CN117886042A

CN117886042A - Control method and device for cargo transporting machine, cargo transporting machine and computer equipment

Info

Publication number: CN117886042A
Application number: CN202211222785.8A
Authority: CN
Inventors: 刘秀全
Original assignee: Guangdong Ruishige Technology Co ltd
Current assignee: Guangdong Ruishige Technology Co ltd
Priority date: 2022-10-08
Filing date: 2022-10-08
Publication date: 2024-04-16

Abstract

The invention provides a control method and a device of a cargo transporting machine, the cargo transporting machine and computer equipment, wherein the control method of the cargo transporting machine comprises the following steps: executing a first task in the task queue, and determining the task type of the first task; based on the condition that the task type of the first task is the first type, retrieving the task with the task type of the second type in the task queue; executing the second type of task meeting the first condition based on the condition that the task queue has the second type of task; one of the first type and the second type is warehouse-in, and the other is warehouse-out.

Description

Control method and device for cargo transporting machine, cargo transporting machine and computer equipment

Technical Field

The invention relates to the technical field of cargo machinery, in particular to a control method of cargo machinery, a control device of cargo machinery, a computer device and a readable storage medium.

Background

The stacker is used as the most important lifting and transporting equipment in the intelligent stereoscopic warehouse structure, and mainly used for running back and forth in a channel of the stereoscopic warehouse, storing cargoes at a lane crossing pick-up station into a cargo grid of a goods shelf or transporting cargoes in the pick-up grid to a put-down station at the lane crossing.

In the related art, in the process of picking and placing goods, tasks in task queuing are usually executed sequentially, and due to the lack of task pre-judgment, the stacker frequently moves to and from a platform position, which consumes a long time and has low efficiency.

Disclosure of Invention

The invention aims to at least solve one of the technical problems of the prior art that the efficiency of the stacker is lower when the stacker performs a transportation task.

To this end, a first aspect of the invention proposes a method of controlling a cargo-moving machine.

A second aspect of the invention proposes a control device for a cargo-moving machine.

A third aspect of the present invention provides a cargo machine.

A fourth aspect of the invention proposes a computer device.

A fifth aspect of the present invention proposes a readable storage medium.

In view of this, according to a first aspect of the present invention, the present invention proposes a control method of a cargo-moving machine, comprising: executing a first task in the task queue, and determining the task type of the first task; based on the condition that the task type of the first task is the first type, retrieving the task with the task type of the second type in the task queue; executing the second type of task meeting the first condition based on the condition that the task queue has the second type of task; one of the first type and the second type is warehouse-in, and the other is warehouse-out.

According to the control method of the cargo transporting machine, the cargo transporting machine executes the tasks according to the task queue, the first task in the task queue is executed for the first time, the task type of the first task is determined, when the first task in the task queue is of the first type, the tasks of the second type in all the tasks are searched in the task queue, and when the tasks of the second type are in the task queue, the tasks of the second type meeting the first condition are executed, wherein the first type is warehouse entry, the second type is warehouse exit, or the first type is warehouse exit, and the second type is warehouse entry.

That is, when the cargo transporting machine carries out cargo transportation, if the task list has the task of leaving and the task of entering, the task of leaving and the task of entering can be alternately executed, and then after the cargo transporting machine executes one of the task of leaving and the task of entering, the other task is completed when returning, and then the cargo transporting machine executes the returning after executing the one task to execute the other task, thereby greatly improving cargo transporting efficiency.

Specifically, the cargo handling machine generally runs back and forth in the channel of the stereoscopic warehouse, stores the cargo located at the cargo taking station in the cargo grid of the goods shelf, or transports the cargo in the cargo grid to the cargo placing station, and when the task of warehousing is executed, the cargo handling machine transports the cargo of the cargo taking station to the cargo grid, and when the task of delivering the cargo is executed, the cargo handling machine transports the cargo in the cargo handling machine to the cargo placing station. The method for controlling the cargo transporting machine can realize alternate delivery of one cargo transporting machine and one cargo storing task by utilizing the characteristics of the cargo transporting machine for executing the cargo storing task and the cargo storing task, so that the cargo transporting efficiency of the cargo transporting machine is improved.

In addition, according to the control method of the cargo transporting machine in the technical scheme provided by the invention, the control method also has the following additional technical characteristics:

based on the above technical solution, further, based on the case that the first type is in-warehouse and the second type is out-warehouse, the step of executing the second type of task meeting the first condition based on the case that the task queue has the second type of task specifically includes: determining first address information of a first task based on the condition that the task queue has a second type of task; extracting second address information of all the second type tasks; determining a first target task in all the tasks of the second type according to the first address information and the second address information; a first target task is performed.

In the technical scheme, when the first type task is a warehouse-in task and the second type task is a warehouse-out task, and when the task queue has the second type task, the step of executing the second type task meeting the first condition specifically comprises the following steps: determining first address information of a first task, namely determining first address information of a warehouse-in task, extracting second address information of all warehouse-out tasks, selecting one task from all warehouse-out tasks as a first target task according to the first address information and the second address information, executing the first target task after the first task is completed, and further executing the warehouse-in task and the warehouse-out task alternately according to the address information.

Specifically, the goods shelf is provided with a plurality of goods grids, each goods grid is provided with a specific position, so that goods are required to be taken out of the B goods grid after the goods are put in the A goods grid, the end point of the put-in task and the start point of the put-out task can be determined through the first address information and the second address information, the first target task in the put-in task is determined according to the end point of the put-in task and the start point of the put-out task, the put-in task and the put-in task are adapted, and the freight efficiency of freight transportation machinery is improved.

