CN115164795A - Method, device and equipment for correcting position of bin and storage medium - Google Patents

Abstract

The invention discloses a method, a device, equipment and a storage medium for correcting a bin position, wherein the method comprises the following steps: acquiring a theoretical position of a target position as an initial position; acquiring the relative distance between a transfer device and a reference point of the target bin when the transfer device moves in the target bin; determining correction data according to the relative distance; and correcting the initial position according to the correction data to obtain the actual position of the target position. By the aid of the method, correction data are automatically acquired, occupation of manpower resources is reduced, the problems of long debugging time and low accuracy rate caused by manual correction of needed debugging personnel are solved, correction efficiency and accuracy rate of corresponding bin positions are improved, and the method has great significance in reducing deviation of the bin positions caused by installation and mechanical errors.

Description

Method, device and equipment for correcting position of bin and storage medium

Technical Field

The invention relates to the technical field of warehousing operation, in particular to a method, a device and equipment for correcting positions of warehouses and a storage medium.

Background

Under the normal condition, certain installation errors are easy to occur when the bin positions in various goods shelves are installed, and the actual positions of the corresponding bin positions are not matched with the preset theoretical positions of the bin positions due to the installation errors, so that the positions of the bin positions of the corresponding to-be-placed goods are not accurately determined when the to-be-placed goods are stored.

The existing method for accurately positioning the position of the bin has strong skill dependence on debugging personnel, needs to consume a large amount of human resources, and occupies long debugging time, so that the correction efficiency and the accuracy rate aiming at the position of the corresponding bin are not high.

Disclosure of Invention

The invention provides a method, a device and equipment for correcting a position of a bin and a storage medium, which are used for realizing automatic correction of the position of the bin and improving the accuracy and efficiency of correction of the position of the bin.

According to an aspect of the present invention, there is provided a method of correcting a bin position, the method including:

acquiring a theoretical position of a target position as an initial position;

acquiring the relative distance between a transfer device and a reference point of the target position when the transfer device moves in the target position;

determining correction data according to the relative distance;

and correcting the initial position according to the correction data to obtain the actual position of the target position.

According to another aspect of the present invention, there is provided a correction device of a position of a bin, the device including:

the initial position determining module is used for acquiring the theoretical position of the target bin as an initial position;

the relative distance determining module is used for acquiring the relative distance between the transfer device and a reference point of the target position when the transfer device moves in the target position;

the correction data determining module is used for determining correction data according to the relative distance;

and the actual position determining module is used for correcting the initial position according to the correction data to obtain the actual position of the target bin.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor, and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of correcting a position of a bin provided by any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a method for correcting a position of a bin provided in any one of the embodiments of the present invention when the computer instructions are executed.

According to the technical scheme of the embodiment of the invention, the corresponding correction data is determined according to the relative distance between the obtained transfer device and the reference point position of the corresponding target position when the transfer device moves at the target position, and the theoretical position serving as the initial position of the corresponding target position is corrected according to the correction data to obtain the actual position of the target position. According to the mode, when the actual position of the corresponding target bin is determined, manual correction is not needed by debugging personnel according to self experience, automatic acquisition of correction data is achieved, occupation of manpower resources is reduced, meanwhile, the problems that debugging time is long and accuracy is low due to the fact that the debugging personnel need to perform manual correction are solved, the correction efficiency and accuracy of the corresponding bin position are improved, and the method has important significance in reducing deviation of the bin position caused by installation and mechanical errors.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a method for correcting a bin position according to an embodiment of the present invention;

FIG. 2 is a flowchart of a method for correcting a bin position according to a second embodiment of the present invention;

FIG. 3 is a flowchart of a method for correcting a bin position according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a correction device for bin positions according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a method for correcting a bin position according to an embodiment of the present invention, where the embodiment is applicable to a situation where the bin position is corrected to obtain an actual position of the bin, and the method can be performed by a device for correcting a bin position, where the device can be implemented in a hardware and/or software manner and can be configured in an electronic device. Referring to fig. 1, the method specifically includes the following steps:

and S110, acquiring the theoretical position of the target bin as an initial position.

