CN115535511A - Control method for multi-station work bin stacker - Google Patents
Control method for multi-station work bin stacker Download PDFInfo
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- CN115535511A CN115535511A CN202211468505.1A CN202211468505A CN115535511A CN 115535511 A CN115535511 A CN 115535511A CN 202211468505 A CN202211468505 A CN 202211468505A CN 115535511 A CN115535511 A CN 115535511A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 126
- 230000000977 initiatory effect Effects 0.000 claims abstract description 8
- 238000012384 transportation and delivery Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 abstract description 3
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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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
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention provides a control method of a multi-station work bin stacker, belonging to the technical field of stacker control; the problems that the conventional multi-station stacker has fleeing instructions, instruction interruption and the like when adopting a ladder diagram or statement list method are solved; at least three work positions of the material box are arranged on the goods carrying platform of the stacker, each work position of the material box is provided with a set of fork, each set of forks is driven by an independent motor and comprises the following steps: the upper WCS sends a storage-in instruction or a storage-out instruction, and the stacker constructs an initial instruction set table according to the instruction content sent by the WCS; generating an initial action set table of the corresponding station according to the initial instruction set table; generating an initial current action table executed correspondingly by a plurality of stations according to the initial action set table; the stacker executes column and layer positioning of a warehousing goods taking platform or a ex-warehouse goods delivering platform according to the current action table, controls one or more work positions of the material boxes to take goods according to the number of the material boxes required for warehousing or ex-warehouse, and updates an instruction set table, an action set table and the current action table in real time; the invention is applied to the stacker.
Description
Technical Field
The invention provides a control method of a multi-station work bin stacker, and belongs to the technical field of stacker control.
Background
The bin type stereoscopic warehouse is an important member of an automatic stereoscopic warehouse, is an overhead warehouse system for storing goods in multiple layers, and comprises a stereoscopic goods shelf, a bin stacker, an in-out warehouse conveying line, a WMS/WCS system and the like. The material box type automatic stereoscopic warehouse is a storage solution for automatically storing and taking material box units (plastic boxes or cartons) by a material box stacker, can select different types of material box stackers such as single-extension position/double-extension position, single station/multi-station position and the like for storage, and is suitable for small-size and light-load articles.
For the automatic stereoscopic warehouse for storing the bins, the bin has smaller volume, lighter weight and more types of stored accessories, so the requirement on the warehousing and ex-warehousing efficiency of the automatic stereoscopic warehouse for the bins is higher. However, the existing multi-station stacker generally adopts a ladder diagram or statement table method, when a plurality of stations are arranged on a loading platform of the stacker, the problems of command fleeing, command interruption and the like exist, and after the power failure is processed, the power-on command needs to be executed again, which causes much inconvenience for use.
Disclosure of Invention
The invention provides a control method of a multi-station work bin stacker, which aims to solve the problems of instruction fleeing, instruction interruption and the like when the existing multi-station stacker adopts a ladder diagram or statement table method.
In order to solve the technical problems, the invention adopts the technical scheme that: a control method of a multi-station work box stacker is characterized in that at least three work box stations are arranged on a cargo carrying platform of the stacker, each work box station is provided with a set of fork, and each set of fork is driven by an independent motor, and the control method comprises the following steps:
s1: the upper WCS sends a storage-in instruction or a storage-out instruction, and the stacker constructs an initial instruction set table according to the instruction content sent by the WCS;
s2: generating an initial action set table of the corresponding station according to the initial instruction set table;
s3: generating an initial current action table executed correspondingly by a plurality of stations according to the initial action set table;
s4: the stacker carries out column and layer positioning of a warehousing goods taking platform or a warehousing goods delivering platform according to the current action table, controls one or more work stations of the material boxes to take goods according to the number of the material boxes required for warehousing or delivering from the warehouse, and updates the instruction set table, the action set table and the current action table in real time in the goods taking process.
The instruction set table is provided with the state of an instruction set, the serial number of the instruction set, the type of the instruction set, the state of the instruction corresponding to each station, the serial number of the instruction and the shelf address.