On the basis of any one of the above technical solutions, further, the step of determining the first target task among all the second type tasks according to the first address information and the second address information specifically includes: calculating first distance information between the first address information and all the second address information; and selecting a task corresponding to the minimum first distance information as a first target task.

In this technical solution, the step of determining the first target task in the outbound task according to the end point of the inbound task and the start point of the outbound task specifically includes: extracting all second address information, calculating difference between each second address information and the first address information, calculating to obtain first distance information, wherein the first distance information represents the distance between the starting point of a job to be delivered and the end point of the job to be delivered, further selecting a job to be delivered corresponding to the smallest first distance information as a first target job, further minimizing the distance between the first job and the second job, reducing the travel of the cargo transporting machine, and improving the cargo transporting efficiency.

On the basis of any one of the above technical solutions, further, the step of calculating first distance information between the first address information and all the second address information specifically includes: and determining first distance information according to the first transverse distance and the first longitudinal distance in the first address information and all the second address information.

In the technical scheme, the goods shelves are generally distributed in an array according to the longitudinal direction and the transverse direction, so that the running track of the goods transporting machine needs to move to the front of a certain longitudinal row of goods shelves along the transverse direction, and then the goods in the specified goods shelves are lifted along the longitudinal direction, so that the difference between the first transverse distance of the first address information and the first transverse distance of the first longitudinal distance and the first longitudinal distance of the second address information is obtained, the first distance information represents the running track of the goods transporting machine needed between two tasks, the smaller the distance is, the less the consumed time is, and therefore, the obtained first target task is the task requiring the smallest running time after the first warehouse-in task is completed, and further the goods transporting efficiency of the goods transporting machine is further improved.

On the basis of any one of the above technical solutions, further, based on the case that the first type is out of the warehouse and the second type is in the warehouse, the step of executing the second type of task meeting the first condition based on the case that the task queue has the second type of task specifically includes: detecting whether the goods taking platform has goods corresponding to the second type of tasks or not based on the condition that the second type of tasks exist in the task queue; and executing a first second type of task in the task queue based on the goods in the goods taking platform.

In the technical scheme, when the first type of task is an ex-warehouse task and the second type of task is a warehouse-in task, after the first ex-warehouse task is completed, and when the task queue has the type of warehouse-in task, whether the current pick-up platform has goods corresponding to the warehouse-in task is detected, wherein whether the pick-up platform has goods corresponding to the warehouse-in task or not can be determined through an upper computer, whether the pick-up platform has goods corresponding to the warehouse-in task or not can be determined through a vision module, or whether the pick-up platform has goods corresponding to the warehouse-in task or not can be determined through an ultrasonic module, and the like.

And executing the first warehousing task in the task queue when the goods taking platform has goods corresponding to the warehousing task.

Specifically, the positions of the goods taking platform and the goods placing platform are fixed, and the distances between the goods taking platform and the goods placing platform are relatively close, so that after the goods conveying machinery conveys the goods lattice to the goods placing platform, whether the goods taking platform has goods conforming to the warehousing task or not is determined after the task of delivering the goods to the goods placing platform is completed, after the goods taking platform has the goods conforming to the warehousing task, the goods on the goods taking platform are conveyed to the goods lattice to complete the goods placing task, wherein the first warehousing task in the task queue is directly completed due to the fixed positions of the goods taking platform and the goods placing platform, the task of delivering the goods to the warehouse and the task of warehousing are alternately performed, and the goods conveying effect of the goods conveying machinery is improved.

On the basis of any one of the above technical solutions, further before the step of executing the second type of task that satisfies the first condition, the method further includes: executing a second type of task that satisfies the first condition based on having a loop execution instruction; tasks in the task queue are sequentially executed based on the absence of the loop execution instruction.

In the technical scheme, before executing the second type of task meeting the first condition, judging whether the instruction is circularly executed or not, and executing the second type of task meeting the first condition under the condition that the instruction is circularly executed, thereby realizing the mode of alternately executing the task of leaving and the task of entering.

In the case of no instruction for loop execution, tasks are executed next to each other according to task queues, and thus, the actual situation may be targeted, for example: the goods on the current goods placing table are more, a large number of tasks for warehousing are required to be executed, the system does not comprise a circularly executed instruction, and the tasks for warehousing can be sequentially executed according to task queuing; or when quick shipment is needed, the system does not comprise a circularly executed instruction, further, the tasks of shipment and the like can be sequentially executed according to task queuing, the shipment machinery can be controlled in a targeted manner according to different conditions, and the adaptability of the shipment machinery is improved.

The circularly executed instruction can be sent out by an upper computer.

On the basis of any one of the above technical solutions, further comprising: after executing the tasks in the task queue, adding the tasks into the pop queue; and supplementing other tasks in the task queue.

In the technical scheme, after each task in one task queue is executed, the task is added to the pop queue, and other tasks in the task queue are complemented in the uplink direction, and because alternate tasks are extracted in the task queue, the whole task queue can be smoothly carried out in the mode, and the completed tasks can be fed back in batches, so that the interaction efficiency is improved.

According to a second aspect of the present invention, there is provided a control device for a cargo-moving machine, comprising: the first determining module is used for executing a first task in the task queue and determining the task type of the first task; the first retrieval module is used for retrieving tasks with the task type of the second type in the task queue based on the condition that the task type of the first task is the first type; the first execution module is used for executing the second type of task meeting the first condition based on the condition that the second type of task exists in the task queue; one of the first type and the second type is warehouse-in, and the other is warehouse-out.

