CN114955355A - Stacker addressing method, device, equipment and storage medium - Google Patents
Stacker addressing method, device, equipment and storage medium Download PDFInfo
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- CN114955355A CN114955355A CN202210794611.2A CN202210794611A CN114955355A CN 114955355 A CN114955355 A CN 114955355A CN 202210794611 A CN202210794611 A CN 202210794611A CN 114955355 A CN114955355 A CN 114955355A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The application is suitable for the technical field of automatic stereoscopic warehouses and provides a stacker addressing method, a stacker addressing device, stacker addressing equipment and a storage medium, wherein the stacker addressing method comprises the following steps: partitioning the goods positions of the goods shelves according to the specifications of the goods positions of the goods shelves; sampling goods shelves and goods positions of different partitions, and establishing a goods position address table based on sampling results; and carrying out subarea address identification on the goods shelves and goods positions of different subareas through the goods position address table. The method and the device can realize accurate addressing of the goods shelves with different specifications of goods positions, and improve the compatibility of the stacker for forming a warehouse by coping with complex goods positions.
Description
Technical Field
The application belongs to the technical field of automatic stereoscopic warehouses, and particularly relates to a stacker addressing method, device, equipment and storage medium.
Background
Along with the wider application of the automatic stereoscopic warehouse consisting of the rail roadway type stacking machines in various fields, higher and higher requirements are put forward on the operating efficiency and the safety of the stacking machines. The stacker identification is an important link in the debugging process of the stacker, the accuracy of the stacker identification directly influences the failure rate and the stability of the stacker, and the stacker identification is an important index for ensuring the safe operation of the automatic stereoscopic warehouse. In order to save the space of the goods shelf and meet the space requirements of goods with different specifications, the goods shelves of the same roadway usually have goods positions with different specifications, but the general stacker address method is difficult to accurately address the goods shelves with the goods positions with different specifications.
Disclosure of Invention
The embodiment of the application provides a stacker addressing method, a stacker addressing device, stacker addressing equipment and a storage medium, and can solve the problem that the existing stacker addressing method is difficult to accurately address shelves with different specifications of goods positions.
A first aspect of an embodiment of the present application provides a stacker addressing method, including:
partitioning the goods positions of the goods shelves according to the specifications of the goods positions of the goods shelves;
sampling goods shelves and goods positions of different partitions, and establishing a goods position address table based on sampling results;
and carrying out subarea address identification on the goods shelves and goods positions of different subareas through the goods position address table.
A second aspect of the embodiments of the present application provides a stacker addressing apparatus, including:
the partition module is used for partitioning the goods shelf goods space according to the specification of the goods shelf goods space;
the sampling module is used for sampling goods shelves and goods places of different partitions and establishing a goods place address table based on sampling results;
and the addressing module is used for performing subarea addressing on the goods shelves and the goods positions of different subareas through the goods position address table.
A third aspect of the embodiments of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the stacker addressing method as described above is implemented.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the stacker addressing method as described above.
According to the stacker address identifying method provided by the first aspect of the embodiment of the application, the goods shelf goods positions are partitioned according to the specifications of the goods shelf goods positions and sampled according to the goods shelf goods positions in different partitions, then the goods location address list is established based on the sampling result, and the goods shelf goods positions in different partitions are subjected to partition address identification through the goods location address list, so that accurate address identification of goods shelves with goods positions in different specifications can be realized, and the compatibility of a stacker for forming a warehouse by coping with complex goods positions is improved.
It is to be understood that, for the beneficial effects of the second, third and fourth aspects, reference may be made to the description of the first aspect, and details are not repeated here.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of an addressing method of a stacker according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of step S10 of the stacker addressing method according to the embodiment of the present application;
fig. 3 is a schematic flowchart of step S10 of the stacker addressing method according to an embodiment of the present application;
fig. 4 is a schematic flowchart of step S30 of the stacker addressing method according to the embodiment of the present application;
fig. 5 is a schematic flowchart of step S30 of the stacker addressing method according to an embodiment of the present application;
fig. 6 is a schematic flowchart of an addressing method of a stacker according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a stacker addressing device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise. "plurality" means "two or more".
