CN104709696A

CN104709696A - Goods placing and taking method, device and system for tray piling trolley

Info

Publication number: CN104709696A
Application number: CN201410856490.5A
Authority: CN
Inventors: 王金玉; 丁宁; 徐泽贤; 于练; 熊丹; 张钦丽; 吴晖
Original assignee: Shenzhen Jinlin Technology Co Ltd
Current assignee: Shenzhen Zhongzhi Weian Robot Technology Co ltd
Priority date: 2014-12-31
Filing date: 2014-12-31
Publication date: 2015-06-17
Anticipated expiration: 2034-12-31
Also published as: CN104709696B

Abstract

The invention discloses a goods placing and taking method, device and system for a tray piling trolley. The method comprises the steps that an upper computer obtains static three-dimensional coordinates of a position where goods need to be placed or taken; movable three-dimensional coordinates of a fork body of the piling trolley are obtained in real time; according to the opposite position relation between the static three-dimensional coordinates and the movable three-dimensional coordinates, the piling trolley is controlled to work, when the distance from the static three-dimensional coordinates to the movable three-dimensional coordinates is smaller than a preset assigned distance, it is judged that the static three-dimensional coordinates coincide with the movable three-dimensional coordinates, and the fork body is controlled to place or take the goods. Staff do not need to determine the placing/taking position through the eyes, the goods are automatically placed to the assigned position or taken from the assigned position, the speed of goods placing and taking is increased, the accuracy of goods placing and taking is improved, and labor intensity of the staff is relieved.

Description

Method, device and system for placing/taking goods by tray stacking vehicle

Technical Field

The invention relates to the field of cargo carrying, in particular to a method, a device and a system for placing/picking cargos by a pallet stacker.

Background

The most typical application of the wireless technology in the positioning field is a satellite-based positioning system, such as a GPS (global positioning system) in the United states, a GLONASS (global navigation satellite system) positioning system in Russia and a Beidou second-generation navigation positioning system in China, which are widely applied to navigation and outdoor positioning, but the positioning accuracy of the systems in the civil field is about 10-15 meters, the requirement of people on high-accuracy positioning of indoor or special areas is not met, and the applications of people on indoor positioning, short-distance positioning, special area positioning and the like are not mature.

The indoor positioning technology based on the wireless network mainly comprises UWB, Wi-Fi, ZigBee, Bluetooth, active RFID and other technologies, and is widely applied to the aspects of mass life such as offices, families, factories, parks and the like.

The pallet stacking vehicle is also called a stacking vehicle and a pallet stacking vehicle, and the international organization for standardization ISO/TC110 is called an industrial vehicle. The tray-type goods stacking tool is suitable for operation in narrow passages and limited spaces, and is an ideal tool for loading and unloading and stacking tray-type goods in overhead warehouses, supermarkets and workshops.

The stacking vehicles generally include manual stacking vehicles and electric stacking vehicles, wherein the electric stacking vehicles are classified into semi-electric stacking vehicles and full-electric stacking vehicles. No matter what kind of stacker, when piling up the goods, all need the staff to confirm the position of goods stack carefully, even so, still can appear the untidy condition of goods stacking, even because the mistake that produces in the staff vision can not once only put the goods in the assigned position, must just can put the goods on goods shelves through adjustment many times. In the stacking process, the problems that the stacking speed of workers is low, the energy consumption is serious, the accuracy of the position of stacked goods is low and the like exist. Therefore, how to apply the positioning technology to the pallet stacker for automatically placing or taking goods becomes a technical problem which needs to be solved in the field urgently.

Disclosure of Invention

The invention mainly aims to provide a method, a device and a system for placing/taking goods by a pallet stacker capable of automatically stacking the goods to a specified position or taking the goods to the specified position.

In order to achieve the above object, the present invention firstly provides a method for placing/picking up goods by a pallet stacker, comprising:

acquiring a static three-dimensional coordinate of a position where goods are to be placed/extracted;

acquiring a dynamic three-dimensional coordinate of a fork body of the stacking car in real time;

and controlling the stacking car to work according to the relative position relation of the static three-dimensional coordinate and the dynamic three-dimensional coordinate, and when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is less than a preset specified distance, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate are overlapped, and controlling the fork body to place/extract the goods.

Further, the step of acquiring the dynamic three-dimensional coordinates of the fork body of the stacker truck in real time includes:

receiving a first radio frequency signal transmitted to a preset positioning base station in real time through a first positioning electronic tag pre-installed on the fork body, and generating a corresponding first return signal by the positioning base station according to the first radio frequency signal;

and calculating the dynamic three-dimensional coordinate of the first positioning electronic tag according to the first return signal.

Further, the positioning base stations comprise at least two groups, when the at least two groups of positioning base stations respectively receive the first radio frequency signals of the first positioning electronic tag, at least two groups of first return signals are correspondingly generated, at least two groups of moving three-dimensional coordinates are obtained through calculation according to the at least two groups of first return signals, and the at least two groups of moving three-dimensional coordinates are averaged to obtain the final moving three-dimensional coordinates.

Further, the step of acquiring the static three-dimensional coordinates of the position where the goods are to be placed/extracted includes:

receiving a static three-dimensional coordinate of a cargo placement/extraction position input from the outside; or,

receiving a second radio frequency signal transmitted to a preset positioning base station through a second positioning electronic tag pre-installed at a position where the goods are to be placed/extracted, and generating a corresponding second reply signal by the positioning base station according to the second radio frequency signal;

and calculating the three-dimensional coordinates of the second positioning electronic tag according to the second reply signal.

Further, the positioning base stations comprise at least two groups, when the at least two groups of positioning base stations respectively receive second radio frequency signals of a second positioning electronic tag, at least two groups of second reply signals are correspondingly generated, at least two groups of static three-dimensional coordinates are obtained through calculation according to the at least two groups of second reply signals, and the at least two groups of static three-dimensional coordinates are subjected to average processing to obtain final three-dimensional coordinates.

The invention also provides a device for placing/taking goods for the pallet stacking car, which comprises:

the first acquisition module is used for acquiring a static three-dimensional coordinate of a position where goods are to be placed/extracted;

the second acquisition module is used for acquiring the dynamic three-dimensional coordinates of the fork body of the stacking car in real time;

and the control module is used for controlling the stacking car to work according to the relative position relation between the static three-dimensional coordinate and the dynamic three-dimensional coordinate, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate are overlapped when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is less than a preset specified distance, and controlling the fork body to place/extract the goods.

Further, the second obtaining module includes:

the first receiving unit is used for receiving a first radio frequency signal transmitted to a preset positioning base station in real time through a first positioning electronic tag preinstalled on the fork body, and the positioning base station generates a corresponding first return signal according to the first radio frequency signal;

and the first calculating unit is used for calculating the dynamic three-dimensional coordinate of the first positioning electronic tag according to the first return signal.