The control device of the cargo transporting machine provided by the invention executes the tasks according to the task queue, the first task in the task queue is executed by the cargo transporting machine for the first time, the task type of the first task is determined, when the first task in the task queue is the first type, the tasks of the second type in all the tasks are searched in the task queue, and when the tasks of the second type are arranged in the task queue, the tasks of the second type meeting the first condition are executed, wherein the first type is warehouse entry, the second type is warehouse exit, or the first type is warehouse exit, and the second type is warehouse entry.

On the basis of the above technical solution, further, the first execution module specifically includes: the first determining submodule is used for determining first address information of a first task based on the condition that the task queue has a second type of task; the first extraction sub-module is used for extracting second address information of all the second type tasks; the second determining submodule is used for determining a first target task in all the tasks of the second type according to the first address information and the second address information; and the first execution sub-module is used for executing the first target task.

On the basis of any one of the above technical solutions, further, the first execution module specifically includes: the first detection sub-module is used for detecting whether the goods taking platform has goods corresponding to the second type of tasks or not based on the condition that the second type of tasks exist in the task queue; and the second execution sub-module is used for executing the first and second types of tasks in the task queue based on the goods in the goods taking platform.

On the basis of any one of the above technical solutions, further comprising: a second execution module for executing a second type of task satisfying the first condition based on having a loop execution instruction; and the third execution module is used for sequentially executing the tasks in the task queue under the condition of no loop execution instruction.

The circularly executed instruction can be sent out by an upper computer.

On the basis of any one of the above technical solutions, further comprising: the pop-up module is used for adding the tasks into the pop-up queue after executing the tasks in the task queue; and the bit supplementing module is used for supplementing bits to other tasks in the task queue.

According to a third aspect of the invention, the invention proposes a cargo machine comprising: the control device of the cargo-moving machine according to any one of the above-described aspects.

The cargo handling machine according to the invention, comprising a control device of a cargo handling machine according to any of the above-mentioned claims, therefore has all the advantageous effects of a control device of a cargo handling machine according to any of the above-mentioned claims, which are not stated here.

According to a fourth aspect of the present invention, the present invention proposes a computer device comprising: the control method of the cargo transporting machine according to any one of the above technical solutions is realized when the program or the instruction is executed by the processor.

The computer equipment provided by the invention comprises a memory and a processor, wherein the memory stores programs or instructions; the processor executes a program or instructions to carry out the steps of the control method of a cargo machine as set forth in any of the above-mentioned claims and thus has all the advantageous effects of the control method of a cargo machine as set forth in any of the above-mentioned claims, which are not set forth here in any way.

According to a fifth aspect of the present invention, a readable storage medium is provided, on which a program or an instruction is stored, which when executed by a processor, implements the steps of the control method of a cargo handling machine as set forth in any one of the above-mentioned aspects.

The readable storage medium according to the present invention stores a program or instructions that, when executed by a processor, implement the steps of the control method of a cargo handling machine according to any one of the above-mentioned technical solutions, and therefore has all the advantageous effects of the control method of a cargo handling machine according to any one of the above-mentioned technical solutions, which are not stated here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 illustrates one of the flowcharts of a method of controlling a cargo machine provided in accordance with one embodiment of the present invention;

FIG. 2 illustrates a second flow chart of a method of controlling a cargo machine according to one embodiment of the present invention;

FIG. 3 illustrates a third flow chart of a method of controlling a cargo machine according to one embodiment of the invention;

FIG. 4 illustrates a fourth flow chart of a method of controlling a cargo machine provided in accordance with one embodiment of the present invention;

FIG. 5 shows a block diagram of a control device for a cargo machine according to one embodiment of the present invention;

FIG. 6 illustrates a control logic diagram of a cargo machine provided in accordance with one embodiment of the present invention;

FIG. 7 illustrates a schematic view of a cargo machine in a roadway provided in accordance with one embodiment of the present invention;

FIG. 8 illustrates a schematic view of a cargo handling machine and pallet provided in accordance with one embodiment of the present invention;

FIG. 9 is a schematic view of a pallet carried by a cargo handling machine according to one embodiment of the present invention

FIG. 10 illustrates a schematic view of a cargo and pallet being transported by a cargo handling machine provided in accordance with one embodiment of the present invention;

fig. 11 shows a schematic view of a cargo and pallet being transported by a cargo handling machine according to one embodiment of the invention.

The correspondence between the reference numerals and the component names in fig. 7 to 11 is:

700 shipment machine, 702 laser rangefinder, 704 pallet, 706 cargo, 708 pick-up station, 710 put-in station, 712 reflector.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

A control method of a cargo-moving machine, a control device of a cargo-moving machine, a computer device, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 11.

Fig. 1 shows one of flowcharts of a control method of a cargo-moving machine according to an embodiment of the present invention.

As shown in fig. 1, a flowchart of a control method of a cargo machine according to an embodiment of the present invention is specifically as follows:

step 102: executing a first task in the task queue, and determining the task type of the first task;

step 104: based on the condition that the task type of the first task is the first type, retrieving the task with the task type of the second type in the task queue;

step 106: based on the task having the second type in the task queue, the second type of task satisfying the first condition is executed.

