CN114955355A - Stacker address identification method, device, equipment and storage medium - Google Patents

Abstract

Translated fromChinese

本申请适用于自动化立体仓库技术领域，提供一种堆垛机认址方法、装置、设备及存储介质，其中堆垛机认址方法包括：根据货架货位的规格对货架货位进行分区；对不同分区的货架货位进行采样，基于采样结果建立货位地址表；通过货位地址表对不同分区的货架货位进行分区认址。本申请能够实现对具有不同规格货位的货架精准认址，提高堆垛机应对复杂货位组成仓库的兼容能力。

The present application is applicable to the technical field of automated three-dimensional warehouses, and provides a method, device, equipment and storage medium for address recognition of a stacker, wherein the method for address recognition of a stacker includes: partitioning the shelf space according to the specifications of the shelf space; The shelf positions of different partitions are sampled, and the location address table is established based on the sampling results; The present application can realize the accurate address recognition of the shelves with different specifications of cargo positions, and improve the compatibility of the stacker to deal with complex cargo positions to form a warehouse.

Description

Translated fromChinese

堆垛机认址方法、装置、设备及存储介质Stacker address identification method, device, equipment and storage medium

技术领域technical field

本申请属于自动化立体仓库技术领域，尤其涉及一种堆垛机认址方法、装置、设备及存储介质。The application belongs to the technical field of automated three-dimensional warehouses, and in particular relates to a method, device, equipment and storage medium for address recognition of a stacker.

背景技术Background technique

随着有轨巷道式堆垛机组成的自动化立体仓库在各领域的应用越来越广泛，对堆垛机的运行效率和安全性也提出了愈来愈高的要求。堆垛机认址是堆垛机调试过程的重要环节，堆垛机认址的精度直接影响到堆垛机的故障率和稳定性，是保证自动化立体仓库安全运行的重要指标。为了节省货架的空间，满足不同规格的货物的空间需求，同一巷道的货架通常会有不同规格的货位，但通常的堆垛机认址方法难以对具有不同规格货位的货架进行精准认址。With the more and more extensive application of automated three-dimensional warehouses composed of tracked aisle-type stackers in various fields, higher and higher requirements are also placed on the operation efficiency and safety of stackers. The location recognition of the stacker crane is an important part of the debugging process of the stacker crane. The accuracy of the location recognition of the stacker crane directly affects the failure rate and stability of the stacker crane, and is an important indicator to ensure the safe operation of the automated three-dimensional warehouse. In order to save the shelf space and meet the space requirements of different specifications of goods, the shelves in the same aisle usually have different specifications of cargo spaces, but the usual stacker address identification method is difficult to accurately identify the racks with different specifications of cargo positions. .

发明内容SUMMARY OF THE INVENTION

本申请实施例提供了一种堆垛机认址方法、装置、设备及存储介质，可以解决现有的堆垛机认址方法难以对具有不同规格货位的货架进行精准认址的问题。The embodiments of the present application provide a method, device, equipment and storage medium for address identification of a stacker, which can solve the problem that it is difficult to accurately identify shelves with different specifications of the existing address identification method of a stacker.

本申请实施例的第一方面提供一种堆垛机认址方法，包括：A first aspect of the embodiments of the present application provides a method for identifying addresses of stackers, including:

根据货架货位的规格对货架货位进行分区；Partition the shelf space according to the specifications of the shelf space;

对不同分区的货架货位进行采样，基于采样结果建立货位地址表；Sampling the shelf positions of different partitions, and build a position address table based on the sampling results;

通过货位地址表对不同分区的货架货位进行分区认址。Use the location address table to identify the shelf locations of different partitions.

本申请实施例的第二方面提供一种堆垛机认址装置，包括：A second aspect of the embodiments of the present application provides an address recognition device for a stacker, including:

分区模块，用于根据货架货位的规格对货架货位进行分区；The partition module is used to partition the shelf space according to the specifications of the shelf space;

采样模块，用于对不同分区的货架货位进行采样，基于采样结果建立货位地址表；The sampling module is used to sample the shelf positions of different partitions, and establish the position address table based on the sampling results;

认址模块，用于通过货位地址表对不同分区的货架货位进行分区认址。The address recognition module is used to identify the shelf locations of different partitions through the location address table.