Further, the second obtaining module further includes:

the first averaging unit is configured to, when the positioning base station includes at least two groups, respectively receive first radio frequency signals of a first positioning electronic tag, correspondingly generate at least two groups of first reply signals, calculate at least two groups of moving three-dimensional coordinates according to the at least two groups of first reply signals, and average the at least two groups of moving three-dimensional coordinates to obtain final moving three-dimensional coordinates.

Further, the first obtaining module includes:

the acquisition unit is used for receiving the static three-dimensional coordinates of the position to be placed/extracted of the goods input from the outside; alternatively, it comprises:

the second receiving unit is used for receiving a second radio frequency signal transmitted to a preset positioning base station through a second positioning electronic tag pre-installed at the goods placing/extracting position, and the positioning base station generates a corresponding second reply signal according to the second radio frequency signal;

and the second calculating unit is used for calculating the static three-dimensional coordinate of the second positioning electronic tag according to the second reply signal.

Further, the first obtaining module further includes:

and the second averaging unit is used for correspondingly generating at least two groups of second reply signals when the positioning base station comprises at least two groups of second radio-frequency signals of the second positioning electronic tag are respectively received, calculating at least two groups of static three-dimensional coordinates according to the at least two groups of second reply signals, and averaging the at least two groups of three-dimensional coordinates to obtain the final static three-dimensional coordinates.

The invention also provides a system for placing/taking goods by the pallet stacker, which comprises a positioning device and an upper computer;

the upper computer obtains a static three-dimensional coordinate of a position where goods are to be placed/extracted; acquiring the dynamic three-dimensional coordinate of the fork body of the stacking car in real time through the positioning device;

and the upper computer controls the stacking car to work according to the relative position relation between the static three-dimensional coordinate and the dynamic three-dimensional coordinate, and when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is less than a preset specified distance, the static three-dimensional coordinate and the dynamic three-dimensional coordinate are judged to be superposed, and the fork body is controlled to place/extract goods.

According to the method, the device and the system for placing/extracting the goods by the pallet stacking car, after the static three-dimensional coordinate of the position to be placed/extracted of the goods is obtained and the dynamic three-dimensional coordinate of the fork body of the stacking car is obtained in real time, the stacking car is controlled to work according to the position relation of the static three-dimensional coordinate and the dynamic three-dimensional coordinate, the fork body is made to move to the specified position, the goods are placed at the specified position, or the goods are extracted at the specified position, a worker does not need to confirm the placing/extracting position through human eyes, the placing/extracting speed and accuracy are improved, and the labor intensity of the worker is reduced.

Drawings

FIG. 1 is a flow chart of a method of depositing/retrieving goods by a pallet stacker in one embodiment of the present invention;

FIG. 2 is a flow chart of acquiring dynamic three-dimensional coordinates of the forks of a stacker truck in one embodiment of the present invention;

FIG. 3 is a flow chart of obtaining static three-dimensional coordinates for placing/retrieving cargo in an embodiment of the present invention;

FIG. 4 is a block diagram of a pallet stacker in one embodiment of the present invention;

fig. 5 is a schematic distribution diagram of anchor base stations according to an embodiment of the present invention;

FIG. 6 is a block diagram of a pallet stacker apparatus for loading/unloading goods in accordance with an embodiment of the present invention;

FIG. 7 is a block diagram of a second obtaining module according to an embodiment of the present invention;

FIG. 8 is a block diagram of a first obtaining module according to an embodiment of the present invention;

FIG. 9 is a block diagram of a pallet stacker system for loading/unloading goods in accordance with one embodiment of the present invention;

fig. 10 is a schematic view of a pallet stacker system for loading/unloading goods according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, in an embodiment of the present invention, a method for placing/picking up goods by a pallet stacker is provided, including:

s1, acquiring static three-dimensional coordinates of the position where the goods are to be placed/extracted;

s2, acquiring the dynamic three-dimensional coordinates of the fork body 31 of the stacker truck in real time;

s3, controlling the stacking car to work according to the relative position relation of the static three-dimensional coordinate and the dynamic three-dimensional coordinate, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate coincide with the fork body 31 when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is smaller than a preset specified distance, and controlling the fork body 31 to place/extract goods.

The above steps S1 and S2 may be performed in reverse order or simultaneously.

As described in the above step S1, the static three-dimensional coordinates of the position where the cargo is to be placed/extracted refer to points having a certain meaning formed by three variables independent of each other, and generally include an X axis, a Y axis, and a Z axis. In this embodiment, the static three-dimensional coordinates of the position where the cargo is to be placed/extracted refer to three-dimensional coordinates in a designated cargo yard.

As described in step S2, the dynamic three-dimensional coordinates of the fork 31 of the stacker truck can be obtained in real time by technologies such as Wi-Fi, ZigBee, BlueTooth (BlueTooth technology), active RFID (Radio Frequency Identification), UWB (Ultra wide band), and the like. The dynamic three-dimensional coordinates refer to dynamic three-dimensional coordinates of the fork body 31 in a specified goods yard, wherein static three-dimensional coordinates of a position where goods are to be placed/extracted and dynamic three-dimensional coordinates of the fork body 31 of the stacking car refer to three-dimensional coordinates in the same coordinate system. The real-time obtaining of the three-dimensional coordinates of the fork 31 means that the position of the fork 31 may change continuously, and the real-time obtaining of the dynamic three-dimensional coordinates of the fork 31 is required to facilitate the operation of the subsequent step S3.

As described in step S3, after the upper computer 10 acquires the static three-dimensional coordinates of the goods placing/retrieving position and the moving three-dimensional coordinates of the fork 31 of the stacker, it controls the driving device of the stacker to drive the stacker to move and/or the fork 31 to move, and first, the stacker is moved to a specified position on one side of the three-dimensional coordinates of the goods placing/retrieving position and stopped, and then the fork 31 is driven to move up or down and the stacker is moved, so that the static three-dimensional coordinates and the static three-dimensional coordinates are in a specified positional relationship, and then the goods are placed/retrieved. In a specific embodiment, when the static three-dimensional coordinates coincide with the dynamic three-dimensional coordinates, the fork body 31 is controlled to place/extract goods; and when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is smaller than a preset specified distance, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate are overlapped. In the actual operation process, the measured dynamic three-dimensional coordinate has an error with the actual three-dimensional coordinate of the fork body 31, and is unavoidable, and it is very difficult to completely coincide the dynamic three-dimensional coordinate of the fork body 31 with the three-dimensional coordinate of the goods placing/extracting position under normal conditions, so that an allowable error threshold value is preset, the stacking speed can be improved, and the placing/extracting accuracy is not influenced. Also in different palletization jobs, different specified distances may be set as threshold values, which are typically ± 5 to ± 25 centimeters. For example, when the spacing between the stacking boxes is required to be large, the threshold value can be set to be larger; if a small spacing between the stacked cassettes is required, the threshold needs to be set relatively small, etc. In a specific embodiment, when the distance between the three-dimensional coordinate of the fork 31 and the three-dimensional coordinate of the cargo placing/extracting position is within ± 5 cm, the two coordinates are considered to coincide with each other, and the cargo is automatically placed/extracted.