Example one
The embodiment of the application provides an address identification method for a stacker, which can be executed by a processor of a terminal device when a corresponding computer program is operated, and is used for partitioning goods shelves according to the specifications of the goods shelves and sampling the goods shelves of different partitions, further establishing a goods location address table based on sampling results and performing partition address identification on the goods shelves of different partitions through the goods location address table, so that accurate address identification of the goods shelves with the goods shelves of different specifications can be realized, and the compatibility of the stacker for forming a warehouse by coping with complex goods locations is improved.
As shown in fig. 1, the stacker addressing method provided in this embodiment includes the following steps S10 to S30:
and S10, partitioning the goods shelf according to the specification of the goods shelf.
In application, different partition strategies can be selected according to the condition of the goods shelf, the goods shelf with various specification goods positions can be divided into different partitions according to the specification of the goods position, and if the goods shelf with two specification goods positions exists, the goods positions with two specifications can be divided into two partitions.
And S20, sampling the goods shelves and the goods positions of different partitions, and establishing a goods position address table based on the sampling result.
In application, different positions of goods positions of the goods shelf in different partitions can be sampled, samples are distributed in the goods shelf to form latticed nodes, a goods position address table is established by conversion of a sampling result according to a certain rule, and different addresses can be selected according to the goods shelf condition by the goods position addresses in the goods position address table.
And S30, performing subarea address on the shelf goods positions of different subareas through the goods position address table.
In application, after the goods shelf goods positions are partitioned according to the specifications of the goods shelf goods positions, the goods shelf goods positions of different partitions can be respectively addressed through the goods shelf address table, the addressing processes among different partitions are relatively independent, and the addressing results of the whole goods shelf can be obtained by combining the addressing results of different partitions.
The stacker address identifying method provided by the embodiment of the application partitions the goods shelves and samples the goods shelves of different partitions according to the specifications of the goods shelves, and then establishes the goods level address table based on the sampling result and identifies the goods shelves of different partitions in a partition mode through the goods level address table, so that accurate address identification of the goods shelves with the goods shelves of different specifications can be realized, and the compatibility of the stacker for solving the complex goods levels to form a warehouse is improved.
Example two
The second embodiment of the present application provides a stacker address identifying method implemented based on the first embodiment, which can be executed by a processor of a terminal device when running a corresponding computer program.
As shown in fig. 2, step S10 includes steps S11 to S13:
and S11, dividing the goods shelves with the same theoretical specification into a first partition.
In application, for a shelf with various specifications of goods positions, the goods positions can be divided into different subareas according to the specifications of the goods positions, and if the theoretical specifications of the goods positions of the shelf are the same, the goods positions of the shelf with the same theoretical specifications can be divided into a first subarea.
S12, obtaining the deviation value of the actual specification and the theoretical specification of the goods shelf in the first partition.
In application, if the goods shelf position in the first partition has installation errors, partition boundaries are determined according to deviation values of actual specifications and theoretical specifications of the goods shelf position, and further partitioning is carried out.
And S13, dividing the goods shelf goods space with the deviation value larger than the preset value in the first partition into second partitions.
In application, when the deviation value of the actual specification and the theoretical specification of the goods shelf position in the first partition is larger than a preset value, the goods shelf position with the deviation value larger than the preset value in the first partition is divided into a second partition, and re-addressing is carried out.
In a general stacker address identification method, if a goods shelf has deviation in the process of engineering installation, even if the error is within the range of engineering requirements, the goods shelf needs to be calibrated as long as the error exceeds the address identification requirement (generally more than 5 mm) of the stacker, and a large amount of labor cost and engineering construction time are wasted.
The stacker address identifying method provided by the embodiment of the application comprises the steps of obtaining the deviation value of the actual specification and the theoretical specification of the goods shelf in the first partition, and dividing the goods shelf in the first partition, of which the deviation value is larger than the preset value, into the second partitions, so that the goods shelf in the second partition is re-addressed, the problem of the deviation of the goods shelf caused by the installation of the goods shelf can be solved with lower cost, and the deviation in the goods shelf installation process can be compatible.
As shown in fig. 3, in one embodiment, step S10 further includes steps S14 and S15:
and S14, obtaining the position limit of the deformation or settlement of the goods shelf position in the first partition.