The action set table refers to an action set which needs to be completed when the instruction function in the instruction set is to be completed; according to the description of the actions of the warehousing and ex-warehouse instructions, the function of an instruction set table is completed;
and the warehousing of the stations of the multiple material boxes is sequentially executed according to the distance between the delivery address and the warehousing platform, and the delivery of the stations of the multiple material boxes is sequentially carried out from the maximum delivery address.
The action set table is provided with an action set table total state, an instruction number and an action serial number of each station, and an action state, an instruction set type, a goods taking and delivering type, a station combination code, a target address row number, a target address column number and a target address layer number corresponding to each action serial number.
The current action table is provided with an action table state, an action serial number in an action set table corresponding to a certain action, an instruction number of each station, an instruction set type, an access type, an operation station code, a work address row number, a work address column number, a work address layer number, a column laser value, a layer high laser value and a layer low laser value.
The action set table general state comprises:
idling;
completing the establishment of the action set;
sequence number 1 action is executing;
sequence number 3 actions are being performed;
sequence number 4 actions are being performed;
……；
the sequence n action is executing;
the action set actions are all performed.
The action table states include:
the action table is idle;
the action is executing the positioning of the destination address;
the action is executing the pickup;
the action is executing a delivery;
this action execution is completed.
The station combination code at least comprises single-station independent operation, double-station combined operation and three-station simultaneous combined operation according to the specifically set station number.
Compared with the prior art, the invention has the beneficial effects that: the method adopted by the invention is that the data table is used for corresponding to the instruction and the execution state of each station, and the fault can be eliminated in the step when the error occurs in the execution of any instruction or when the error occurs in any step. After the elimination, as long as the step is forcibly completed, the following actions (instructions) can be executed after the automatic operation is recovered, which greatly facilitates the processing process in use. The device has high reliability, is convenient and flexible, greatly facilitates the process of troubleshooting, improves the operation efficiency and reduces the downtime.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a flow chart of a control method of the present invention;
FIG. 2 is a flow chart of warehousing of a three-station bin stacker in the embodiment of the invention.
Detailed Description
As shown in fig. 1-2, the invention provides a control method of a multi-station work box stacker, wherein at least three work box stations are arranged on a cargo carrying platform of the stacker, each work box station is provided with a set of fork, and each set of fork is driven by an independent motor, and the control method comprises the following steps:
s1: the upper WCS sends a storage-in instruction or a storage-out instruction, and the stacker constructs an initial instruction set table according to the instruction content sent by the WCS;
s2: generating an initial action set table of the corresponding station according to the initial instruction set table;
s3: generating an initial current action table correspondingly executed by a plurality of stations according to the initial action set table;
s4: the stacker carries out column and layer positioning of a warehousing goods taking platform or a warehousing goods delivering platform according to the current action table, controls one or more work stations of the material boxes to take goods according to the number of the material boxes required for warehousing or delivering from the warehouse, and updates the instruction set table, the action set table and the current action table in real time in the goods taking process.
The instruction set table is provided with the state of an instruction set, the serial number of the instruction set, the type of the instruction set, the state of the instruction corresponding to each station, the serial number of the instruction and the shelf address.
The action set table refers to an action set which needs to be completed when the instruction function in the instruction set is to be completed; according to the description of the actions of the warehousing and ex-warehouse instructions, the function of an instruction set table is completed;
and the warehousing of the stations of the multiple material boxes is sequentially executed according to the distance between the delivery address and the warehousing platform, and the delivery of the stations of the multiple material boxes is sequentially carried out from the maximum delivery address.
The action set table is provided with an action set table total state, an instruction number and an action serial number of each station, and an action state, an instruction set type, a goods taking and delivering type, a station combination code, a target address row number, a target address column number and a target address layer number corresponding to each action serial number.
The current action table is provided with an action table state, an action serial number in an action set table corresponding to a certain action, an instruction number of each station, an instruction set type, an access type, an operation station code, a work address row number, a work address column number, a work address layer number, a column laser value, a layer high laser value and a layer low laser value.