In a specific embodiment, a static three-dimensional coordinate where goods are to be placed is obtained as B (Xb, Yb, Zb), then a dynamic three-dimensional coordinate of the fork 31 is obtained in real time as a (Xb, Ya, Za), a control command is output in real time according to a relative position relationship between the dynamic three-dimensional coordinate and the static three-dimensional coordinate, the stacking vehicle is controlled to move, according to a preset command, the stacking vehicle is firstly moved to one side of the static three-dimensional coordinate, so that Xa and Xb are basically equal (an error allowable range can be set according to an actual situation), and a difference between Yb and Ya is a specified value which is greater than the length of the fork 31 of the stacking vehicle; then controlling the stacking trolley to adjust the direction to enable the fork body 31 to be aligned to the Y coordinate direction of the static three-dimensional coordinate; then the fork body 31 is controlled to ascend or descend to enable Zb and Za to be basically equal (the error allowable range can be set according to actual conditions); and controlling the stacker or the fork body 31 to move to enable Yb and Ya to be basically equal, placing the goods and completing the stacking task of the goods for one time.

In another embodiment, the specific steps of placing the goods and extracting the goods may be the same, for example, a static three-dimensional coordinate is set at the center of the bottom surface of the location where the goods are to be placed, so that during the process of placing the goods, the fork 31 may be translated to the location where the goods are to be placed along the plane where the static three-dimensional coordinate is located; in the process of picking up the goods, the static three-dimensional coordinate is also set at the center of the bottom surface of the position where the goods are to be picked up, generally the interlayer or the bottom surface of the pallet, so that in the process of picking up the goods, the fork body 31 can be translated to the bottom of the goods along the plane where the static three-dimensional coordinate is located, and then the goods can be picked up. The specific steps of placing the goods and extracting the goods may also be different, for example, the static three-dimensional coordinate is set at the center of the bottom surface of the position where the goods are to be placed, so that in the process of placing the goods, the fork body 31 is firstly raised to a position higher than the static three-dimensional coordinate, then the fork body 31 is slowly lowered to place the goods, or the static three-dimensional coordinate is set at the three-dimensional center of the position where the goods are to be placed, and after the dynamic three-dimensional coordinate of the fork body 31 is overlapped with the static three-dimensional coordinate, the fork body 31 is controlled to slowly fall for a specified distance to place the goods and; in the process of lifting the goods, the static three-dimensional coordinate is required to be controlled to be located at the position where the bottom of the pallet can be inserted into the fork body 31, so that the fork body 31 can be smoothly inserted into the pallet to pick up the goods, and the fork body 31 is prevented from being inserted into the goods to damage the goods.

Referring to fig. 2, in this embodiment, the step S2 includes:

s21, receiving a first radio frequency signal transmitted in real time to a preset positioning base station 21 through a first positioning electronic tag preinstalled in the fork body 31, and generating a corresponding first return signal by the positioning base station 21 according to the first radio frequency signal;

and S22, calculating the moving three-dimensional coordinate of the first positioning electronic tag 22 according to the first return signal.

As described in step S21, when the first positioning electronic tag 22 is mounted on the fork 31, the three-dimensional coordinates of the first positioning electronic tag 22, i.e., the dynamic three-dimensional coordinates of the fork 31, are measured. The first positioning electronic tag 22 is specifically disposed at a specific position on the fork 31, and may be disposed according to a specific stacking requirement, such as at a central position of the fork 31, or a branch of the fork 31. The positioning base station 21 is composed of at least three anchor base stations 211 which are not on the same straight line, and generates a first return signal with time information or intensity information by receiving a first radio frequency signal transmitted by the first positioning electronic tag 22.

As described in step S22, the three-dimensional coordinates of the first positioning electronic tag 22 are analyzed and calculated by comparing the time intervals or the strengths of the first radio frequency signals received by the anchor base stations 211 in the positioning base stations 21, that is, by using the first reply signal with time information or strength information.

In a specific embodiment, the positioning base stations 21 include at least two groups, when the at least two groups of positioning base stations 21 respectively receive the first radio frequency signals, at least two groups of first recovery signals are correspondingly generated, at least two groups of moving three-dimensional coordinates are obtained by calculation according to the at least two groups of first recovery signals, and the at least two groups of moving three-dimensional coordinates are averaged to obtain final moving three-dimensional coordinates, that is, actually used moving three-dimensional coordinates. For example, if there are three positioning base stations 21, three sets of coordinates, namely a1(x1, y1, z1), a2(x2, y2, z2), and A3(x3, y3, z3), are obtained first, and finally, the final coordinate is obtained through averaging (a), (y 1, z 3552)、、). And a final dynamic three-dimensional coordinate is obtained after at least two groups of dynamic three-dimensional coordinates are subjected to average processing, so that the result is more accurate.

In an embodiment of the present invention, the step S1 includes the steps of:

s1', receiving the three-dimensional coordinates of the goods placing/extracting position input from the outside; the static three-dimensional coordinates of the positions where the goods need to be placed/extracted are directly and manually input to the control equipment, the method is convenient and quick, other equipment is not needed for assistance, the placing positions of the goods only need to be measured in advance, and the method is suitable for standardized stacking. For example, in a stacking warehouse, the specifications of goods and the required stacking position are not changed, so that only the static three-dimensional coordinates of each placing/extracting position at the position are measured in advance, and when the static three-dimensional coordinates are required, the placing/extracting position coordinates are directly output, and the method is simple and rapid.

Referring to fig. 3, in another embodiment, the step S1 includes the steps of:

s11, receiving a second radio frequency signal transmitted to a preset positioning base station 21 by a second positioning electronic tag 23 pre-installed at a position where goods are to be placed/taken, and generating a corresponding second reply signal by the positioning base station 21 according to the second radio frequency signal;

and S12, calculating the three-dimensional coordinates of the second positioning electronic tag 23 according to the second reply signal.

As described in step S11, if the second positioning electronic tag 23 is disposed at the to-be-placed/extracted position of the goods, the three-dimensional coordinates of the second positioning electronic tag 23, i.e. the static three-dimensional coordinates representing the to-be-placed/extracted position of the goods, and specifically which position is disposed at the to-be-placed/extracted position of the goods, may be set according to the specific stacking requirement, such as the center position of the to-be-placed/extracted position, or one side of the to-be-placed/extracted position, and when the dynamic three-dimensional coordinates move to the designated position relative to the static three-dimensional coordinates, the task of placing/extracting the goods is completed. The positioning base station 21 may be composed of at least three anchor base stations 211 which are not on the same straight line, and generates a second reply signal with time information or signal strength information by receiving a second radio frequency signal transmitted by the second positioning electronic tag 23.