本申请实施例的第三方面提供一种终端设备，包括存储器、处理器以及存储在存储器中并可在处理器上运行的计算机程序，处理器执行计算机程序时实现如上所述的堆垛机认址方法。A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the above-mentioned stacker identification is realized. address method.

本申请实施例的第四方面提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时实现如上所述的堆垛机认址方法。A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-described method for recognizing a stacker crane address is implemented.

本申请实施例的第一方面提供的堆垛机认址方法，通过根据货架货位的规格对货架货位进行分区并对不同分区的货架货位进行采样，进而基于采样结果建立货位地址表并通过货位地址表对不同分区的货架货位进行分区认址，能够实现对具有不同规格货位的货架精准认址，提高堆垛机应对复杂货位组成仓库的兼容能力。The method for recognizing the address of a stacker provided by the first aspect of the embodiments of the present application, by partitioning the shelf space according to the specifications of the shelf space and sampling the shelf space in different partitions, and then establishing a space address table based on the sampling results And through the location address table, the location of the shelves in different partitions can be identified, which can realize the accurate location of the shelves with different specifications and improve the compatibility of the stacker to deal with complex warehouses.

可以理解的是，上述第二方面、第三方面和第四方面的有益效果可以参见上述第一方面中的相关描述，在此不再赘述。It can be understood that, for the beneficial effects of the second aspect, the third aspect and the fourth aspect, reference may be made to the relevant descriptions in the first aspect, which will not be repeated here.

附图说明Description of drawings

为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. The drawings are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

图1为本申请实施例提供的堆垛机认址方法的流程示意图；1 is a schematic flowchart of a stacker crane address identification method provided by an embodiment of the present application;

图2为本申请实施例提供的堆垛机认址方法的步骤S10的流程示意图；FIG. 2 is a schematic flowchart of step S10 of the stacker crane address identification method provided by the embodiment of the present application;

图3为本申请实施例提供的堆垛机认址方法的步骤S10的流程示意图；FIG. 3 is a schematic flowchart of step S10 of the stacker crane address identification method provided by the embodiment of the present application;

图4为本申请实施例提供的堆垛机认址方法的步骤S30的流程示意图；FIG. 4 is a schematic flowchart of step S30 of the stacker crane address identification method provided by the embodiment of the present application;

图5为本申请实施例提供的堆垛机认址方法的步骤S30的流程示意图；5 is a schematic flowchart of step S30 of the stacker crane address identification method provided by the embodiment of the present application;

图6为本申请实施例提供的堆垛机认址方法的流程示意图；6 is a schematic flowchart of a method for identifying a stacker address according to an embodiment of the present application;

图7为本申请实施例提供的堆垛机认址装置的结构示意图；7 is a schematic structural diagram of a stacker crane address identification device provided in an embodiment of the present application;

图8为本申请实施例提供的终端设备的结构示意图。FIG. 8 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

具体实施方式Detailed ways

以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其它实施例中也可以实现本申请。在其它情况中，省略对众所周知的系统、设备、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

应当理解，当在本申请说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

如在本申请说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当...时”或“一旦”或“响应于确定”或“响应于检测到”。类似地，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述条件或事件]”或“响应于检测到[所描述条件或事件]”。As used in the specification of this application and the appended claims, the term "if" may be contextually interpreted as "when" or "once" or "in response to determining" or "in response to detecting ". Similarly, the phrases "if it is determined" or "if the [described condition or event] is detected" may be interpreted, depending on the context, to mean "once it is determined" or "in response to the determination" or "once the [described condition or event] is detected. ]" or "in response to detection of the [described condition or event]".

另外，在本申请说明书和所附权利要求书的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

在本申请说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。“多个”表示“两个或两个以上”。References in this specification to "one embodiment" or "some embodiments" and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless specifically emphasized otherwise. The terms "including", "including", "having" and their variants mean "including but not limited to" unless specifically emphasized otherwise. "Plural" means "two or more".