Wherein the target bin may be a bin for which a position correction is required. The storage space may be a separate space structure in the shelf dedicated for storing articles, such as a battery compartment for storing a single battery pack. The shelf may be a shelf for storing items, such as a battery rack or the like. The rack may consist of at least one bay. The theoretical position may be a position of each bin in the shelf, which is preset in the design process of the corresponding shelf. The initial position may be the position at which the target bin was located before the position of the target bin was corrected, and the initial position may be equivalent to the theoretical position.

Specifically, in the design process of the corresponding shelf, a corresponding reference coordinate system may be established based on the shelf as a whole, the position of each bin in the reference coordinate system may be preset, and the position may be defaulted as the theoretical value of the corresponding bin position. Correspondingly, when the position of the bin needs to be corrected, the theoretical position corresponding to the target bin, which needs to be corrected, can be obtained, and the theoretical position is used as the initial position before the position of the target bin is corrected.

S120, obtaining the relative distance between the transfer device and the reference point of the target position when the transfer device moves in the target position.

The transfer device may be a device for loading and moving the article to be placed, such as a stacker crane. The transfer device can be used for storing and taking the articles to be placed in the corresponding target bin. The reference point location may be a location point in the target bin to which the distance detection is made. The relative distance may be a distance between the reference point of the target position and the transfer device, and may be a distance between the reference point and a distance sensor provided in the transfer device, for example. The distance sensor may be a sensor for measuring distance, such as a laser sensor or the like.

Specifically, after the theoretical position of the target position is set as the initial position, the corresponding transfer device may be controlled to move in the target position based on the initial position. In the moving process of the transfer device in the target position, the relative distance between the reference point and the reference point of the target position can be detected through a distance sensor arranged in the transfer device, and corresponding distance data can be recorded in real time.

And S130, determining correction data according to the relative distance.

The correction data may be a distance that the transfer device moves when the relative distance is equal to the optimal relative distance. The optimal relative distance may be a predetermined relative distance corresponding to a match between the transfer device and the target position. The matching between the transferring device and the target position can be that the transferring device is positioned at the midpoint of the target position.

Specifically, when the transfer device is matched with the target position, the relative distance between the transfer device and the target position may be obtained in advance, and the relative distance may be used as the optimal relative distance. Correspondingly, each relative distance between the transfer device and the target bin, which is obtained in real time in the process that the transfer device moves in the target bin, can be matched with the predetermined optimal relative distance, and the distance, corresponding to the relative distance successfully matched, of the transfer device, which moves correspondingly, is taken as corresponding correction data.

And S140, correcting the initial position according to the correction data to obtain the actual position of the target position.

The actual position may be a position in the shelf after the target bin is installed.

Specifically, a mapping relationship between the correction data, the initial position, and the actual position may be established in advance, and based on the mapping relationship, a database including the corresponding correction data, the initial position, and the actual position may be constructed. Based on this, the corresponding actual position can be matched in the corresponding database according to the acquired correction data and the initial position of the target position, and the matched actual position is taken as the actual position of the target position, so that the correction of the initial position can be realized.

In a preferred embodiment, the method further comprises: and if the positioning pin arranged at the reference point of the candidate bin and the indication information of successful clamping of the article to be placed of the transferring device are not acquired when the transferring device moves to the theoretical position of the candidate bin, taking the candidate bin as the target bin.

The candidate bin may be a candidate bin that needs to be detected with bin position accuracy. The positioning pin can be a part which can be clamped with the article to be placed in the candidate bin. The article to be placed may be an article to be placed into the target bin, and may be, for example, a battery pack or the like. The indication message may be a clamping state according to the positioning pin being clamped with the article to be placed, and the sent indication message may be, for example, a clamping success or a clamping failure.