The action set table general state comprises:
idling;
completing the establishment of the action set;
sequence number 1 action is executing;
sequence number 3 actions are being performed;
sequence number 4 actions are being performed;
……；
the sequence n action is executing;
the action set actions are all performed.
The action table states include:
the action table is idle;
the action is executing the positioning of the destination address;
the action is executing the pickup;
the action is performing delivery;
this action execution is completed.
The station combination code at least comprises single-station independent operation, double-station combined operation and three-station simultaneous combined operation according to the specifically set station number.
The invention provides a control method capable of realizing goods storage and taking of a multi-station work bin stacker, which can realize high-efficiency warehousing and ex-warehouse management of the multi-station work bin stacker, and technical terms used in the invention are explained as follows:
station: the stacker is characterized in that a set of fork is arranged at the position where a material box can be stored on a stacker cargo carrying platform;
taking goods: the stacker fork takes the material box from a goods position of a goods shelf or an out-in storage platform to a goods carrying platform of the stacker;
delivering goods: the stacker sends the material boxes from a goods loading platform to a goods space of a goods shelf or a warehouse-in and warehouse-out platform;
positioning: the method comprises the steps that a stacker runs to a target address and is aligned;
idle: the table content is empty, and new content can be received;
high position: the position of a goods carrying platform of the stacker for delivering goods on a target layer is referred to;
low-order: the position of a goods carrying platform of the stacker for taking goods on a target layer is shown;
upper position: the method is characterized in that a human-computer interaction system is arranged in a control room and operated by a storeroom manager;
WCS: storehouse equipment monitoring system.
The multi-station work bin stacker of the invention has the following characteristics:
a plurality of material box stations are arranged on the goods carrying platform of the stacker; each station is provided with a set of pallet forks;
each set of fork is driven and controlled by an independent motor;
when the goods are put in storage, one set of fork can run, two sets of forks can run simultaneously or a plurality of sets of forks can run simultaneously when the goods are taken from the storage table, and one material box, two material boxes or a plurality of material boxes can be taken simultaneously.
When the goods are delivered in a warehouse, a plurality of station material boxes can be delivered respectively according to the shelf addresses to which the material boxes on a plurality of stations are delivered; a plurality of stations can be used for feeding the material boxes simultaneously;
when the materials are taken out of the warehouse, a material box can be taken from the roadway for multiple times, and all stations are fully taken; or all the material boxes can be taken at one time to fill all the stations.
When goods are delivered from the warehouse, the bins of all stations on the goods carrying platform are all delivered to the warehouse-out platform at one time.
Through the above description, it can be seen that the multi-station work bin stacker of the invention can improve the storage efficiency of the common single-station work bin stacker by multiple times compared with the conventional single-station work bin stacker.
Examples
The invention will be further explained below according to the set in-and-out warehouse of the three-station work bin stacker, the set instruction set table, the set action set table and the current action table.
When the three-station work bin stacker is arranged, when goods are put in storage and taken from a storage table, one set of fork can run, two sets of forks can run simultaneously or three sets of forks can run simultaneously, and one work bin, two work bins or three work bins can be taken simultaneously.
When the goods are delivered in a warehouse, the three station material boxes can be delivered respectively according to the shelf addresses to which the three station material boxes are delivered; the feeding boxes at three stations can be fed simultaneously; when the materials are taken out of the warehouse, one material box can be taken from the roadway for three times, and three stations are full; or, three material boxes can be taken at one time to fill three stations. When the goods are delivered out of the warehouse, the bins of the three stations on the goods carrying platform are all delivered to the warehouse-out platform at one time.
For a three-station work bin stacker, to realize the functions as described above, the invention establishes a control model as described below.
Table 1: instruction set Table data Structure (instruction set Table, hereinafter, table 1)
The stacker operates according to instructions sent by the WMS system and the WCS system. The instruction is classified into warehousing or ex-warehousing, each instruction corresponds to one station, and therefore the instructions of the three stations form an instruction set table, and the instruction set table is structurally as follows:
table 1 three station bin stacker instruction set table.