实施例一Example 1

本申请实施例一提供一种堆垛机认址方法，可以由终端设备的处理器在运行相应的计算机程序时执行，用于实现根据货架货位的规格对货架货位进行分区并对不同分区的货架货位进行采样，进而基于采样结果建立货位地址表并通过货位地址表对不同分区的货架货位进行分区认址，能够实现对具有不同规格货位的货架精准认址，提高堆垛机应对复杂货位组成仓库的兼容能力。The first embodiment of the present application provides a method for recognizing the address of a stacker, which can be executed by the processor of a terminal device when a corresponding computer program is run, so as to realize the partitioning of the shelf space according to the specifications of the shelf space and the different partitions. Then, based on the sampling results, establish a location address table, and use the location address table to identify the shelf locations of different partitions. The stacker can deal with the compatibility of complex cargo positions to form a warehouse.

如图1所示，本实施例提供的堆垛机认址方法包括如下步骤S10至S30：As shown in FIG. 1 , the method for identifying a stacker address provided by this embodiment includes the following steps S10 to S30:

S10、根据货架货位的规格对货架货位进行分区。S10. Partition the shelf space according to the specifications of the shelf space.

在应用中，可以根据货架的情况选择不同的分区策略，对于具有多种规格货位的货架，可以根据货位的规格划分为不同分区，如有两种规格货位的货架，则可将两种规格货位分为两个分区。In the application, different partition strategies can be selected according to the conditions of the shelves. For the shelves with various specifications of the storage space, it can be divided into different partitions according to the specifications of the storage space. This specification is divided into two partitions.

S20、对不同分区的货架货位进行采样，基于采样结果建立货位地址表。S20: Sampling the shelf positions of different partitions, and establishing a position address table based on the sampling results.

在应用中，可以对不同分区的货架货位的不同位置进行采样，样本分布在货架内成网格状节点分布，采样结果通过一定规则的变换建立货位地址表，货位地址表中的货位地址可以根据货架的情况选择不同的地址。In the application, it is possible to sample different positions of the shelves in different partitions, and the samples are distributed in the shelves in a grid-like node distribution. The bit address can choose different addresses according to the situation of the shelf.

S30、通过货位地址表对不同分区的货架货位进行分区认址。S30 , performing partition address recognition on shelf locations in different partitions through the location address table.

在应用中，根据货架货位的规格对货架货位进行分区后，可通过货位地址表分别对不同分区的货架货位进行认址，不同分区之间的的认址过程相对独立，将不同分区的认址结果结合起来就能够得到整个货架的认址结果。In the application, after the shelf space is partitioned according to the specifications of the shelf space, the shelf space in different partitions can be identified through the storage location address table. The address recognition process between different partitions is relatively independent, and the different The address recognition results of the partitions can be combined to obtain the address recognition results of the entire shelf.

本申请实施例提供的堆垛机认址方法，通过根据货架货位的规格对货架货位进行分区并对不同分区的货架货位进行采样，进而基于采样结果建立货位地址表并通过货位地址表对不同分区的货架货位进行分区认址，能够实现对具有不同规格货位的货架精准认址，提高堆垛机应对复杂货位组成仓库的兼容能力。The method for recognizing the address of a stacker provided by the embodiment of the present application, by partitioning the shelf space according to the specifications of the shelf space and sampling the shelf space in different partitions, and then establishing a goods space address table based on the sampling results and passing the storage space The address table can identify the location of the shelves in different partitions, which can realize the accurate address recognition of the shelves with different specifications and improve the compatibility of the stacker to deal with complex warehouses.

实施例二Embodiment 2

本申请实施例二提供一种基于实施例一实现的堆垛机认址方法，可以由终端设备的处理器在运行相应的计算机程序时执行。The second embodiment of the present application provides an address recognition method for a stacker crane based on the first embodiment, which can be executed by a processor of a terminal device when a corresponding computer program is executed.

如图2所示，步骤S10包括步骤S11至S13：As shown in FIG. 2, step S10 includes steps S11 to S13:

S11、将理论规格相同的货架货位划分为第一分区。S11. Divide the shelf space with the same theoretical specification into a first partition.

在应用中，对于具有多种规格货位的货架，可以根据货位的规格划分为不同分区，如果货架货位的理论规格相同，则可以把这些理论规格相同的货架货位划分为第一分区。In the application, for the shelves with various specifications, they can be divided into different partitions according to the specifications of the shelves. If the theoretical specifications of the shelves are the same, the shelves with the same theoretical specifications can be divided into the first partition. .

S12、获取第一分区内货架货位的实际规格与理论规格的偏差值。S12: Obtain the deviation value between the actual specification and the theoretical specification of the shelf space in the first partition.