Specifically, each bin required to be detected for bin position accuracy may be determined in advance, and the bin may be taken as a corresponding candidate bin, where the candidate bin may be any bin in the shelf. For example, the transfer device may be moved to the theoretical position of each candidate bin in a traversal manner. Correspondingly, if the article to be placed loaded in the transfer device is successfully clamped with the positioning pin on the corresponding candidate bin after the transfer device moves to the theoretical position of the candidate bin, the positioning pin can be triggered to send out a clamping success indication message to represent that the theoretical position of the candidate bin is accurate, and the correction process of the bin position can be finished; if the article to be placed loaded in the transfer device is not successfully clamped with the positioning pin on the corresponding candidate bin, the positioning pin can be triggered to send out a clamping failure indication message to represent that the theoretical position of the candidate bin is inaccurate and the bin position needs to be corrected, and based on the situation, the candidate bin can be used as a target bin.

It can be understood that after the transfer device moves to the theoretical position of the candidate bin, according to the clamping state between the article to be placed in the transfer device and the positioning pin in the corresponding candidate bin, the corresponding indication information can be sent out when the clamping fails, and the candidate bin with the corresponding clamping failure is taken as the target bin, so that when the bin position of the candidate bin is accurately judged, whether the article to be placed is accurately placed in the corresponding candidate bin is judged without a mode of visual observation, the situation that the accuracy judgment of the position where the article to be placed is not accurate enough due to the observation is avoided, and the accuracy and the efficiency of judging whether the bin position needs to be corrected in each candidate bin are improved.

According to the embodiment of the invention, the corresponding correction data is determined according to the relative distance between the obtained transfer device and the reference point position of the corresponding target position when the transfer device moves at the target position, and the theoretical position serving as the initial position of the corresponding target position is corrected according to the correction data, so that the actual position of the target position is obtained. According to the mode, when the actual position of the corresponding target bin is determined, manual correction is not needed by debugging personnel according to self experience, automatic acquisition of correction data is achieved, occupation of manpower resources is reduced, meanwhile, the problems that debugging time is long and accuracy is low due to the fact that the debugging personnel need to perform manual correction are solved, the correction efficiency and accuracy of the corresponding bin position are improved, and the method has important significance in reducing deviation of the bin position caused by installation and mechanical errors.

Example two

Fig. 2 is a flowchart of a method for correcting a bin position according to a second embodiment of the present invention, which is further optimized based on the above embodiments.

Furthermore, the method refines the step of determining the correction data according to the relative distance into the step of determining the correction data according to the movement displacement output by the transfer device corresponding to the servo shaft when the relative distance is smaller, so as to complete the determination mechanism of the correction data.

Referring to fig. 2, the method specifically includes the following steps:

s210, acquiring the theoretical position of the target bin as an initial position.

S220, obtaining the relative distance between the transfer device and the reference point of the target position when the transfer device moves in the target position.

And S230, determining correction data according to the movement displacement output by the transfer device corresponding to the servo shaft when the relative distance is smaller.

When the relative distance is small, the relative distance corresponding to the reference point of the target position may be small (for example, minimum) when the transfer device moves in the target position. The servo axis may be a servo mechanism that drives the transfer device to move in different directions. The movement displacement output by the servo axis may be a movement displacement of the servo axis-driven transfer device in different directions, and may include at least one of a displacement in the left-right direction, a displacement in the front-rear direction, a displacement in the up-down direction, and the like. It should be noted that the movement displacement may include a direction and a distance in which the transfer device moves.

Specifically, during the process that the transferring device moves in the target position, the relative distance between the transferring device and the reference point of the target position at each time may be recorded in real time, and the recorded relative distances corresponding to each time may be compared to determine a smaller (e.g., minimum) relative distance. Accordingly, the movement displacement of the servo axis corresponding to the transfer device in different directions at the relative distance can be used as the correction data.

And S240, correcting the initial position according to the correction data to obtain the actual position of the target position.