As described in step S12, the time interval or the strength information of the second rf signal received by each of the positioning base stations 21 is compared, that is, the three-dimensional coordinates of the second positioning electronic tag 23 are analyzed and calculated through the second reply signal with the time information or the strength information.

In a specific embodiment, the positioning base stations 21 include at least two groups, when the at least two groups of positioning base stations 21 respectively receive the second radio frequency signals, at least two groups of second reply signals are correspondingly generated, at least two groups of static three-dimensional coordinates are obtained by calculation according to the at least two groups of second reply signals, and the at least two groups of static three-dimensional coordinates are averaged to obtain final static three-dimensional coordinates, that is, actually used static three-dimensional coordinates. If there are three sets of first set of positioning coordinates, three sets of coordinate values, namely B1(x1 ', y 1', z1 '), B2(x 2', y2 ', z 2'), B3(x3 ', y 3', z3 '), are obtained first, and finally, the final coordinate value B (x 1', y3 ', z 3') is obtained through average processing、、). And a final static three-dimensional coordinate is obtained after at least two groups of static three-dimensional coordinates are subjected to average processing, so that the result is more accurate.

Referring to fig. 4 and 5, in the present embodiment, the positioning base station 21 is a UWB positioning base station, two sets of UWB positioning base stations are disposed in a rectangular parallelepiped cargo station, each set of UWB positioning base station includes three UWB anchor base stations 211, for example, the UWB anchor base stations 211a1, a2, A3 are a set, the UWB anchor base stations 211B1, B2, B3 are a set, and the six UWB anchor base stations 211 are disposed at different vertices of the rectangular parallelepiped cargo station. For example, UWB anchor base stations 211a1, a2 set up respectively at the both ends of a diagonal of cuboid goods yard top surface, and UWB anchor base station 211 A3 sets up in cuboid goods yard bottom surface, keep away from a1, the summit department of the vertical face that a2 is located, UWB anchor base station 211B1, B2 sets up respectively in UWB anchor base station 211a1, under a2 and be located the bottom surface of cuboid goods yard, UWB anchor base station 211B3 sets up in cuboid goods yard with the other end department of the diagonal of A3 as the starting point, UWB anchor base station 211 so set up, the position of each UWB anchor base station 211 is conveniently confirmed, thereby conveniently and accurately establish the coordinate system of cuboid goods yard, improve the accuracy of location, and the cuboid covers the goods yard comprehensively, no measurement dead angle, make the palletized vehicle obtain the biggest placing/extracting goods range. The two groups of UWB positioning base stations respectively receive second radio frequency signals of a second positioning electronic tag 23 on the shelf, generate two corresponding groups of second reply signals and analyze the two groups of second reply signals to obtain a final static three-dimensional coordinate; first location electronic tags sets up in the central point of the fork body 31 of tray piling car and puts, and after the tray piling car got into the cuboid goods yard, first location electronic tags sent first radio frequency signal and was received by two sets of UWB location basic stations respectively to the calculation obtains first location electronic tags's three-dimensional coordinate that moves. In this embodiment, the first positioning electronic tag 22 and the second positioning electronic tag 23 are connected to the driving circuit, so that the driving circuit periodically sends UWB pulses to each UWB anchor point base station 211 of the UWB positioning base station, and the UWB positioning base station calculates the current three-dimensional position information of the first positioning electronic tag 22 and the second positioning electronic tag 23 according to the pulses, so that the obtained three-dimensional coordinates are more accurate. In other embodiments, other positioning techniques may be used for positioning.

In this embodiment, the pallet stacker is further provided with a display controller 32, which can display a three-dimensional space figure of a rectangular solid goods station, and display positions of the first positioning electronic tag 22 and the second positioning electronic tag 23 in the three-dimensional space figure, for example, a red point represents a static three-dimensional coordinate position, and a green point represents a dynamic three-dimensional coordinate, that is, a real scene is simulated, when the display controller 32 displays that the red point and the green point coincide, it is indicated that goods are placed or extracted successfully, and a sound and/or light prompt is given to perform subsequent work.

In one embodiment, when the static three-dimensional coordinates and the dynamic three-dimensional coordinates are determined to be coincident, the pallet stacker controls the fork to stop for a specified time, and then the goods are placed/taken. The time that whether the position of the fork body 31 is correct can be judged again for operators, if the position is incorrect, the control needs to be adjusted again, and the accuracy of placing/taking goods by the pallet stacker is improved.

In a specific embodiment, a box body needs to be stacked on a shelf, firstly, a UWB pulse is emitted through a second positioning electronic tag 23 arranged at a position where goods are to be placed/extracted, so that the second positioning electronic tag 23 obtains position information of the second positioning electronic tag through a UWB positioning base station, and a three-dimensional coordinate of the second positioning electronic tag 23, that is, a static three-dimensional coordinate of a position where goods are to be placed/extracted is calculated; then, the UWB pulse is emitted through the first positioning electronic tag 22 arranged at the center position of the fork body 31 of the stacking car, so that the UWB positioning base station can obtain the position information of the first positioning electronic tag 22 in real time, and the three-dimensional coordinate of the first positioning electronic tag 22, namely the dynamic three-dimensional coordinate of the fork body 31 of the stacking car, is calculated; and then, controlling the stacker to move or manually driving the stacker to a position where the goods are to be stacked, controlling the fork body 31 to lift, controlling the pallet stacker to move and the like, and when the three-dimensional coordinate of the first positioning electronic tag 22 and the three-dimensional coordinate of the second positioning electronic tag 23 are within a specified distance, putting down the container to finish a stacking task.

In this embodiment, need not the staff and confirms through the people's eye placing/picking position, automatic stack the goods to the assigned position, improve the speed and the degree of accuracy of stack, reduce staff's intensity of labour.

Referring to fig. 6, in an embodiment of the present invention, there is further provided a device for placing/picking up goods for a pallet stacker, including:

the first acquisition module 11 is used for acquiring a static three-dimensional coordinate of a cargo placing/extracting position;

the second obtaining module 12 is configured to obtain a dynamic three-dimensional coordinate of the fork 31 of the stacker truck in real time;

and the control module 13 is used for controlling the stacking car to work according to the relative position relationship between the static three-dimensional coordinate and the dynamic three-dimensional coordinate, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate are superposed with the fork body 31 when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is smaller than a preset specified distance, and controlling the fork body 31 to place/extract goods.