在应用中，如果第一分区内货架货位中存在安装误差，则根据货架货位的实际规格和理论规格的偏差值确定分区界限，进行进一步分区。In the application, if there is an installation error in the shelf space in the first partition, the partition boundary is determined according to the deviation between the actual specification and the theoretical specification of the shelf space, and further partitioning is performed.

S13、将第一分区内偏差值大于预设值的货架货位划分为第二分区。S13. Divide the shelf space in the first partition with a deviation value greater than a preset value into a second partition.

在应用中，当第一分区内存在货架货位的实际规格和理论规格的偏差值大于预设值时，则将第一分区内上述偏差值大于上述预设值的货架货位划分为第二分区，进行重新认址。In the application, when the deviation between the actual specification and the theoretical specification of the shelf space in the first partition is greater than the preset value, the shelf space in the first partition whose deviation value is greater than the preset value is divided into the second partition. Partition and re-identify.

通常的堆垛机认址方法，如果货架在工程安装的过程中存在偏差，即使误差在工程要求的的范围内，但只要超过堆垛机的认址需求(一般在5mm以上)，就需要对货架进行校准，浪费掉大量的人工成本和工程建设时间。In the usual method of address recognition of stackers, if there is a deviation in the process of installation of the rack, even if the error is within the scope of the project requirements, as long as the address recognition requirements of the stacker are exceeded (generally more than 5mm), it is necessary to The racks are calibrated, wasting a lot of labor costs and engineering construction time.

本申请实施例提供的堆垛机认址方法，通过获取第一分区内货架货位的实际规格与理论规格的偏差值并将第一分区内偏差值大于预设值的货架货位划分为第二分区，从而对第二分区的货架货位重新认址，能够用较低的成本解决货架安装导致的货位偏差问题，对货架安装过程中的偏差能够进行兼容。The stacker address identification method provided by the embodiment of the present application obtains the deviation value between the actual specification and the theoretical specification of the shelf space in the first partition, and divides the shelf space with the deviation value greater than the preset value in the first partition into the first partition. Two partitions, so that the shelf space in the second partition can be relocated, the problem of space deviation caused by shelf installation can be solved at a lower cost, and the deviation in the shelf installation process can be compatible.

如图3所示，在一个实施例中，步骤S10还包括步骤S14和S15：As shown in FIG. 3, in one embodiment, step S10 further includes steps S14 and S15:

S14、获取第一分区内货架货位形变或沉降的位置界限。S14, obtaining the position limit of the deformation or settlement of the shelf position in the first partition.

在应用中，如果第一分区内货架货位中存在机械形变和累积沉降的货架货位，则可通过取样找到货架货位形变和沉降的位置界限。In the application, if there are rack positions with mechanical deformation and accumulated settlement in the rack positions in the first partition, the position limit of the deformation and settlement of the rack positions can be found by sampling.

S15、将第一分区内超过位置界限的货架货位划分为第二分区。S15: Divide the shelf space in the first partition that exceeds the position limit into a second partition.

在应用中，可以将第一分区内存在形变或者沉降的货架货位划分为第二分区，进行重新认址。In the application, the shelf space with deformation or subsidence in the first partition can be divided into the second partition for re-addressing.

通常的堆垛机认址方法，如果货架货位在安装认址之后出现了部分机械沉降或者地面沉降，导致货位整体不规则，但是不会导致设备隐患，却需要对整体的货架进行整改，然后再重新认址，会浪费大量的人力成本和时间成本。In the usual method of location identification for stackers, if the rack location has some mechanical settlement or ground subsidence after installation and location identification, the overall location is irregular, but it will not cause equipment hazards, but the overall rack needs to be rectified. And then re-addressing, it will waste a lot of labor cost and time cost.

本申请实施例提供的堆垛机认址方法，通过获取第一分区内货架货位形变或沉降的位置界限并将第一分区内超过位置界限的货架货位划分为第二分区，从而对第二分区的货架货位重新认址，能够拓展货架货位形变和沉降的整改方法。The stacker address identification method provided in the embodiment of the present application obtains the position limit of the deformation or settlement of the shelf space in the first partition and divides the shelf space exceeding the position limit in the first partition into the second partition, so as to identify the first partition. The relocation of the shelf space in the second partition can expand the rectification method for the deformation and settlement of the shelf space.