According to the embodiment of the invention, when the relative distance between the transfer device and the reference point location of the target bin is smaller, the moving displacement output by the transfer device corresponding to the servo shaft is determined, and the correction data is determined according to the moving displacement, so that the distance from the transfer device to the reference point location of the target bin can be taken as the basis for determining the correction data in the process of determining the corresponding correction data, and the corrected transfer device can be ensured to be right opposite to the reference point location of the target bin, so that the corresponding article to be placed can be accurately placed into the target bin, and the accuracy of bin position correction is improved.

EXAMPLE III

Fig. 3 is a flowchart of a method for correcting a bin position according to a third embodiment of the present invention, which is further optimized based on the above embodiments.

Further, the step of "determining correction data according to the movement displacement output by the transfer device corresponding to the servo shaft when the relative distance is small" is refined into the step of "determining the movement distance corresponding to different reference coordinate axes in the reference coordinate system of the initial position according to the movement displacement output by the transfer device corresponding to the servo shaft when the relative distance is small"; and taking the determined moving distances of different reference coordinate axes as the correction data' under the corresponding reference coordinate axes to indicate the specific content and the determination process corresponding to the correction data.

Referring to fig. 3, the method specifically includes the following steps:

s310, acquiring the theoretical position of the target bin as an initial position.

And S320, acquiring the relative distance between the transfer device and the reference point of the target position when the transfer device moves in the target position.

S330, determining the moving distances corresponding to different reference coordinate axes in the reference coordinate system of the initial position according to the moving displacement output by the corresponding servo axis of the transfer device when the relative distance is smaller;

the reference coordinate system of the initial position may be a coordinate system in which the coordinates corresponding to the initial position are located, and may be a reference coordinate system established based on the entirety of the corresponding shelf, for example. The reference coordinate system may be a direct coordinate system and, correspondingly, the reference coordinate axes may be coordinate axes comprised in the reference coordinate system, e.g. may be the x-axis, the y-axis or the z-axis in the respective rectangular coordinate system. The servo axes may include a travel servo axis, a lift servo axis, a fork servo axis, and the like.

Optionally, the number of the servo axes may be three, and different servo axes may correspond to different reference coordinate axes. Wherein the different servo axes may comprise a walking servo axis, a lifting servo axis and a fork servo axis. The traveling servo axis may be a servo axis corresponding to the movement of the transfer device in the left-right direction; the lifting servo shaft can be a servo shaft corresponding to the movement of the transfer device in the vertical direction; the fork servo axis may be a servo axis corresponding to the movement of the transfer device in the front-rear direction. Specifically, each servo axis may correspond to a different reference coordinate axis in the reference coordinate system, for example, may correspond to an x-axis, a y-axis, or a z-axis in the rectangular coordinate system, and continuing the previous example, the walking servo axis may correspond to the x-axis, the fork servo axis may correspond to the y-axis, and the lifting servo axis may correspond to the z-axis; the fork servo axis may correspond to an x axis, the walking servo axis may correspond to a y axis, the lifting servo axis may correspond to a z axis, and the like, where the types of reference coordinate axes corresponding to different servo axes are not specifically limited.

Specifically, when the relative distance between the transfer device and the reference point of the target position is small, the movement displacement of the servo axis in each direction corresponding to the transfer device may be determined. The moving displacement of each servo axis is projected to a reference coordinate system of the initial position, a reference coordinate axis corresponding to each servo axis in the reference coordinate system can be determined, and correspondingly, the moving distance of the transfer device in the direction corresponding to different reference coordinate axes can be determined according to the moving direction and distance of the corresponding transfer device.

And S340, taking the determined moving distances of different reference coordinate axes as correction data under the corresponding reference coordinate axes.

Specifically, after the moving distances of the transfer device in different reference coordinate axes are determined, the moving distances corresponding to the reference coordinate axes are used as the moving distances of the transfer device in the directions corresponding to the different reference coordinate axes based on the initial position of the target bin, so that the moving distances corresponding to the different reference coordinate axes can be used as the correction data in the corresponding reference coordinate axes.

And S350, correcting the initial position according to the correction data to obtain the actual position of the target bin.

For example, correcting the initial position according to the correction data to obtain the actual position of the target bin may include: and respectively superposing the correction data under different reference coordinate axes to the coordinate values of the initial position in the corresponding reference coordinate axes so as to correct the initial position.