As mentioned above, the first obtaining module 11 may be connected to a designated electronic device in a wired or wireless manner, may perform analysis and calculation on a received signal, and may also send a control command to the corresponding electronic device. The above-mentioned static three-dimensional coordinates of the position where the goods are to be placed/extracted refer to points having a certain meaning formed by three variables independent of each other, and generally include an X-axis, a Y-axis, and a Z-axis. In this embodiment, the static three-dimensional coordinates of the position where the cargo is to be placed/extracted refer to three-dimensional coordinates in a designated cargo yard.

As the second obtaining module 12, the dynamic three-dimensional coordinates of the fork 31 of the stacker truck can be obtained in real time by technologies such as Wi-Fi, ZigBee, BlueTooth (BlueTooth technology), active RFID (Radio Frequency Identification), UWB (Ultra wide band), and the like. The dynamic three-dimensional coordinates refer to the three-dimensional coordinates of the fork body 31 in a designated cargo yard, wherein the static three-dimensional coordinates of the position where the cargo is to be placed/taken and the dynamic three-dimensional coordinates of the fork body 31 of the stacker truck refer to the three-dimensional coordinates in the same coordinate system. The real-time acquisition of the dynamic three-dimensional coordinate of the fork body 31 means that the position of the fork body 31 can be changed continuously, and the real-time acquisition of the dynamic three-dimensional coordinate of the fork body 31 is required so as to control the stacker or the fork body 31 to move towards the goods placing/picking position continuously.

As the control module 13, after the first obtaining module 11 and the second obtaining module 12 obtain the static three-dimensional coordinate of the goods placing/extracting position and the moving three-dimensional coordinate of the fork 31 of the stacker respectively, the control module 13 controls the driving device of the stacker to drive the stacker to move and/or the fork 31 to move according to the two coordinates, firstly, the stacker is moved to a specified position on one side of the three-dimensional coordinate of the goods placing/extracting position to stop, then the fork 31 is driven to move upwards or downwards and the stacker is driven to move, and the like, so that the moving three-dimensional coordinate and the static three-dimensional coordinate are in a specified position relation, and then the goods are placed/extracted. In the actual operation process of the fork 31, an error exists between the measured dynamic three-dimensional coordinate and the actual three-dimensional coordinate of the fork 31, and is unavoidable, and it is usually very difficult to completely coincide the dynamic three-dimensional coordinate of the fork 31 with the three-dimensional coordinate of the goods placing/extracting position, so an allowable error threshold value is preset, the stacking speed can be increased, and the placing/extracting accuracy is not affected. Also in different palletization jobs, different specified distances may be set as threshold values, which are typically ± 5 to ± 25 centimeters. For example, when the spacing between the stacking boxes is required to be large, the threshold value can be set to be larger; if a small spacing between the stacked cassettes is required, the threshold needs to be set relatively small, etc. In a specific embodiment, when the distance between the three-dimensional coordinate of the fork 31 and the three-dimensional coordinate of the cargo placing/extracting position is within ± 5 cm, the two coordinates are considered to coincide with each other, and the cargo is automatically placed/extracted.

In a specific embodiment, the first obtaining module 11 obtains a static three-dimensional coordinate B (Xb, Yb, Zb) where the goods are to be placed, and then obtains a dynamic three-dimensional coordinate a (Xb, Ya, Za) of the fork 31 in real time through the obtaining module, and outputs a control command in real time according to a relative position relationship between the dynamic three-dimensional coordinate and the static three-dimensional coordinate, so as to control the movement of the stacker truck, and according to a preset command, the stacker truck is first moved to one side of the static three-dimensional coordinate, so that Xa and Xb are substantially equal (an error allowable range can be set according to an actual situation), and a difference between Yb and Ya is a specified value, where the specified value is greater than the length of the fork 31 of the stacker truck; then controlling the stacking trolley to adjust the direction to enable the fork body 31 to be aligned to the Y coordinate direction of the static three-dimensional coordinate; then the fork body 31 is controlled to ascend or descend to enable Zb and Za to be basically equal (the error allowable range can be set according to actual conditions); and controlling the stacker or the fork body 31 to move to enable Yb and Ya to be basically equal, placing the goods and completing the stacking task of the goods for one time.

Referring to fig. 7, in this embodiment, the second obtaining module 12 includes:

a first receiving unit 121, configured to receive a first radio frequency signal transmitted in real time to a preset positioning base station 21 through a first positioning electronic tag preinstalled in the fork 31, where the positioning base station 21 generates a corresponding first return signal according to the first radio frequency signal;

the first calculating unit 122 is configured to calculate a dynamic three-dimensional coordinate of the first positioning electronic tag 22 according to the first return signal.

As the first receiving unit 121, the first recovery signal is received. The first positioning electronic tag 22 is arranged on the fork 31, and then the three-dimensional coordinates of the first positioning electronic tag 22 are measured, that is, the dynamic three-dimensional coordinates of the fork 31 can be represented. The first positioning electronic tag 22 is specifically disposed at a specific position on the fork 31, and may be disposed according to a specific stacking requirement, such as at a central position of the fork 31, or a branch of the fork 31. The positioning base station 21 may be composed of at least three anchor base stations 211 which are not on the same straight line, and generates a first recovery signal with time information or intensity information by receiving a first radio frequency signal transmitted by the first positioning electronic tag 22.

As the first calculating unit 122, the time interval or the strength of the first radio frequency signal received by each anchor base station 211 in the positioning base stations 21 is compared, that is, the three-dimensional coordinate of the first positioning electronic tag 22 is analyzed and calculated through the first reply signal with time information or strength information.

In an embodiment, the second obtaining module 12 further includes: the first averaging unit 123 is configured to, when the positioning base station 21 includes at least two groups, respectively receive the first radio frequency signals, correspondingly generate at least two groups of first reply signals, calculate at least two groups of dynamic three-dimensional coordinates according to the at least two groups of first reply signals, average the at least two groups of dynamic three-dimensional coordinates, and obtain final dynamic three-dimensional coordinates, that is, actual dynamic three-dimensional coordinates. For example, if there are three positioning base stations 21, three sets of coordinates, namely a1(x1, y1, z1), a2(x2, y2, z2), and A3(x3, y3, z3), are obtained first, and finally, the final coordinate is obtained through averaging (a), (y 1, z 3552)、、). And a final dynamic three-dimensional coordinate is obtained after at least two groups of dynamic three-dimensional coordinates are subjected to average processing, so that the result is more accurate.

In an embodiment of the present invention, the first obtaining module 11 includes:

the acquisition unit is used for receiving the three-dimensional coordinates of the goods placement/extraction position input from the outside; the static three-dimensional coordinates of the positions where the goods need to be placed/extracted are directly and manually input into the control equipment, the method is convenient and quick, other equipment is not needed for assistance, the placing positions of the goods only need to be measured in advance, and the method is suitable for standardized stacking. For example, in a stacking warehouse, the specifications of goods and the required stacking position are not changed, so that only the three-dimensional coordinates of each placing/extracting position at the position are measured in advance, and when the three-dimensional coordinates are required, the placing/extracting position coordinates are directly output, and the stacking warehouse is simple and rapid.