The control method of the cargo transporting machine provided by the invention comprises the steps that the cargo transporting machine executes tasks according to the task queue, the first task in the task queue is executed by the first task, the task type of the first task is determined, when the first task in the task queue is of the first type, the tasks of the second type in all the tasks are searched in the task queue, and when the tasks of the second type are in the task queue, the tasks of the second type meeting the first condition are executed.

The first type is warehouse entry, the second type is warehouse exit, or the first type is warehouse exit, and the second type is warehouse entry.

The invention solves the problems that in the related technology, the cargo machinery and a warehouse control system (Warehouse Control System, WCS) system have one-to-one single handshake signal in actual production, lack of batch task transmission and task analysis, obviously improve the problem of longer cycle period of mixed tasks of continuous warehouse-out/warehouse-in, improve the operation efficiency of the cargo machinery, and more reasonably operate a pick-up/put-in station conveyor line, so that the tasks are uniformly distributed, thereby accelerating the overall cycle beat of the system.

FIG. 2 illustrates a second flowchart of a method for controlling a cargo machine according to one embodiment of the present invention.

As shown in fig. 2, a flowchart of a control method of a cargo machine according to an embodiment of the present invention is specifically as follows:

step 202: executing a first task in the task queue, and determining the task type of the first task;

step 204: searching a task with a task type of ex-warehouse in the task queue based on the condition that the task type of the first task is in-warehouse;

step 206: under the condition that the task queue has the task which is out of the library, determining first address information of a first task;

step 208: extracting second address information of all the tasks which are out of the warehouse;

Step 210: determining a first target task from all the tasks which are out of the warehouse according to the first address information and the second address information;

step 212: a first target task is performed.

As a possible embodiment of the present invention, when the first type of task is a job in the warehouse and the second type of task is a job out of the warehouse.

When the task queue has a task of a second type, the step of executing the task of the second type satisfying the first condition specifically includes: determining first address information of a first task, namely determining first address information of a warehouse-in task, extracting second address information of all warehouse-out tasks, selecting one task from all warehouse-out tasks as a first target task according to the first address information and the second address information, executing the first target task after the first task is completed, and further executing the warehouse-in task and the warehouse-out task alternately according to the address information.

The invention provides a control method of cargo handling machinery, which is mainly characterized in that tasks issued by an upper storage control system are pressed into task queues of a programmable logic controller (Programmable Logic Controller, PLC) by an adjustable quantity through a stack pointer position, and a cargo handling machinery programmable logic controller main control system extracts the first task of the task queues each time, if the first task is a storage task, then judging whether the source address of a job which is delivered out of a storage in the rest tasks in the task queues has the nearby position of the storage task. If yes, executing the job of leaving the warehouse at the position after completing the job of entering the warehouse, then returning to execute the second job of the job queue again, and if not, continuing to execute the second job of the job queue.

The circulation judgment can execute tasks nearby in the single task return process, so that the efficiency is improved, the time is fully utilized, and the queue sequence of some tasks urgent to in-out/in-storage is not greatly reduced.

As a possible embodiment of the present invention, the step of determining the first target task among all the tasks of the second type according to the first address information and the second address information specifically includes: calculating first distance information between the first address information and all the second address information; and selecting a task corresponding to the minimum first distance information as a first target task.

In this embodiment, the step of determining the first target task in the outbound task according to the end point of the inbound task and the start point of the outbound task specifically includes: extracting all second address information, calculating difference between each second address information and the first address information, calculating to obtain first distance information, wherein the first distance information represents the distance between the starting point of a job to be delivered and the end point of the job to be delivered, further selecting a job to be delivered corresponding to the smallest first distance information as a first target job, further minimizing the distance between the first job and the second job, reducing the travel of the cargo transporting machine, and improving the cargo transporting efficiency.

As a possible embodiment of the present invention, the step of calculating first distance information between the first address information and all the second address information specifically includes: and determining first distance information according to the first transverse distance and the first longitudinal distance in the first address information and all the second address information.

In this embodiment, the cargo racks of the goods shelves are generally distributed in an array according to the longitudinal direction and the transverse direction, so that the running track of the cargo transporting machine needs to move to the front of the cargo racks in a certain column along the transverse direction, and then to be lifted up and down along the longitudinal direction, so that the first transverse distance of the first address information and the first transverse distance of the first longitudinal distance and the first transverse distance of the second address information are different from the first longitudinal distance, the first distance information is obtained, the first distance information indicates the running track of the cargo transporting machine needed between two tasks, the smaller the distance is, the less the consumed time is, and therefore, the first target task obtained in this way is the task requiring the least running time to be delivered after the first task in warehouse is completed, and further the cargo transporting efficiency of the cargo transporting machine is improved.

FIG. 3 illustrates a third flow chart of a method of controlling a cargo machine according to one embodiment of the invention.

As shown in fig. 3, a flowchart of a control method of a cargo machine according to an embodiment of the present invention is specifically as follows:

step 302: executing a first task in the task queue, and determining the task type of the first task;

step 304: searching tasks with the task type of warehouse entry in the task queue based on the condition that the task type of the first task is warehouse-out;

step 306: detecting whether a goods taking platform has goods corresponding to a warehousing task or not based on the condition that the task queue has the warehousing task;

step 308: and executing the first warehousing task in the task queue based on the goods taking platform with goods.