In application, if there are mechanical deformations and accumulated settled shelf locations in the shelf locations within the first partition, the positional limits of the deformation and settlement of the shelf locations can be found by sampling.
And S15, dividing the goods shelf position exceeding the position limit in the first partition into a second partition.
In application, the deformed or settled goods shelf position in the first partition can be divided into the second partition for re-addressing.
In a common stacker addressing method, if partial mechanical settlement or ground settlement occurs after the goods location of a goods shelf is addressed, the goods location is irregular as a whole, but equipment hidden danger cannot be caused, the whole goods shelf needs to be rectified and modified, and then the addressing is performed again, so that a large amount of labor cost and time cost can be wasted.
The stacker address identification method provided by the embodiment of the application can expand the rectification method of deformation and settlement of the goods shelf position by acquiring the position limit of deformation or settlement of the goods shelf position in the first partition and dividing the goods shelf position exceeding the position limit in the first partition into the second partition, thereby re-identifying the goods shelf position in the second partition.
In one embodiment, step S20 includes:
and uniformly distributing and sampling preset positions of goods shelves and goods positions of different partitions, and establishing a goods position address table based on sampling results.
In application, the sampling method of the goods position of the goods shelf is uniform distribution sampling, the preset positions can be the top layer, the bottom layer, the first column and the tail column of the goods position of the goods shelf, a goods position address table is established according to the sampling result, and the goods position address table can comprise: actual values of the positions of the four corners in each subarea; the distance between the first layer and the second layer and the distance between the second layer and the third layer in each partition; the spacing between the first and second columns and the spacing between the second and third columns in each partition.
As shown in fig. 4, in one embodiment, step S30 includes steps S31 and S32:
s31, acquisition algorithm logic and addressing logic.
In application, the algorithm logic and addressing logic program block can be written, and the algorithm logic and addressing logic in the PLC can be utilized.
And S32, inputting the goods position address table into the algorithm logic and the addressing logic to obtain the actual address values of the goods positions of the goods shelves in different partitions.
In application, the actual position values of the goods positions at four corners, the distance between the first layer and the second layer in each partition, the distance between the second layer and the third layer, the distance between the first row and the second row in each partition and the distance between the second row and the third row are filled in by using algorithm logic and addressing logic in the PLC, and the actual addressing value corresponding to each goods position is automatically calculated.
As shown in fig. 5, in one embodiment, step S30 further includes steps S33 and S34:
and S33, establishing address data blocks corresponding to the shelf goods positions of different partitions.
In application, a corresponding address data block can be established for each shelf cargo space.
And S34, writing the actual address value into the initial value of the corresponding address data block.
In application, the PLC snapshot function can be utilized to write the actual address values of the goods positions obtained through calculation into the initial values of the corresponding address data blocks, so that the actual address values of the goods positions of each goods shelf can be confirmed.
As shown in fig. 6, in one embodiment, the stacker addressing method further includes step S40:
and S40, performing address rechecking on the goods shelf positions after the address division.
In application, the goods shelf location after the partition identification is subjected to address rechecking, and the goods shelf location after the partition identification can be subjected to sampling inspection, particularly to test of special goods locations.
EXAMPLE III
As shown in fig. 7, this embodiment further provides a stacker addressing device, where the stacker addressing device 700 includes:
the partitioning module 701 is used for partitioning the goods shelf goods space according to the specification of the goods shelf goods space;
the sampling module 702 is used for sampling the goods shelves and the goods positions of different partitions and establishing a goods position address table based on the sampling result;
the address module 703 is configured to perform partition address on the shelf location in different partitions through the location address table.
Optionally, the partition module 701 includes:
and the first partition unit is used for dividing the goods shelves with the same theoretical specification into a first partition.
And the deviation acquiring unit is used for acquiring the deviation value between the actual specification and the theoretical specification of the goods position of the goods shelf in the first partition.
And the deviation partition unit is used for dividing the goods shelf goods position with the deviation value larger than the preset value in the first partition into second partitions.
Optionally, the partition module 701 further includes:
and the limit acquisition unit is used for acquiring the position limit of deformation or settlement of the goods shelf in the first partition.
And the boundary partition unit is used for dividing the goods shelf position exceeding the position boundary in the first partition into a second partition.