Referring to fig. 8, in another embodiment, the first obtaining module 11 includes:

the second receiving unit 111 is configured to receive a second radio frequency signal transmitted to a preset positioning base station 21 by a second positioning electronic tag 23 pre-installed at a position where the cargo is to be placed/taken, where the positioning base station 21 generates a corresponding second reply signal according to the second radio frequency signal;

and a second calculating unit 112, configured to calculate three-dimensional coordinates of the second positioning electronic tag 23 according to the second reply signal.

The second receiving unit 111 receives the second reply signal. The second positioning electronic tag 23 is disposed at a position where the goods are to be placed/extracted, and then three-dimensional coordinates of the second positioning electronic tag 23 are measured, that is, the position where the goods are to be placed/extracted can be represented, and specifically which position is disposed at the position where the goods are to be placed/extracted can be set according to a specific stacking requirement, for example, the position is disposed at a center of the position where the goods are to be placed/extracted, or a side of the position where the goods are to be placed/extracted, and the like. The positioning base station 21 may be composed of at least three anchor base stations 211 which are not on the same straight line, and generates a second reply signal with time information or signal strength information by receiving a second radio frequency signal transmitted by the second positioning electronic tag 23.

As mentioned above, the second calculating unit 112 compares the time intervals or the signal strengths of the second rf signals received by each of the positioning base stations 21, i.e. analyzes and calculates the three-dimensional coordinates of the second positioning electronic tag 23 through the second reply signal with the time information or the signal strength information.

In a specific embodiment, the first obtaining module 11 further includes a second averaging unit 113, configured to, when the positioning base station 21 includes at least two groups, respectively receive second radio frequency signals, correspondingly generate at least two groups of second reply signals, calculate and obtain at least two groups of static three-dimensional coordinates according to the at least two groups of second reply signals, and average the at least two groups of static three-dimensional coordinates to obtain final static three-dimensional coordinates, that is, actually used static three-dimensional coordinates. If there are three sets of first set of positioning coordinates, three sets of coordinate values, namely B1(x1 ', y 1', z1 '), B2(x 2', y2 ', z 2'), B3(x3 ', y 3', z3 '), are obtained first, and finally, the final coordinate value B (x 1', y3 ', z 3') is obtained through average processing、、). And a final static three-dimensional coordinate is obtained after at least two groups of static three-dimensional coordinates are subjected to average processing, so that the result is more accurate.

In an embodiment, the control module 13 further includes a delay unit, configured to control the fork of the pallet stacker to stop for a specified time after the static three-dimensional coordinate and the dynamic three-dimensional coordinate are determined to coincide with each other, and then place/pick up the goods. The time that whether the position of the fork body 31 is correct can be judged again for operators, if the position is incorrect, the control needs to be adjusted again, and the accuracy of placing/taking goods by the pallet stacker is improved.

In a specific embodiment, a box body needs to be stacked on a shelf, first, a UWB pulse is emitted through a second positioning electronic tag 23 disposed at a position where goods are to be placed/extracted, so that the UWB pulse is obtained through a positioning base station 21 and position information (a second reply signal) of the second positioning electronic tag 23 is sent to a second receiving unit 111, and a second calculating unit 112 calculates a three-dimensional coordinate of the second positioning electronic tag 23, that is, a three-dimensional coordinate of a position where goods are to be placed/extracted; then, the first positioning electronic tag 22 arranged at the center position of the fork 31 of the stacker car emits UWB pulses, so that the first positioning electronic tag acquires position information (a first return signal) of the first positioning electronic tag 22 in real time through a UWB positioning base station and transmits the position information to the first receiving unit 121, and the first calculating unit 122 calculates a three-dimensional coordinate of the first positioning electronic tag 22, that is, a three-dimensional coordinate of the fork 31 of the stacker car; then, the control module 13 controls the stacker to move or manually drive the stacker to a position where the goods are to be stacked, the control module 13 controls the fork 31 to lift and control the pallet stacker to move back and forth, and the like, when the three-dimensional coordinate of the first positioning electronic tag 22 and the three-dimensional coordinate of the second positioning electronic tag 23 are within a specified distance, the judgment unit 131 judges that the two are overlapped, the container is put down, and a stacking task is finished.

In this embodiment, through the control of host computer 10, need not the staff and confirm through the people's eye that to place/extract the position, automatic stack the goods to the assigned position, improve the speed and the degree of accuracy of stack, reduce staff's intensity of labour.

Referring to fig. 9 and 10, an embodiment of the present invention further provides a system for placing/picking up goods by a pallet stacker, including a first positioning device 20 and an upper computer 10; the upper computer 10 acquires a static three-dimensional coordinate of a position where the goods are to be placed/extracted; acquiring the dynamic three-dimensional coordinates of the fork body 31 of the stacker car in real time through the positioning device 20; the upper computer 10 controls the stacking car to work according to the relative position relation between the static three-dimensional coordinate and the dynamic three-dimensional coordinate, and when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is smaller than a preset specified distance, the static three-dimensional coordinate is judged to be overlapped with the dynamic three-dimensional coordinate, the fork body 31 is controlled, and goods are placed on the fork body 31.