As one possible embodiment of the invention, when the first type of task is the ex-warehouse task and the second type of task is the warehouse-in task, after the first ex-warehouse task is completed, when the task queue has the type of the warehouse-in task, detecting whether the current goods taking platform has goods corresponding to the warehouse-in task, wherein whether the goods taking platform has goods corresponding to the warehouse-in task or not can be determined through an upper computer, whether the goods taking platform has goods corresponding to the warehouse-in task or not can be determined through a vision module, or whether the goods taking platform has goods corresponding to the warehouse-in task or not can be determined through an ultrasonic module, and the like.

The invention provides a control method of cargo handling machinery, which is mainly characterized in that tasks issued by an upper storage control system are pressed into a task queue of a programmable logic controller by a stack pointer position in an adjustable quantity, a first task of the task queue is extracted each time by a cargo handling machinery programmable logic controller main control system, if the first task is a job which goes out of a warehouse, whether the other tasks in the task queue have the task which goes into warehouse or not is judged, if so, the task which goes into warehouse is preferentially executed, and then a second task of the task queue is returned to be executed again; if not, continuing to execute the second task of the task queue.

As a possible embodiment of the present invention, before the step of executing the task of the second type satisfying the first condition, further comprises: executing a second type of task that satisfies the first condition based on having a loop execution instruction; tasks in the task queue are sequentially executed based on the absence of the loop execution instruction.

In this embodiment, before executing the second type of task satisfying the first condition, it is determined whether there is a cyclically executed instruction, and in the case of having the cyclically executed instruction, the second type of task satisfying the first condition is executed, thereby realizing a form in which a task for leaving a warehouse and a task for entering a warehouse are alternately executed.

In the case of no instruction for loop execution, tasks are executed next to each other according to task queues, and thus, the actual situation may be targeted, for example: the goods on the current goods placing table are more, a large number of tasks for warehousing are required to be executed, the system does not comprise a circularly executed instruction, and the tasks for warehousing can be sequentially executed according to task queuing; or when quick shipment is needed, the system does not comprise a circularly executed instruction, and further, the tasks of shipment and the like can be sequentially executed according to task queuing, so that after the shipment efficiency of the shipment machine is improved, the shipment machine can be controlled in a targeted manner according to different conditions, and the adaptability of the shipment machine is improved.

The circularly executed instruction can be sent out by an upper computer.

That is, according to the actual production situation, for some task groups that are not urgent, the task queue second task may not be returned in the above-mentioned cycle judgment, but the query of directly opposite task types is continued, so that the overall task cycle time is more effectively improved, for example, an operator controls an upper computer according to the actual situation, and issues a corresponding instruction.

Specifically, if the first type of task is a warehouse-in task and the second type of task is a warehouse-out task, judging whether the first type of task has a circularly executed instruction, and if the second type of task has the circularly executed instruction, executing the warehouse-out task meeting the first condition, thereby realizing a form that the first type of task is warehouse-out and the second type of task is warehouse-out.

And judging whether the circularly executed instruction exists or not under the condition that the first type of task is an ex-warehouse task and the second type of task is a warehouse-in task, and executing the warehouse-in task meeting the first condition under the condition that the circularly executed instruction exists, so that a warehouse-in task and a warehouse-out task are alternately executed.

As one possible embodiment of the present invention, further comprising: after executing the tasks in the task queue, adding the tasks into the pop queue; and supplementing other tasks in the task queue.

In this embodiment, after each task in one task queue is executed, the task is added to the pop queue, and other tasks in the task queue are complemented in an uplink manner.

After the cargo transporting machine executes the tasks, the corresponding task numbers are pushed into queues for feeding back signals to the warehouse control system and the conveyor line according to the execution sequence, and signal feedback is carried out on the batch with adjustable quantity and the warehouse control system according to the position of the pop pointer.

Fig. 4 shows a fourth flowchart of a control method of a cargo-moving machine according to an embodiment of the present invention.

As shown in fig. 4, a flowchart of a control method of a cargo machine according to an embodiment of the present invention is specifically as follows:

step 402: executing a first task in the task queue, and determining the task type of the first task;

Step 404: searching a task with a task type of ex-warehouse in the task queue based on the condition that the task type of the first task is in-warehouse;

step 406: under the condition that the task queue has the task which is out of the library, determining first address information of a first task;

step 408: extracting second address information of all the tasks which are out of the warehouse;

step 410: determining a first target task from all the tasks which are out of the warehouse according to the first address information and the second address information;

step 412: executing a first target task;

step 414: searching tasks with the task type of warehouse entry in the task queue based on the condition that the task type of the first task is warehouse-out;

step 416: detecting whether a goods taking platform has goods corresponding to a warehousing task or not based on the condition that the task queue has the warehousing task;

step 418: and executing the first warehousing task in the task queue based on the goods taking platform with goods.

In addition, in the case of having a loop execution instruction, step 414 may be executed after step 412 or step 406 may be executed after step 418, so as to achieve the purpose of alternately performing ex-warehouse and in-warehouse.

As shown in fig. 5, according to a second aspect of the present invention, there is provided a control device 500 of a cargo-moving machine, comprising: a first determining module 502, configured to execute a first task in the task queue, and determine a task type of the first task; a first retrieving module 504, configured to retrieve a task of a second type in the task queue based on the task type of the first task being the first type; a first execution module 506, configured to execute a second type of task that satisfies the first condition based on a situation that the task queue has the second type of task; one of the first type and the second type is warehouse-in, and the other is warehouse-out.