Specifically, according to the acquired correction data in different reference coordinate axes, the distance that the transfer device moves in the direction corresponding to the reference coordinate axis can be acquired. Correspondingly, the moving distance and the coordinate value corresponding to the initial position on the corresponding reference coordinate axis may be superimposed, and each coordinate value in the initial position may be corrected according to the coordinate value corresponding to each superimposed reference coordinate axis, and the coordinate value corresponding to each corrected reference coordinate axis may be used as each coordinate value corresponding to the actual position of the target position.

It can be understood that the correction data under different reference coordinate axes are respectively superposed to the coordinate values of the initial position in the corresponding reference coordinate axes to correct the initial position, so that in the process of correcting the initial position, the moving distance of the transfer device in the direction corresponding to each reference coordinate axis can be superposed with each coordinate value corresponding to the initial position to determine the actual position corresponding to the corrected position of the corresponding target bin, thereby avoiding the situation that the transfer device needs to be positioned when moving to a position with a small relative distance, avoiding the need of separately setting positioning equipment for the transfer device, and effectively reducing the cost of correcting the bin position.

In an alternative embodiment, the initial position may be determined in the following manner: determining the initial position according to the distribution condition of the target bin in the shelf and the coordinate origin of the reference coordinate system corresponding to the initial position; wherein the moving displacement of the servo axis when the transfer device is at the origin of coordinates is 0.

The distribution condition may include a preset interval between any two bins in the shelf and a position relationship between the bins. The preset interval between every two bins can be the preset distance between any two bins in the design process of the corresponding goods shelf. The preset interval includes an up-down interval, a left-right interval, and the like. The position relationship among the bins can be the number of the bins separated by the bins. The origin of coordinates may be the location in the reference coordinate system to which the origin corresponds. For example, 5 layers of corresponding shelves can be set from bottom to top, each layer is provided with bin positions A to H, the left and right spacing between any two bin positions can be a, the up and down spacing between any two bin positions can be b, the position relation between the bin position A1 in the first layer of the shelf and the bin position C2 in the second layer of the shelf is that two bin positions are spaced from left and right, one bin position is spaced from top to bottom, and the position relation between other bin positions can be analogized.

Specifically, the position relationship between the bins in the shelf and the preset interval between any two bins in the design process of the shelf can be predetermined. Correspondingly, according to the position relation and the preset interval, the initial position of the corresponding target bin can be determined by combining the coordinate origin of the corresponding initial position corresponding to the reference coordinate system. Continuing the previous example, if the target position is position C1 in the first layer of the rack, and the origin of coordinates of the initial position corresponding to the reference coordinate system is position A1 in the first layer of the rack, the initial position of the target position may be (0, 2a), and the determination of the initial positions of other target positions in the rack may be similar. On the basis, when the transfer device moves to the corresponding coordinate origin, the movement displacement output by the transfer device corresponding to the servo shaft can be set to be 0. The interval between the origin of coordinates of the initial position corresponding to the reference coordinate system and the target bin is equal to the movement displacement of the corresponding transfer device moving based on the corresponding origin of coordinates.

It can be understood that, by determining the corresponding initial position according to the distribution of the target positions in the shelf and the coordinate origin of the reference coordinate system corresponding to the initial position, wherein the movement displacement of the servo axis of the transfer device at the coordinate origin is 0, in the above manner, when determining the initial position of the target position, only the coordinate origin of the reference coordinate system corresponding to the corresponding initial position and the distribution of the target positions in the shelf are required, so that the initial position of each target position included in the shelf does not need to be individually set in the design process of the corresponding shelf, thereby greatly improving the calculability of determining the initial position corresponding to the target position and further effectively improving the efficiency of determining the corresponding initial position.