In this embodiment, the upper computer 10 is an intelligent electronic device, and may be connected to a designated electronic device in a wired or wireless manner, and may analyze and calculate a received signal, and may also send a control command to a corresponding electronic device, where the upper computer 10 is generally connected to a switch 11 for switching signals, and the switch 13 is connected to receive signals of each electronic device. The above-mentioned static three-dimensional coordinates of the position where the goods are to be placed/extracted refer to points having a certain meaning formed by three variables independent of each other, and generally include an X-axis, a Y-axis, and a Z-axis. In this embodiment, the static three-dimensional coordinates of the position where the cargo is to be placed/extracted refer to three-dimensional coordinates in a designated cargo yard; the positioning device 20 is a device capable of determining three-dimensional coordinates of a designated object, such as the positioning device 20 manufactured by technologies such as Wi-Fi, ZigBee, BlueTooth (BlueTooth technology), active RFID (Radio Frequency Identification) UWB (Ultra wide band, pulse Radio), and the like. The dynamic three-dimensional coordinates refer to dynamic three-dimensional coordinates of the fork body 31 in a specified goods yard, wherein static three-dimensional coordinates of a position where goods are to be placed/extracted and dynamic three-dimensional coordinates of the fork body 31 of the stacking car refer to three-dimensional coordinates in the same coordinate system. The real-time acquisition of the three-dimensional coordinates of the fork 31 means that the position of the fork 31 will change continuously, and therefore the real-time acquisition of the dynamic three-dimensional coordinates of the fork 31 is required. After the upper computer 10 acquires the static three-dimensional coordinate of the goods placing/extracting position and the moving three-dimensional coordinate of the fork body 31 of the stacking car, the driving device of the stacking car is controlled to drive the stacking car to move and/or the fork body 31 to move, the stacking car is firstly moved to a specified position on one side face of the three-dimensional coordinate of the goods placing/extracting position to stop, then the fork body 31 is driven to move upwards or downwards, the stacking car is driven to move, and the like, so that the static three-dimensional coordinate and the static three-dimensional coordinate are in a specified position relation, and then the goods are placed/extracted. In one embodiment, when the static three-dimensional coordinates coincide with the dynamic three-dimensional coordinates, the fork body 31 is controlled to place/pick up the goods; and when the distance between the static three-dimensional coordinate and the dynamic three-dimensional coordinate is smaller than a preset specified distance, judging that the static three-dimensional coordinate and the dynamic three-dimensional coordinate are overlapped. In the actual operation process, the moving three-dimensional coordinate measured by the positioning device 20 has an error with the actual three-dimensional coordinate of the fork 31, and is unavoidable, and it is usually very difficult to make the moving three-dimensional coordinate of the fork 31 completely coincide with the three-dimensional coordinate of the goods placing/picking position, so an allowable error threshold value is preset, the stacking speed can be increased, and the placing/picking accuracy is not affected. Also in different palletization jobs, different specified distances may be set as threshold values, which are typically ± 5 to ± 25 centimeters. For example, when the spacing between the stacking boxes is required to be large, the threshold value can be set to be larger; if a small spacing between the stacked cassettes is required, the threshold needs to be set relatively small, etc. In a specific embodiment, when the distance between the three-dimensional coordinate of the fork 31 and the three-dimensional coordinate of the cargo placing/extracting position is within ± 5 cm, the two coordinates are considered to coincide with each other, and the cargo is automatically placed/extracted.

In a specific embodiment, the upper computer 10 obtains a static three-dimensional coordinate B (Xb, Yb, Zb) where the goods are to be placed, then obtains a dynamic three-dimensional coordinate a (Xb, Ya, Za) of the fork 31 in real time, outputs a control command in real time according to a relative position relationship between the dynamic three-dimensional coordinate and the static three-dimensional coordinate, controls the stacker crane to move, first moves the stacker crane to one side of the static three-dimensional coordinate according to a preset command, so that Xa and Xb are substantially equal (an error allowable range can be set according to an actual situation), and a difference between Yb and Ya is a specified value which is greater than the length of the fork 31 of the stacker crane; then controlling the stacking trolley to adjust the direction to enable the fork body 31 to be aligned to the Y coordinate direction of the static three-dimensional coordinate; then the fork body 31 is controlled to ascend or descend to enable Zb and Za to be basically equal (the error allowable range can be set according to actual conditions); the upper computer 10 controls the piling car or the fork body 31 to move, so that when Yb and Ya are basically equal, the goods are placed, and a stacking task of the goods is completed.

Referring to fig. 10, the positioning device 20 includes a positioning base station 21 and a first positioning electronic tag 22, and the first positioning electronic tag 22 is disposed on the fork 31, so that the three-dimensional coordinates of the first positioning electronic tag 22 are measured, i.e. the three-dimensional coordinates of the fork 31 can be represented. The first positioning electronic tag 22 is specifically disposed at a specific position on the fork 31, and may be disposed according to a specific stacking requirement, such as at a central position of the fork 31, or a branch of the fork 31. The positioning base station 21 may be composed of three anchor point base stations 211 which are not on the same straight line, and generates a first return signal with time information or intensity information to the upper computer 10 by receiving a first radio frequency signal transmitted by the first positioning electronic tag 22.

In an embodiment, the positioning base stations 21 include at least two groups, when the at least two groups of positioning base stations 21 respectively receive the first radio frequency signals, at least two groups of first recovery signals are correspondingly generated, the upper computer 10 calculates at least two groups of moving three-dimensional coordinates according to the at least two groups of first recovery signals, and averages the at least two groups of moving three-dimensional coordinates to obtain final moving three-dimensional coordinates, that is, actual moving three-dimensional coordinates. For example, if there are three positioning base stations 21, three sets of coordinates, namely a1(x1, y1, z1), a2(x2, y2, z2), and A3(x3, y3, z3), are obtained first, and finally, the final coordinate is obtained through averaging (a), (y 1, z 3552)、、). And a final dynamic three-dimensional coordinate is obtained after at least two groups of dynamic three-dimensional coordinates are subjected to average processing, so that the result is more accurate.

Referring to fig. 10, the positioning device 20 further includes a second positioning electronic tag 23, the second positioning electronic tag 23 is disposed at the cargo placing/picking position, and transmits a second radio frequency signal to the positioning base station 21, and the positioning base station 21 generates a corresponding second reply signal according to the second radio frequency signal and transmits the second reply signal to the upper computer 10. The second positioning electronic tag 23 is set at a goods placing/extracting position, and then the three-dimensional coordinate of the second positioning electronic tag 23 is measured out, that is, a static three-dimensional coordinate representing the goods placing/extracting position, and specifically which position is set at the goods placing/extracting position, the three-dimensional coordinate can be set according to a specific stacking requirement, for example, the three-dimensional coordinate is set at the center position of the placing/extracting position or on one side edge of the placing/extracting position, and when the dynamic three-dimensional coordinate moves to a specified position relative to the static three-dimensional coordinate, the task of placing/extracting the goods is completed. The positioning base station 21 may be three base stations or a plurality of base stations not on the same straight line, and generates a second reply signal with time information or signal intensity information to the upper computer 10 by receiving a second radio frequency signal transmitted by the second positioning electronic tag 23.

In a specific embodiment, the positioning base stations 21 include at least two groups, when the at least two groups of positioning base stations 21 respectively receive the second radio frequency signals, at least two groups of second reply signals are correspondingly generated, the upper computer 30 calculates at least two groups of static three-dimensional coordinates according to the at least two groups of second reply signals, and averages the at least two groups of static three-dimensional coordinates to obtain final static three-dimensional coordinates, that is, actually used static three-dimensional coordinates. If there are three sets of first set of positioning coordinates, three sets of coordinate values, namely B1(x1 ', y 1', z1 '), B2(x 2', y2 ', z 2'), B3(x3 ', y 3', z3 '), are obtained first, and finally, the final coordinate value B (x 1', y3 ', z 3') is obtained through average processing、、). By at least two groups of static three-dimensionsAnd a final static three-dimensional coordinate is obtained after coordinate averaging, so that the result is more accurate.