The control device 500 for a cargo handling machine provided by the invention executes tasks according to a task queue, the first task in the task queue is executed by the cargo handling machine for the first time, the task type of the first task is determined, when the first task in the task queue is of the first type, the tasks of the second type in all the tasks are searched in the task queue, and when the tasks of the second type are in the task queue, the tasks of the second type meeting the first condition are executed, wherein the first type is warehouse entry, the second type is warehouse exit, or the first type is warehouse exit, and the second type is warehouse entry.

As a possible embodiment of the present invention, the first execution module specifically includes: the first determining submodule is used for determining first address information of a first task based on the condition that the task queue has a second type of task; the first extraction sub-module is used for extracting second address information of all the second type tasks; the second determining submodule is used for determining a first target task in all the tasks of the second type according to the first address information and the second address information; and the first execution sub-module is used for executing the first target task.

In this embodiment, when the first type of task is a task in storage and the second type of task is a task out of storage, the step of executing the second type of task satisfying the first condition when the task queue has the second type of task specifically includes: determining first address information of a first task, namely determining first address information of a warehouse-in task, extracting second address information of all warehouse-out tasks, selecting one task from all warehouse-out tasks as a first target task according to the first address information and the second address information, executing the first target task after the first task is completed, and further executing the warehouse-in task and the warehouse-out task alternately according to the address information.

As a possible embodiment of the present invention, the first execution module specifically includes: the first detection sub-module is used for detecting whether the goods taking platform has goods corresponding to the second type of tasks or not based on the condition that the second type of tasks exist in the task queue; and the second execution sub-module is used for executing the first and second types of tasks in the task queue based on the goods in the goods taking platform.

In this embodiment, when the first type of task is an outbound task and the second type of task is an inbound task, after the first outbound task is completed, and when the task queue has the task of the type of inbound, whether the current pick-up platform has goods corresponding to the inbound task is detected, where whether the pick-up platform has goods corresponding to the inbound task may be determined by an upper computer, whether the pick-up platform has goods corresponding to the inbound task may be determined by a vision module, or whether the pick-up platform has goods corresponding to the inbound task may be determined by an ultrasonic module, and so on.

The control device of the cargo transporting machine provided by the invention is mainly used for pushing the tasks issued by the upper storage control system into the task queue of the programmable logic controller (Programmable Logic Controller, PLC) by an adjustable quantity through the position of the stack pointer, and the main control system of the cargo transporting machine can extract the first task of the task queue each time, if the first task is a storage task, judging whether the source address of the job which is delivered out of the storage in the rest tasks in the task queue has the nearby position of the storage task. If yes, executing the job of leaving the warehouse at the position after completing the job of entering the warehouse, then returning to execute the second job of the job queue again, and if not, continuing to execute the second job of the job queue.

As a possible embodiment of the present invention, the second determining submodule specifically includes: a first calculation sub-module for calculating first distance information between the first address information and all the second address information; the first selecting sub-module is used for selecting a task corresponding to the minimum first distance information as a first target task.

As a possible embodiment of the present invention, the first computing submodule specifically includes: and the third determining submodule is used for determining the first distance information according to the first transverse distance and the first longitudinal distance in the first address information and all the second address information.

As one possible embodiment of the present invention, further comprising: a second execution module for executing a second type of task satisfying the first condition based on having a loop execution instruction; and the third execution module is used for sequentially executing the tasks in the task queue under the condition of no loop execution instruction.

The circularly executed instruction can be sent out by an upper computer.

As one possible embodiment of the present invention, further comprising: the pop-up module is used for adding the tasks into the pop-up queue after executing the tasks in the task queue; and the bit supplementing module is used for supplementing bits to other tasks in the task queue.

According to a third aspect of the invention, there is provided a cargo machine comprising: the control device of a cargo handling machine as provided in any one of the above embodiments.

The cargo handling machine provided by the invention comprises the control device of the cargo handling machine provided by any embodiment, so that the control device of the cargo handling machine provided by any embodiment has all the beneficial effects, and is not stated one by one. The cargo handling machine may be a stacker.

Specifically, as shown in fig. 7, the cargo handling machine 700 is operated in a tunnel, the tunnel opening has a pickup station 708 and a loading station 710, the cargo handling machine 700 stores the cargo 706 located at the pickup station 708 in the cargo compartment of the rack, and places the cargo 706 located in the cargo compartment of the rack on the loading station 710.

As shown in fig. 7, the cargo handling machine 700 detects the positions of the pick-up table 708 and the placement table 710 by the laser rangefinder 702 and the reflector 712 located in the roadway.

As shown in fig. 8, 9, 10, and 11, the cargo 706 is placed on the pallet 704, and the cargo 706 is transported by the cargo handling machine 700 through the pallet 704 by the fork arms.

At least one encoder is provided on the cargo machine 700.

FIG. 6 illustrates a schematic diagram of cargo machine control logic provided in accordance with one embodiment of the present invention.