在一个实施例中，步骤S20包括：In one embodiment, step S20 includes:

对不同分区的货架货位的预设位置进行均匀分布采样，基于采样结果建立货位地址表。The preset positions of the shelf positions in different partitions are sampled uniformly, and a position address table is established based on the sampling results.

在应用中，货架货位的采样方法为均匀分布采样，上述预设位置可以是货架货位的顶层、底层、首列和尾列，根据采样结果建立货位地址表，货位地址表可以包括：各分区内四角位置的货位位置实际值；各分区内首层和二层的间距，二层和三层的间距；各分区内首列和二列的间距，二列和三列的间距。In the application, the sampling method of the shelf space is uniformly distributed sampling. The above-mentioned preset positions can be the top, bottom, first and last columns of the shelf space. According to the sampling results, a freight space address table is established. The freight space address table can include : The actual value of the cargo position at the four corners of each partition; the distance between the first and second floors, and the distance between the second and third floors in each partition; the distance between the first and second columns, and the distance between the second and third columns in each partition .

如图4所示，在一个实施例中，步骤S30包括步骤S31和S32：As shown in FIG. 4, in one embodiment, step S30 includes steps S31 and S32:

S31、获取算法逻辑和寻址逻辑。S31. Obtain algorithm logic and addressing logic.

在应用中，可编写算法逻辑和寻址逻辑程序块，利用PLC中的算法逻辑和寻址逻辑。In the application, the algorithm logic and addressing logic program blocks can be written, and the algorithm logic and addressing logic in the PLC can be used.

S32、将货位地址表输入算法逻辑和寻址逻辑，得到不同分区的货架货位的实际认址值。S32, input the storage location address table into the algorithm logic and addressing logic to obtain the actual address recognition values of the shelf storage locations in different partitions.

在应用中，利用PLC中的算法逻辑和寻址逻辑，填入四角位置的货位位置实际值、各分区内首层和二层的间距以及二层和三层的间距、各分区内首列和二列的间距以及二列和三列的间距，自动计算出每个货位对应的实际认址值。In the application, use the algorithm logic and addressing logic in the PLC to fill in the actual value of the cargo location at the four corners, the distance between the first and second floors in each partition, the distance between the second and third floors, and the first column in each partition. And the distance between the second column and the second column and the third column, the actual address value corresponding to each cargo location is automatically calculated.

如图5所示，在一个实施例中，步骤S30还包括步骤S33和S34：As shown in FIG. 5, in one embodiment, step S30 further includes steps S33 and S34:

S33、建立与不同分区的货架货位对应的认址数据块。S33 , establishing address recognition data blocks corresponding to shelf positions in different partitions.

在应用中，可针对每个货架货位分别建立对应的认址数据块。In the application, a corresponding address recognition data block can be established for each shelf space.

S34、将实际认址值写入对应的认址数据块的初始值中。S34, write the actual address recognition value into the initial value of the corresponding address recognition data block.

在应用中，可以利用PLC快照功能，将通过计算得出的各货位实际认址值写入对应认址数据块的初始值中，实现对每个货架货位实际认址值的确认。In the application, the PLC snapshot function can be used to write the actual address value of each location obtained by calculation into the initial value of the corresponding address data block, so as to realize the confirmation of the actual address value of each shelf location.

如图6所示，在一个实施例中，堆垛机认址方法还包括步骤S40：As shown in FIG. 6 , in one embodiment, the method for identifying a stacker address further includes step S40:

S40、对分区认址后的货架货位进行认址复核。S40. Perform address identification review on the shelf space after the partition address identification.

在应用中，上述对分区认址后的货架货位进行认址复核，可以是对分区认址后的货架货位进行抽样检查，尤其是对特殊货位进行测试。In the application, the above-mentioned review of the location identification of the shelf space after the divisional address identification may be a sampling inspection of the shelf space after the divisional address identification, especially the test of the special space.

实施例三Embodiment 3

如图7所示，本实施例还提供一种堆垛机认址装置，该堆垛机认址装置700包括：As shown in FIG. 7 , this embodiment also provides a stacker address identification device, and the stackeraddress identification device 700 includes:

分区模块701，用于根据货架货位的规格对所述货架货位进行分区；Thepartition module 701 is used to partition the shelf space according to the specifications of the shelf space;

采样模块702，用于对不同分区的所述货架货位进行采样，基于采样结果建立货位地址表；Sampling module 702, configured to sample the shelf locations in different partitions, and establish a location address table based on the sampling results;

认址模块703，用于通过所述货位地址表对不同分区的所述货架货位进行分区认址。Theaddress recognition module 703 is configured to perform regional address recognition on the shelf storage locations of different partitions through the storage location address table.