Referring to fig. 4 and 5, in the present embodiment, the positioning base station 21 is a UWB positioning base station, two sets of UWB positioning base stations are disposed in a rectangular parallelepiped cargo station, each set of UWB positioning base station includes three UWB anchor base stations 211, for example, the UWB anchor base stations 211a1, a2, A3 are a set, the UWB anchor base stations 211B1, B2, B3 are a set, and the six UWB anchor base stations 211 are disposed at different vertices of the rectangular parallelepiped cargo station. For example, UWB anchor base stations 211a1, a2 set up respectively at the both ends of a diagonal of cuboid goods yard top surface, and UWB anchor base station 211 A3 sets up in cuboid goods yard bottom surface, keep away from a1, the summit department of the vertical face that a2 is located, UWB anchor base station 211B1, B2 sets up respectively in UWB anchor base station 211a1, under a2 and be located the bottom surface of cuboid goods yard, UWB anchor base station 211B3 sets up in cuboid goods yard with the other end department of the diagonal of A3 as the starting point, UWB anchor base station 211 so set up, the position of each UWB anchor base station 211 is conveniently confirmed, thereby conveniently and accurately establish the coordinate system of cuboid goods yard, improve the accuracy of location, and the cuboid covers the goods yard comprehensively, no measurement dead angle, make the palletized vehicle obtain the biggest placing/extracting goods range. The two groups of UWB positioning base stations respectively receive second radio frequency signals of a second positioning electronic tag 23 on the shelf, generate two corresponding groups of second reply signals and analyze the two groups of second reply signals to obtain a final static three-dimensional coordinate; first location electronic tags sets up in the central point of the fork body 31 of tray piling car and puts, and after the tray piling car got into the cuboid goods yard, first location electronic tags sent first radio frequency signal and was received by two sets of UWB location basic stations respectively to the calculation obtains first location electronic tags's three-dimensional coordinate that moves. . In this embodiment, the UWB positioning base station is used, that is, the first positioning electronic tag 22 and the second positioning electronic tag 23 are connected to the driving circuit, so that the UWB positioning base station periodically sends UWB pulses to each UWB anchor point base station 211 of the UWB positioning base station, and the UWB positioning base station calculates the current three-dimensional position information of the first positioning electronic tag 22 and the second positioning electronic tag 23 according to the pulses, so that the obtained three-dimensional coordinates are more accurate. In other embodiments, other positioning techniques may be used for positioning.

In this embodiment, the pallet stacker is further provided with a display controller 32, which can display a three-dimensional space figure of a rectangular solid goods station, and display positions of the first positioning electronic tag 22 and the second positioning electronic tag 23 in the three-dimensional space figure, for example, a red point represents a static three-dimensional coordinate position, and a green point represents a dynamic three-dimensional coordinate, that is, a real scene is simulated, when the display controller 32 displays that the red point and the green point coincide, it is indicated that goods are placed or extracted successfully, and a sound and/or light prompt is given to perform subsequent work. In this embodiment, the display controller 32 is connected to the upper computer 10, or the display controller 32 is the upper computer 10.

In one embodiment, when the static three-dimensional coordinates and the dynamic three-dimensional coordinates are determined to coincide with each other, the upper computer 10 controls the control fork of the pallet stacker to stop for a predetermined time, and then performs the placing/picking of the goods. The operator can judge whether the position of the fork body 31 is correct or not again, if the position is incorrect, the control needs to be readjusted, and the accuracy of placing/taking goods by the pallet stacker is improved.

In a specific embodiment, a box body needs to be stacked on a shelf, firstly, a second positioning electronic tag 23 arranged at a position where goods are to be placed/extracted emits a UWB pulse, so that the second positioning electronic tag obtains position information (a second reply signal) of the second positioning electronic tag 23 through a UWB positioning base station and sends the position information to an upper computer 10, and the upper computer 10 calculates a three-dimensional coordinate of the second positioning electronic tag 23, namely, a static three-dimensional coordinate of the position where goods are to be placed/extracted; then, the first positioning electronic tag 22 arranged at the center of the fork body 31 of the stacker car emits UWB pulses, so that the UWB pulses are transmitted to the upper computer 10 through the first positioning electronic tag 22 which is obtained by the UWB positioning base station (first recovery signal), and the upper computer 10 calculates the three-dimensional coordinate of the first positioning electronic tag 22, that is, the dynamic three-dimensional coordinate of the fork body 31 of the stacker car; then, the upper computer 10 controls the stacker to move or manually drives the stacker to a position where goods are to be stacked, the upper computer 10 controls the fork body 31 to lift and controls the pallet stacker to move back and forth, and the like, when the three-dimensional coordinates of the first positioning electronic tag 22 and the three-dimensional coordinates of the second positioning electronic tag 23 are within a specified distance, the container is put down, and a stacking task is finished.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method of placing/retrieving goods on/from a pallet stacker, comprising:

2. The method for placing/retrieving goods by a palletized pallet truck as in claim 1, wherein the step of acquiring in real time the dynamic three-dimensional coordinates of the forks of the palletizer comprises:

3. The method for placing/retrieving the goods by the palletizing vehicle as claimed in claim 2, wherein the positioning base stations comprise at least two groups, when the at least two groups of positioning base stations respectively receive the first radio frequency signal of the first positioning electronic tag, the at least two groups of first recovery signals are correspondingly generated, the at least two groups of moving three-dimensional coordinates are obtained by calculation according to the at least two groups of first recovery signals, and the at least two groups of moving three-dimensional coordinates are averaged to obtain the final moving three-dimensional coordinates.

4. The method for placing/retrieving a load from a palletized pallet as in claim 1, wherein said step of obtaining the static three-dimensional coordinates of the location where the load is to be placed/retrieved comprises:

5. The method for placing/retrieving the goods by the pallet stacker as claimed in claim 5, wherein the positioning base stations comprise at least two sets, when the at least two sets of positioning base stations respectively receive the second radio frequency signals of the second positioning electronic tags, the at least two sets of second reply signals are correspondingly generated, the at least two sets of static three-dimensional coordinates are obtained by calculation according to the at least two sets of second reply signals, and the at least two sets of static three-dimensional coordinates are averaged to obtain the final three-dimensional coordinates.

6. A device for placing/retrieving goods for a pallet stacker, comprising:

7. The apparatus for loading/unloading goods by a palletized pallet as in claim 6, wherein said second acquisition module comprises:

8. The apparatus for loading/unloading goods by a palletized pallet truck as in claim 7, wherein said second acquisition module further comprises:

9. The apparatus for loading/unloading goods by a palletized pallet truck as in claim 6, wherein said first acquisition module comprises:

10. The apparatus for loading/unloading goods by a palletized pallet truck as in claim 9, wherein said first acquisition module further comprises:

11. A system for placing/picking cargos by a pallet stacker is characterized by comprising a positioning device and an upper computer;