable storage medium having stored thereon a program of a lane position determination method, which when executed by a processor, implements the steps of the lane position determination method according to any of the preceding method embodiments.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for determining the location of a aisle, comprising:
Determining, for each target lane in the meal retrieval cabinet, whether the meal retrieval platform is capable of placing or removing a test item into or from the target lane;
if the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel, acquiring goods channel information of the target goods channel;
Acquiring the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
A target position of the target aisle is determined for aisle position adjustment based on the first location and the movement distance.
2. The lane position determining method of claim 1, wherein determining whether the retrieval platform is capable of placing a test item into the target lane comprises:
Controlling the meal taking platform bearing the test article to move to a second position;
controlling the meal taking platform to move to a preset position corresponding to the target goods channel;
controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to reversely rotate so as to enable the test article to be pushed into the target goods channel from the meal taking platform;
If the test article is still positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot put the test article into a target goods channel.
3. The lane position determination method of claim 1, wherein determining whether a retrieval platform is capable of retrieving the test item from the target lane comprises:
Controlling the meal taking platform bearing the test article to move to a second position;
controlling the meal taking platform to move to a preset position corresponding to the target goods channel;
Controlling a first conveying device in the meal taking platform and a second conveying device in the target goods channel to rotate positively so as to take out the test object from the goods channel opening of the target goods channel;
If the test article is not positioned on the meal taking platform after the preset time period is detected, determining that the meal taking platform cannot take the test article out of the target goods channel.
4. The lane position determining method according to claim 1, wherein obtaining a movement distance of the meal taking platform from the first position to a limit tool corresponding to the lane information includes:
after the limit tooling corresponding to the goods channel information is adjusted to be in an ejection state from a retraction state, controlling the meal taking platform to move to the first position, wherein the first position and the target goods channel are positioned in the same row in the meal taking cabinet;
controlling the meal taking platform to move towards the direction of the target goods channel until the meal taking platform contacts with the limiting tool, obtaining the walking step number corresponding to the meal taking platform, and returning to execute the step of controlling the meal taking platform to move to the first position until the repetition number reaches the preset number;
And determining the moving distance based on the preset number of walking steps.
5. The lane position determining method according to claim 4, wherein determining the moving distance based on a preset number of the walking steps comprises:
calculating the average value of the preset number of walking steps to obtain the average step number;
the moving distance is calculated based on the average number of steps.
6. The lane position determining method according to claim 4, wherein obtaining the number of walking steps corresponding to the meal taking platform comprises:
Acquiring states of three sequentially arranged microswitches in the limiting tool when the meal taking platform is in contact with the limiting tool;
if the first micro switch close to the first position and the second micro switch in the middle are not closed in the three micro switches in the limiting tool, the first actual walking step number of the motor in the meal taking platform is obtained to serve as the walking step number corresponding to the meal taking platform.
7. The lane position determining method as defined in claim 6, wherein obtaining the number of steps of walking corresponding to the meal taking platform further comprises:
If all three micro switches in the limiting tool are closed, determining the current speed of the meal taking platform at the limiting tool;
If the current speed is smaller than the preset speed maximum value, acquiring the closing time difference of the three microswitches and the distance between every two adjacent microswitches to determine a deceleration distance, and acquiring the second actual walking step number of the motor in the meal taking platform as the corresponding walking step number of the meal taking platform when the meal taking platform decelerates according to the deceleration distance;
If the current speed is equal to the maximum value of the preset speed, acquiring the closing time difference of the three micro switches and the distance between every two adjacent micro switches to determine the deceleration distance, and acquiring the third actual running step number of the motor in the meal taking platform as the running step number corresponding to the meal taking platform when the meal taking platform decelerates according to the difference value between the original deceleration distance and the deceleration distance.
8. A lane position determining apparatus, comprising:
the first determining module is used for determining whether the meal taking platform can put the test article into or take the test article out of each target goods channel in the meal taking cabinet;
The first acquisition module is used for acquiring the goods channel information of the target goods channel if the meal taking platform cannot put the test article into the target goods channel or take the test article out of the target goods channel;
The second acquisition module is used for acquiring the moving distance of the meal taking platform from the first position to the limiting tool corresponding to the goods channel information;
And the second determining module is used for determining the target position of the target goods channel based on the first position and the moving distance so as to be used for adjusting the position of the goods channel.
9. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
A processor for implementing the lane position determining method according to any one of claims 1 to 7 when executing a program stored on a memory.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a program of a lane position determination method, which when executed by a processor, implements the steps of the lane position determination method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311797756.9A CN118135703A (en) | 2023-12-25 | 2023-12-25 | Goods channel position determining method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311797756.9A CN118135703A (en) | 2023-12-25 | 2023-12-25 | Goods channel position determining method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118135703A true CN118135703A (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311797756.9A Pending CN118135703A (en) | 2023-12-25 | 2023-12-25 | Goods channel position determining method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
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| CN (1) | CN118135703A (en) |
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2023
- 2023-12-25 CN CN202311797756.9A patent/CN118135703A/en active Pending
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