Optionally, the sampling module 702 is configured to perform uniform distribution sampling on preset positions of the goods shelves and the goods shelves in different partitions, and establish a goods shelf address table based on sampling results.
Optionally, the addressing module 703 includes:
and the logic acquisition unit is used for acquiring the algorithm logic and the addressing logic.
And the actual addressing unit is used for inputting the goods position address table into the algorithm logic and the addressing logic to obtain actual addressing values of goods positions of the goods shelves in different partitions.
Optionally, the addressing module 703 further includes:
and the address data unit is used for establishing address data blocks corresponding to the goods shelves and the goods positions of different partitions.
And the address writing unit is used for writing the actual address value into the initial value of the corresponding address data block.
Optionally, the stacker addressing apparatus 700 further includes:
and the rechecking module is used for performing address rechecking on the goods shelves after the partition address is performed.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a terminal device 800, as shown in fig. 8, which includes a memory 801, a processor 802, and a computer program 803 stored in the memory 801 and operable on the processor 802, where the processor 802 implements the steps of the stacker addressing method provided in the first aspect when executing the computer program 803.
In an application, the terminal device may include, but is not limited to, a processor and a memory, fig. 8 is only an example of the terminal device and does not constitute a limitation to the terminal device, and may include more or less components than those shown, or may combine some components, or different components, such as an input output device, a network access device, and the like. The input and output devices may include cameras, audio capture/playback devices, display screens, and the like. The network access device may include a communication module for wirelessly communicating with an external device.
In an Application, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In some embodiments, the storage may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may also be an external storage device of the terminal device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal device. The memory may also include both internal and external storage units of the terminal device. The memory is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of computer programs. The memory may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments may be implemented.
All or part of the flow of the method of the embodiments described above can be implemented by a computer program that can be stored in a computer-readable storage medium and that, when executed by a processor, can implement the steps of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-drive, a removable hard drive, a magnetic or optical disk, etc.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative devices and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and in addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between apparatuses, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A stacker addressing method, comprising:
partitioning the goods shelf goods space according to the specification of the goods shelf goods space;
sampling the goods shelves and the goods positions of different partitions, and establishing a goods position address table based on sampling results;
and performing partition address recognition on the goods shelf goods positions of different partitions through the goods position address table.
2. The stacker addressing method of claim 1 wherein said partitioning said shelf slots according to their specifications comprises:
dividing the goods shelves with the same theoretical specification into a first subarea;
acquiring a deviation value between the actual specification and the theoretical specification of the goods shelf in the first partition;
and dividing the goods shelf with the deviation value larger than the preset value in the first partition into a second partition.
3. The stacker addressing method of claim 2, wherein said partitioning said shelf slot according to its specifications further comprises;
obtaining the position limit of deformation or settlement of the goods shelf in the first partition;
dividing the shelf space beyond the location limit in a first section into a second section.
4. The stacker addressing method of claim 1 wherein said sampling said shelf slots of different sectors and creating a slot address table based on the sampling comprises:
and uniformly distributing and sampling preset positions of the goods shelves in different partitions, and establishing the goods location address table based on sampling results.
5. The stacker addressing method of claim 1 wherein said sector addressing of said shelf slots of different sectors via said slot address table comprises:
acquiring algorithm logic and addressing logic;
and inputting the goods location address table into the algorithm logic and the addressing logic to obtain actual address values of the goods locations of the goods shelves in different partitions.
6. The stacker addressing method of claim 5 wherein said sector addressing of said shelf slots of different sectors by said slot address table further comprises:
establishing address data blocks corresponding to the goods shelves and the goods positions of different partitions;
and writing the actual address value into the initial value of the corresponding address data block.
7. The stacker addressing method of claim 1, further comprising:
and performing address rechecking on the goods shelf goods location after the partition address.
8. A stacker addressing device, comprising:
the partition module is used for partitioning the goods shelf goods space according to the specification of the goods shelf goods space;
the sampling module is used for sampling the goods shelves and the goods positions of different partitions and establishing a goods position address table based on sampling results;
and the addressing module is used for performing subarea addressing on the goods shelves in different subareas through the goods position address table.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the stacker addressing method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements a stacker addressing method according to any one of claims 1 to 7.
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