Table 2: action set table data structure (action set table, hereinafter referred to as table 2)
Establishing an action set table according to the instruction set table, wherein the meaning of the action set table is an action set which needs to be completed when the instruction function in the instruction set is completed;
according to the description of the actions of the warehousing and ex-warehouse instructions, the function of an instruction set table is completed, and the maximum actions are four steps;
for three station warehousing:
the first step is as follows: taking goods at three stations of a warehousing platform simultaneously;
the second step: delivering goods at a station 1;
the third step: delivering goods at a station 2;
the fourth step: and the station 3 delivers goods.
For convenience of description, station 1 to station 3 are written respectively in the second step to the fourth step for goods delivery, and when actual programming is realized, the steps are executed in sequence according to the distance between a delivery address and the warehousing platform.
For three stations out of warehouse:
the first step is as follows: taking goods at a station 1;
the second step is that: taking goods at a station 2;
the third step: taking goods at a station 3;
the fourth step: and the goods are delivered at three stations of the warehouse-out opening simultaneously.
For convenience in description, in the first step to the third step, stations 1 to 3 are written respectively to take goods, and when actual programming is realized, goods are taken from the maximum goods taking address in sequence.
The action set table structure is shown in table 2 below:
table 2 three-station work bin stacker action collection table.
Table 3: current action Table data Structure (Current action Table, hereinafter referred to as Table 3)
The structure of the currently executed action table built according to the action set table is shown in the following table 3:
table 3 current action table for three-station bin stacker.
Tables 1, 2 and 3 constitute a control model of the three-station stacker, and the warehousing example of the three stations is illustrated as 2 in the following according to fig. 2.
The contents of the warehousing instructions sent by the upper WCS received by the stacker are shown in the following table 4:
table 4 the stacker receives the upper warehousing instruction.
According to the instruction content sent by the WCS, an instruction set table in the following table 5 is established:
table 5 the instruction set table generated from table 4.
From table 5, the action set table in table 6 is generated:
table 6 the action set table generated from table 5.
From table 6, the current action table in table 7 is generated:
table 7 the current action table generated from table 6.
The contents of the instruction set table, the action set table and the current action table are just at the beginning of the establishment, and the state of the table is dynamically changed along with the running of the program.
Through the description of the embodiment, the instruction set table, the action set table and the current action table form the core of the three-position material box stacker control model. Through the model, the advantages of the three-station material box stacker can be fully and accurately exerted, and the operation efficiency of the stacker can be greatly improved. Five stations, seven stations and the like can be analogized in sequence.
The method adopted by the invention is that the data table is used for corresponding to the instruction and the execution state of each station, and the fault can be eliminated in the step when the error occurs in the execution of any instruction or when the error occurs in any step. After the elimination, as long as the step is forcibly completed, the following actions (instructions) can be executed after the automatic operation is recovered, which greatly facilitates the processing process in use.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A control method of a multi-station work bin stacker is characterized by comprising the following steps: at least three material box stations are arranged on a cargo carrying platform of the stacker, each material box station is provided with a set of fork, each set of fork is driven by an independent motor, and the control method comprises the following steps:
s1: the upper WCS sends a storage-in instruction or a storage-out instruction, and the stacker constructs an initial multi-instruction set table according to the instruction content sent by the WCS;
s2: generating an initial action set table of the corresponding station according to the initial instruction set table;
s3: generating an initial current action table executed correspondingly by a plurality of stations according to the initial action set table;
s4: the stacker executes column and layer positioning of a warehouse entry goods taking platform or a warehouse exit goods taking platform according to the current action table, controls one or more work positions of the material boxes to take goods according to the number of the material boxes required by warehouse entry or warehouse exit, and updates an instruction set table, an action set table and the current action table in real time in the goods taking process.