As shown in fig. 6, a logic diagram of a cargo machine according to an embodiment of the present invention is specifically as follows:

step 602: initializing a system;

step 604: setting the length;

step 606: the cargo transporting machine PLC receives the WCS task queue;

step 608: queue dump ARQ queues;

step 610: setting a pointer;

step 612: setting an adjustable quantity of modules_push;

step 614: pressing corresponding amount of task information in the ARQ task queue into a push queue according to a module_push value;

step 616: pointer = module_push+1;

step 618: if the pointer exceeds the opposite length, reporting ERROR, and outputting state=1;

step 620: no error, state=0;

step 622: extracting a task type of a first task of the push queue;

step 624: measuring and calculating the corresponding number M1 of beams and the corresponding number N1 of columns in the walking and lifting directions corresponding to the first task destination address according to the height of each layer of the shelf and the positions of the columns which are actually measured;

Step 626: after execution, the task in the warehouse is popped from the push queue and pushed into the pop queue, and the rest of the tasks are forwarded to the complementary bit;

step 628: after execution, the warehousing task is popped from the push queue and pushed into the pop queue, and the rest of the warehousing tasks are subjected to the forward bit compensation;

step 630: circularly detecting a second task in the queue until the last task, and searching for a task with a task type of ex-warehouse;

step 632: judging whether to execute circularly; if the determination is yes, step 634 is executed, and if the determination is no, step 622 is executed;

step 634: calculating the beam numbers corresponding to the walking and lifting directions corresponding to the task source addresses of the warehouse, comparing the goods positions W2 and N2 closest to W1 and N1, and recording the task information;

step 636: executing the task of leaving the warehouse, deleting the task data in the push queue after completion, and sequentially advancing the queue for bit compensation;

step 638: pushing the piece of task information which is output into a pop output queue;

step 640: according to the adjustable quantity batch stacking, interacting with the WCS and the conveying line, and verifying task information and completion status;

step 642: judging whether to execute circularly; if the determination result is yes, step 644 is executed, and if the determination result is no, step 622 is executed;

Step 644: detecting a first warehousing task in the push queue, executing the warehousing task, and repeating the cycle for a plurality of times;

step 646: circularly detecting a second task until a last task in the queue, and searching a task with a task type of warehousing;

step 648: judging whether to execute circularly; if the determination result is yes, step 650 is executed, and if the determination result is no, step 622 is executed;

step 650: if the goods taking station is determined to be in goods, executing the searched task of first warehouse entry;

step 652: calculating the corresponding number W3 of beams and the corresponding number N3 of columns in the walking and lifting directions corresponding to the task destination address in the warehouse;

step 654: deleting the task data in the push queue after completion, and sequentially advancing the task queue for bit compensation;

step 656: pushing the task information in the warehouse into a pop queue;

step 658: according to the value of the module_pop, carrying out a pop operation on the task information with the corresponding quantity in the queue;

step 660: pointer forward (modular_pop+1) bit, and the subsequent queue sequentially forward complements the bit;

step 662: judging whether to execute circularly; if the determination result is yes, step 664 is executed, and if the determination result is no, step 622 is executed;

Step 664: detecting the task of ex-warehouse in the push queue, calculating the corresponding beam numbers in the walking and lifting directions corresponding to the source addresses of the task of ex-warehouse, comparing the goods positions W3 and N3 closest to W1 and N1, executing the task of ex-warehouse, and repeating the cycle.

After the system of the programmable logic controller is initialized, the length X of the interactive information task queue is set, the programmable logic controller receives the task queue issued by the warehouse control system, and the programmable logic controller transfers the task queue into an ARQ Array queue with the data type of Array [0, X ]. Setting a push queue pointer=0, setting an adjustable number of push queues of the task queues, and pushing the task information of the corresponding number in the ARQ task queues into the push queues of the data type of Array [0, X ] according to the value of the push_push. At this time, the pointer position=module_push+1, whether the pointer position exceeds the X length limit is judged, if yes, ERROR is reported, and state=1 is output.

And when the ERROR is not available and the state=0, extracting the first task of the push queue, and judging the task type of the first task.

If the first task is a warehouse-in task, calculating the number W1 of beams and the number N1 of columns corresponding to the destination address of the first task in the walking and lifting directions according to the actually measured height of each layer of the shelf and the position of the column, and after the first task is executed, popping the warehouse-in task information out of the push queue and pushing the warehouse-out queue. And continuously searching whether the residual tasks in the Push queue have the tasks which are out of the library.

If the task is a task which is going out of the warehouse, judging whether a circulation execution instruction exists, if so, detecting that the starting positions of all the tasks which are going out of the warehouse in the task queue correspond to the number W2 of the beams and the number N2 of the columns corresponding to the destination address walking and lifting direction of the first task, comparing the beam numbers W2 and the column numbers N2 in sequence, taking the task which is going out of the warehouse with the least formation and lifting direction to execute, and executing the task which is going out of the warehouse circularly. If no loop execution instruction exists, the first task in the task queue is returned to execute.

If the rest tasks in the push queue have no task to be put out of the library, returning to the push queue to continuously execute the task to be put into the library of the task queue, and repeating the cycle.

If the first task is the ex-warehouse task, the in-warehouse task information is popped from the push queue and pushed into the pop queue after the task is executed. And continuously searching whether the rest tasks in the Push queue have the task in storage.

If the task is in the warehouse, executing the first inquired task in the warehouse, calculating the corresponding number W3 of beams and the corresponding number N3 of columns in the walking and lifting directions corresponding to the destination address of the task in the warehouse, and after the completion, popping the task information in the warehouse from the push queue and pushing the task information in the pop queue. Judging whether a circulation execution instruction exists, if so, detecting a first job of delivery in the push queue, and after judging the current state of the delivery table of the delivery line, circularly executing the job of delivery. If there is no loop execution instruction, the first task execution of the return queue is returned.

If the rest tasks in the push queue have no task in-store, returning to the push queue to continuously execute the task in-store in the task queue, and repeating the cycle.