可选的，分区模块701包括：Optionally, thepartition module 701 includes:

第一分区单元，用于将理论规格相同的货架货位划分为第一分区。The first partition unit is used to divide the shelf space with the same theoretical specification into the first partition.

偏差获取单元，用于获取第一分区内货架货位的实际规格与理论规格的偏差值。The deviation obtaining unit is used to obtain the deviation value between the actual specification and the theoretical specification of the shelf space in the first partition.

偏差分区单元，用于将第一分区内偏差值大于预设值的货架货位划分为第二分区。The deviation partition unit is used to divide the shelf space with the deviation value greater than the preset value in the first partition into the second partition.

可选的，分区模块701还包括：Optionally, thepartition module 701 further includes:

界限获取单元，用于获取第一分区内货架货位形变或沉降的位置界限。The limit obtaining unit is used for obtaining the position limit of the deformation or settlement of the shelf position in the first partition.

界限分区单元，用于将第一分区内超过位置界限的货架货位划分为第二分区。The limit partition unit is used to divide the shelf space beyond the position limit in the first partition into the second partition.

可选的，采样模块702用于对不同分区的货架货位的预设位置进行均匀分布采样，基于采样结果建立货位地址表。Optionally, thesampling module 702 is configured to perform uniformly distributed sampling on the preset positions of the shelf locations in different partitions, and establish a location address table based on the sampling results.

可选的，认址模块703包括：Optionally, theaddress recognition module 703 includes:

逻辑获取单元，用于获取算法逻辑和寻址逻辑。Logic acquisition unit for acquiring algorithm logic and addressing logic.

实际认址单元，用于将货位地址表输入算法逻辑和寻址逻辑，得到不同分区的货架货位的实际认址值。The actual address recognition unit is used to input the location address table into the algorithm logic and addressing logic to obtain the actual address recognition value of the shelf location in different partitions.

可选的，认址模块703还包括：Optionally, theaddress recognition module 703 further includes:

认址数据单元，用于建立与不同分区的货架货位对应的认址数据块。The address recognition data unit is used to establish address recognition data blocks corresponding to the shelf positions of different partitions.

认址写入单元，用于将实际认址值写入对应的认址数据块的初始值中。The address recognition writing unit is used to write the actual address recognition value into the initial value of the corresponding address recognition data block.

可选的，堆垛机认址装置700还包括：Optionally, the stackeraddress identification device 700 further includes:

复核模块，用于对分区认址后的货架货位进行认址复核。The review module is used to review the address recognition of the shelf space after the partition address recognition.

需要说明的是，上述装置/单元之间的信息交互、执行过程等内容，由于与本申请方法实施例基于同一构思，其具体功能及带来的技术效果，具体可参见方法实施例部分，此处不再赘述。It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将所述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

本申请实施例还提供了一种终端设备800，如图8所示，包括存储器801、处理器802以及存储在存储器801中并可在处理器802上运行的计算机程序803，处理器802执行计算机程序803时实现第一方面提供的堆垛机认址方法的步骤。An embodiment of the present application also provides aterminal device 800, as shown in FIG. 8, including amemory 801, aprocessor 802, and acomputer program 803 stored in thememory 801 and running on theprocessor 802, and theprocessor 802 executes the computer Theprocedure 803 is to implement the steps of the method for recognizing the address of the stacker crane provided in the first aspect.

在应用中，终端设备可包括，但不仅限于，处理器以及存储器，图8仅仅是终端设备的举例，并不构成对终端设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件，例如，输入输出设备、网络接入设备等。输入输出设备可以包括摄像头、音频采集/播放器件、显示屏等。网络接入设备可以包括通信模块，用于与外部设备进行无线通信。In an application, a terminal device may include, but is not limited to, a processor and a memory. FIG. 8 is only an example of a terminal device, and does not constitute a limitation to the terminal device, and may include more or less components than those shown in the figure, or Combining certain components, or different components, for example, input and output devices, network access devices, etc. Input and output devices may include cameras, audio capture/playback devices, and display screens. The network access device may include a communication module for wirelessly communicating with external devices.