In an optional embodiment, after correcting the initial position according to the correction data to obtain an actual position of the target position, the method further includes: when the transfer device is moved to the actual position of the target bin, the indication information that the positioning pin arranged at the reference point position of the target bin and the article to be placed on the transfer device are successfully clamped is not acquired, a debugging worker is instructed to correct the bin position of the target bin, and the acquired correction data is manually input into a bin position correction system.

Wherein, the debugging personnel can be operators who can carry out manual adjustment to the target position. The bin position correction system may be a system that automatically corrects the bin position.

Specifically, after the actual position of the target bin is obtained, the transfer device may be moved to the actual position of the target bin, and it may be determined whether the articles to be placed in the transfer device are successfully clamped. Correspondingly, if the clamping is successful, sending indication information of successful clamping to represent that the actual position of the target bin is accurate, and finishing the correction operation of the bin position corresponding to the target bin; if the clamping fails, sending out indication information of the clamping failure to represent that the actual position of the target position is inaccurate, and indicating a debugging person to correct the position of the target position in a manual mode, and manually inputting the obtained correction data into a corresponding position correction system.

It can be understood that, through with move and carry the actual position that the device moved the target position in storehouse, when not obtaining set up in the locating pin of the reference point location of target position in storehouse with move and carry the device and treat the instruction information that the article joint is successful, instruct the debugging personnel right the position in storehouse of target position in storehouse is rectified to correct the correction data manual input position in storehouse position correction system that will obtain, thereby effectively avoided when the position in storehouse of target position in storehouse deviates too greatly, the condition that can't carry out effective correction to corresponding position in storehouse that automatic correction fails and lead to takes place, and then improved the flexibility of rectifying the position in storehouse of target position in storehouse.

According to the embodiment of the invention, when the relative distance is smaller, the moving distance corresponding to different reference coordinate axes under the reference coordinate system of the initial position is determined according to the moving displacement output by the moving device corresponding to the servo axis, and the moving distance is used as the correction data under the corresponding reference coordinate axis, so that the corresponding correction data can be determined based on the moving displacement corresponding to the corresponding servo axis in the correction data determining process, and the moving device does not need to be positioned again in the moving process to determine the moving distance of the moving device on the corresponding reference coordinate axis, the cost for determining the correction data is further reduced, and the convenience and the efficiency for determining the corresponding correction data are effectively improved.

Example four

Fig. 4 is a schematic structural diagram of a correction apparatus for a bin position according to a fourth embodiment of the present invention, where this embodiment is applicable to a situation where a bin position is corrected to obtain an actual position of the bin, and the apparatus may be implemented in a hardware and/or software manner, and may be configured in an electronic device. Referring to fig. 4, the apparatus includes:

an initial position determining module 410, configured to obtain a theoretical position of the target bin as an initial position;

a relative distance determining module 420, configured to obtain a relative distance between a transfer device and a reference point of the target position when the transfer device moves in the target position;

a correction data determining module 430, configured to determine correction data according to the relative distance;

and an actual position determining module 440, configured to correct the initial position according to the correction data, so as to obtain an actual position of the target position.

According to the embodiment of the invention, the corresponding correction data is determined according to the relative distance between the obtained transfer device and the reference point position of the corresponding target position when the transfer device moves at the target position, and the theoretical position serving as the initial position of the corresponding target position is corrected according to the correction data, so that the actual position of the target position is obtained. According to the mode, when the actual position of the corresponding target bin is determined, manual correction is not needed by debugging personnel according to self experience, automatic acquisition of correction data is achieved, occupation of manpower resources is reduced, meanwhile, the problems that debugging time is long and accuracy is low due to the fact that the debugging personnel need to perform manual correction are solved, the correction efficiency and accuracy of the corresponding bin position are improved, and the method has important significance in reducing deviation of the bin position caused by installation and mechanical errors.

Optionally, the correction data determining module 430 may include:

and the correction data determining unit is used for determining the correction data according to the movement displacement output by the transfer device corresponding to the servo shaft when the relative distance is smaller.