The column values N and the beam values W corresponding to all cargo positions can be calculated through the library position modeling, and the shortest running path of the cargo machinery can be obtained through a large number of operations. However, firstly, the method needs modeling configuration, the programmable logic controller system is not suitable for performing a large number of library operations, so that the load and response speed of the programmable logic controller are increased, the optimized shortest path is matched with the circulation of a conveying line or a transfer robot (Automated Guided Vehicle, AGV) system, and the shortest distance optimal solution of a large number of library/warehouse-in tasks is difficult to achieve.

Wherein the ARQ array queues are transmission array queues.

According to a fourth aspect of the present invention there is provided a computer device comprising: the control method of the cargo transporting machine provided in any one of the embodiments described above is implemented when the program or the instructions are executed by the processor.

The computer equipment provided by the invention comprises a memory and a processor, wherein a program or an instruction is stored in the memory; the processor executes a program or instructions to implement the steps of the control method of a cargo machine as provided in any of the above embodiments, and therefore has all the advantages of the control method of a cargo machine as provided in any of the above embodiments, which are not set forth herein in any way.

According to a fifth aspect of the present invention there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor performs the steps of the method of controlling a cargo handling machine as provided in any of the embodiments described above.

The readable storage medium provided by the present invention stores a program or instructions that, when executed by a processor, implement the steps of the control method of a cargo handling machine provided in any of the embodiments described above, and therefore has all the advantages of the control method of a cargo handling machine provided in any of the embodiments described above, which are not set forth herein.

In the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or units referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of controlling a cargo handling machine, comprising:

executing a first task in a task queue, and determining the task type of the first task;

retrieving a task of which the task type is a second type in the task queue based on the condition that the task type of the first task is a first type;

executing the second type of task meeting a first condition based on the condition that the task queue has the second type of task;

one of the first type and the second type is warehouse entry, and the other is warehouse exit.

2. The method according to claim 1, wherein the step of executing the second type of task satisfying the first condition based on the case that the first type is the warehouse entry and the second type is the warehouse exit is performed based on the case that the task queue has the second type of task, specifically comprises:

determining first address information of the first task based on the condition that the task queue has the second type of task;

extracting second address information of all the second type tasks;

Determining a first target task in all the second type tasks according to the first address information and the second address information;

and executing the first target task.

3. The method of claim 2, wherein the step of determining a first target task from all of the second type of tasks based on the first address information and the second address information, comprises:

calculating first distance information between the first address information and all the second address information;

and selecting the task corresponding to the smallest first distance information as the first target task.

4. A control method of a cargo-moving machine according to claim 3, characterized in that said step of calculating first distance information between said first address information and all of said second address information comprises:

and determining the first distance information according to the first transverse distance and the first longitudinal distance in the first address information and all the second address information.

5. The method according to any one of claims 1 to 4, characterized in that, based on the first type being the ex-warehouse and the second type being the in-warehouse, the step of executing a task of a second type satisfying a first condition, based on the task of the second type in the task queue, comprises:

Detecting whether the goods taking platform has goods corresponding to the second type of tasks or not based on the condition that the second type of tasks exist in the task queue;

and executing a first task of the second type in the task queue based on the goods taking platform has the goods.

6. A control method of a cargo-moving machine according to claims 1-4, characterized in that before said step of performing a second type of task fulfilling a first condition, it further comprises:

executing the second type of task satisfying the first condition based on having a loop execution instruction;

tasks in the task queue are sequentially executed based on the absence of loop execution instructions.

7. The control method of a cargo-moving machine according to any one of claims 1 to 4, characterized by further comprising:

after executing the tasks in the task queue, adding the tasks into the pop queue;

and supplementing other tasks in the task queue.

8. A control device for a cargo handling machine, comprising:

the first determining module is used for executing a first task in the task queue and determining the task type of the first task;

The first retrieval module is used for retrieving tasks with the task type of the second type in the task queue based on the condition that the task type of the first task is the first type;

the first execution module is used for executing the second type of task meeting the first condition based on the condition that the task queue has the second type of task;

9. The control device of a cargo handling machine according to claim 8, wherein the first execution module specifically comprises:

a first determining sub-module, configured to determine first address information of the first task based on a situation that the task queue has the second type of task;

the first extraction sub-module is used for extracting second address information of all the second type tasks;

the second determining submodule is used for determining a first target task in all the second-type tasks according to the first address information and the second address information;

and the first execution sub-module is used for executing the first target task.

10. The control device of a cargo handling machine according to claim 8, wherein the first execution module specifically comprises:

The first detection sub-module is used for detecting whether the goods taking platform has goods corresponding to the second type of tasks or not based on the condition that the second type of tasks exist in the task queue;

and the second execution sub-module is used for executing the first task of the second type in the task queue based on the goods in the goods taking platform.

11. The control device of a cargo-moving machine according to any one of claims 8 to 10, further comprising:

a second execution module for executing the second type of task satisfying the first condition based on having a loop execution instruction;

and the third execution module is used for sequentially executing the tasks in the task queue under the condition of no loop execution instruction.

12. The control device of a cargo-moving machine according to any one of claims 8 to 10, further comprising:

the pop-up module is used for adding the tasks into the pop-up queue after executing the tasks in the task queue;

and the bit supplementing module is used for supplementing the bits of other tasks in the task queue.

13. A cargo handling machine, comprising:

a control device of a cargo handling machine according to any one of claims 8 to 12.

14. A computer device, comprising: a processor, a memory and a program or instructions stored on the memory and executable on the processor, which when executed by the processor, implement the control method of a cargo handling machine according to any one of claims 1 to 7.

15. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the control method of a cargo handling machine according to any one of claims 1 to 7.