2. A method for controlling a multi-station work bin stacker according to claim 1, characterised in that: the instruction set table is provided with the state of an instruction set, the serial number of the instruction set, the type of the instruction set, the state of the instruction corresponding to each station, the serial number of the instruction and the shelf address.
3. The control method of the multi-station work bin stacker according to claim 2, wherein: the action set table refers to an action set which needs to be completed when the instruction function in the instruction set is to be completed; according to the description of the actions of the warehousing and ex-warehouse instructions, the function of an instruction set table is completed;
and the warehousing of the stations of the multiple material boxes is sequentially executed according to the distance between the delivery address and the warehousing platform, and the delivery of the stations of the multiple material boxes is sequentially carried out from the maximum delivery address.
4. A method of controlling a multi-station work bin stacker according to claim 3 wherein: the action set table is provided with an action set table total state, an instruction number and an action serial number of each station, and an action state, an instruction set type, a goods taking and delivering type, a station combination code, a target address row number, a target address column number and a target address layer number corresponding to each action serial number.
5. A control method for a multi-station work bin stacker according to claim 4, characterised in that: the current action table is provided with an action table state, an action serial number in an action corresponding set table of a certain action, an instruction number of each station, an instruction set type, an access type, an operation station code, a work address row number, a work address column number, a work address layer number, a column laser value, a layer high laser value and a layer low laser value.
6. The control method of the multi-station work bin stacker according to claim 4, wherein: the action set table general state comprises:
idling;
completing the establishment of the action set;
sequence number 1 actions are being performed;
sequence number 2 actions are being performed;
sequence number 3 actions are being performed;
sequence number 4 actions are being performed;
……；
sequence n actions are being performed;
the action set actions are all performed.
7. A control method for a multi-station work bin stacker according to claim 5, characterised in that: the action table states include:
the action table is idle;
the action is executing the positioning of the destination address;
the action is executing the pickup;
the action is performing delivery;
this action execution is completed.
8. The control method of the multi-station work bin stacker according to claim 4, wherein: the station combination code at least comprises single-station independent operation, double-station combined operation and three-station simultaneous combined operation according to the specifically set station number.
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|---|---|---|---|---|
| JPH0558405A (en) * | 1991-09-02 | 1993-03-09 | Toshiba Corp | Carrying-in and-out control device for automated warehouse |
| CN110104358A (en) * | 2019-04-15 | 2019-08-09 | 珠海格力智能装备有限公司 | A kind of tiered warehouse facility goes out warehousing control method, apparatus and system |
| CN110550366A (en) * | 2019-09-05 | 2019-12-10 | 珠海格力智能装备有限公司 | Warehousing method and warehouse system based on double-station stacker |
| CN113335821A (en) * | 2021-07-09 | 2021-09-03 | 中国烟草总公司天津市公司物流中心 | Operation positioning swing control method based on stereoscopic warehouse ultrahigh stacker |
| CN113335811A (en) * | 2021-05-14 | 2021-09-03 | 深圳市海柔创新科技有限公司 | Task balancing method, control terminal and sorting system thereof |
-
2022
- 2022-11-22 CN CN202211468505.1A patent/CN115535511B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0558405A (en) * | 1991-09-02 | 1993-03-09 | Toshiba Corp | Carrying-in and-out control device for automated warehouse |
| CN110104358A (en) * | 2019-04-15 | 2019-08-09 | 珠海格力智能装备有限公司 | A kind of tiered warehouse facility goes out warehousing control method, apparatus and system |
| CN110550366A (en) * | 2019-09-05 | 2019-12-10 | 珠海格力智能装备有限公司 | Warehousing method and warehouse system based on double-station stacker |
| CN113335811A (en) * | 2021-05-14 | 2021-09-03 | 深圳市海柔创新科技有限公司 | Task balancing method, control terminal and sorting system thereof |
| CN113335821A (en) * | 2021-07-09 | 2021-09-03 | 中国烟草总公司天津市公司物流中心 | Operation positioning swing control method based on stereoscopic warehouse ultrahigh stacker |
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