Optionally, the correction data determining unit may include:

a moving distance determining subunit, configured to determine, according to a moving displacement output by the transfer device corresponding to the servo axis when the relative distance is small, moving distances corresponding to different reference coordinate axes in a reference coordinate system of the initial position;

and the correction data determining subunit is used for determining the movement distances of different reference coordinate axes as the correction data in the corresponding reference coordinate axes.

Optionally, the actual position determining module 440 may include:

and the initial position correction unit is used for respectively superposing the correction data under different reference coordinate axes to the coordinate values of the initial position in the corresponding reference coordinate axes so as to correct the initial position.

Optionally, the number of the servo axes may be three, and different servo axes may correspond to different reference coordinate axes.

Optionally, the apparatus may further include:

and the target position determining module is used for taking the candidate position as the target position if the indication information that the positioning pin arranged at the reference point of the candidate position and the article to be placed of the transferring device are successfully clamped is not acquired when the transferring device moves to the theoretical position of the candidate position.

Alternatively, the initial position may be determined in the following manner: determining the initial position according to the distribution condition of the target bin in the shelf and the coordinate origin of the reference coordinate system corresponding to the initial position; wherein the moving displacement of the servo axis when the transfer device is at the origin of coordinates is 0.

The correction device for the bin position provided by the embodiment of the invention can execute the correction method for the bin position provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the correction method for each bin position. For the content that is not described in detail in the embodiments of the present invention, reference may be made to the description in any embodiment of the method for correcting a bin position of the present invention.

EXAMPLE five

Fig. 5 is a schematic structural diagram of an electronic device 10 according to a fifth embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. Processor 11 performs the various methods and processes described above, such as the correction of bin positions.

In some embodiments, the correction method of the bin position may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for correcting a bin position described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform the bin position correction method.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method for correcting a position of a bin, comprising:

acquiring a theoretical position of a target bin as an initial position;

acquiring the relative distance between a transfer device and a reference point of the target bin when the transfer device moves in the target bin;

determining correction data according to the relative distance;

and correcting the initial position according to the correction data to obtain the actual position of the target bin.

2. The method of claim 1, wherein determining correction data based on the relative distance comprises:

and determining correction data according to the movement displacement output by the corresponding servo shaft of the transfer device when the relative distance is smaller.

3. The method according to claim 2, wherein the determining the calibration data based on the movement displacement of the transfer device corresponding to the servo axis output when the relative distance is small comprises:

determining the moving distances corresponding to different reference coordinate axes in the reference coordinate system of the initial position according to the moving displacement output by the corresponding servo axis of the transfer device when the relative distance is smaller;

and taking the determined moving distances of different reference coordinate axes as correction data under the corresponding reference coordinate axes.

4. The method according to claim 3, wherein said correcting the initial position based on the correction data comprises:

and respectively superposing the correction data under different reference coordinate axes to the coordinate values of the initial position in the corresponding reference coordinate axes so as to correct the initial position.

5. A method according to claim 3, wherein the number of servo axes is three, and wherein different servo axes correspond to different reference coordinate axes.

6. The method according to any one of claims 1-5, further comprising:

and if the positioning pin arranged at the reference point of the candidate bin and the indication information of successful clamping of the article to be placed of the transfer device are not acquired when the transfer device moves to the theoretical position of the candidate bin, taking the candidate bin as the target bin.

7. The method according to any of claims 2-5, wherein the initial position is determined by:

determining the initial position according to the distribution condition of the target bin in the shelf and the coordinate origin of the reference coordinate system corresponding to the initial position;

wherein the moving displacement of the servo axis when the transfer device is at the origin of coordinates is 0.

8. A correction device for a position of a bin, comprising:

the initial position determining module is used for acquiring a theoretical position of the target bin as an initial position;

the relative distance determining module is used for acquiring the relative distance between the transfer device and a reference point of the target position when the transfer device moves in the target position;

the correction data determining module is used for determining correction data according to the relative distance;

and the actual position determining module is used for correcting the initial position according to the correction data to obtain the actual position of the target bin.

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of correcting a bin position of any one of claims 1-7.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the method of correcting a position of a bin according to any one of claims 1 to 7 when executed.

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