在应用中，处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。In an application, the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits) , ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

在应用中，存储器在一些实施例中可以是终端设备的内部存储单元，例如终端设备的硬盘或内存。存储器在另一些实施例中也可以是终端设备的外部存储设备，例如，终端设备上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(SecureDigital，SD)卡，闪存卡(Flash Card)等。存储器还可以既包括终端设备的内部存储单元也包括外部存储设备。存储器用于存储操作系统、应用程序、引导装载程序(Boot Loader)、数据以及其他程序等，例如计算机程序的程序代码等。存储器还可以用于暂时存储已经输出或者将要输出的数据。In application, the memory may be an internal storage unit of the terminal device in some embodiments, such as a hard disk or a memory of the terminal device. In other embodiments, the memory may also be an external storage device of the terminal device, for example, a plug-in hard disk equipped on the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory Card (Flash Card) and so on. The memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program code of a computer program, and the like. The memory can also be used to temporarily store data that has been or will be output.

本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时可实现上述各个方法实施例中的步骤。Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

本申请实现上述实施例方法中的全部或部分流程，可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质至少可以包括：能够将计算机程序代码携带到终端设备的任何实体或设备、记录介质、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质。例如U盘、移动硬盘、磁碟或者光盘等。This application implements all or part of the processes in the methods of the above embodiments, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can be The steps of each of the foregoing method embodiments are implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include at least: any entity or device capable of carrying the computer program code to the terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunication signals, and software distribution media. For example, U disk, mobile hard disk, disk or CD, etc.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的设备及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art can realize that the device and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

在本申请所提供的实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，另一点，所显示或讨论的相互之间的耦合或直接耦合或通讯连接可以是通过一些接口，设备间接耦合或通讯连接，可以是电性，机械或其它的形式。In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other manners. For example, the device embodiments described above are only illustrative. Another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices may be electrical sexual, mechanical or otherwise.

以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

1. A stacker addressing method, comprising:

partitioning the goods shelf goods space according to the specification of the goods shelf goods space;

sampling the goods shelves and the goods positions of different partitions, and establishing a goods position address table based on sampling results;

and performing partition address recognition on the goods shelf goods positions of different partitions through the goods position address table.

2. The stacker addressing method of claim 1 wherein said partitioning said shelf slots according to their specifications comprises:

dividing the goods shelves with the same theoretical specification into a first subarea;

acquiring a deviation value between the actual specification and the theoretical specification of the goods shelf in the first partition;

and dividing the goods shelf with the deviation value larger than the preset value in the first partition into a second partition.

3. The stacker addressing method of claim 2, wherein said partitioning said shelf slot according to its specifications further comprises;

obtaining the position limit of deformation or settlement of the goods shelf in the first partition;

dividing the shelf space beyond the location limit in a first section into a second section.

4. The stacker addressing method of claim 1 wherein said sampling said shelf slots of different sectors and creating a slot address table based on the sampling comprises:

and uniformly distributing and sampling preset positions of the goods shelves in different partitions, and establishing the goods location address table based on sampling results.

5. The stacker addressing method of claim 1 wherein said sector addressing of said shelf slots of different sectors via said slot address table comprises:

acquiring algorithm logic and addressing logic;

and inputting the goods location address table into the algorithm logic and the addressing logic to obtain actual address values of the goods locations of the goods shelves in different partitions.

6. The stacker addressing method of claim 5 wherein said sector addressing of said shelf slots of different sectors by said slot address table further comprises:

establishing address data blocks corresponding to the goods shelves and the goods positions of different partitions;

and writing the actual address value into the initial value of the corresponding address data block.

7. The stacker addressing method of claim 1, further comprising:

and performing address rechecking on the goods shelf goods location after the partition address.

8. A stacker addressing device, comprising:

the partition module is used for partitioning the goods shelf goods space according to the specification of the goods shelf goods space;

the sampling module is used for sampling the goods shelves and the goods positions of different partitions and establishing a goods position address table based on sampling results;

and the addressing module is used for performing subarea addressing on the goods shelves in different subareas through the goods position address table.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the stacker addressing method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements a stacker addressing method according to any one of claims 1 to 7.

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