CN112551196B - Logistics system control method, device and medium - Google Patents
Logistics system control method, device and medium Download PDFInfo
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- CN112551196B CN112551196B CN202011457981.4A CN202011457981A CN112551196B CN 112551196 B CN112551196 B CN 112551196B CN 202011457981 A CN202011457981 A CN 202011457981A CN 112551196 B CN112551196 B CN 112551196B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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Abstract
The embodiment of the invention discloses a method, a device and a medium for controlling a logistics system. The logistics system comprises a car loader, an attitude adjusting platform and a container, wherein at least two photoelectric switches are arranged on a first contact surface of the attitude adjusting platform and the bottom of the container, at least one photoelectric switch is arranged at the topmost end of the first contact surface in the vertical direction, at least one photoelectric switch is away from the topmost photoelectric switch in the vertical direction by a preset distance, the preset distance is equal to the thickness of the bottom of the container in value, and the method comprises the following steps: respectively receiving first photoelectric information of at least two photoelectric switches which are separated from each other by a first preset distance in the vertical direction on the attitude adjusting platform; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; when determining that at least two photoelectric switches separated by a preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, controlling the car loader to drive into the container through the attitude adjusting platform, and improving the cargo transmission efficiency.
Description
Technical Field
The embodiment of the invention relates to the technical field of logistics transmission, in particular to a method, a device and a medium for controlling a logistics system.
Background
Automatic pile up neatly carloader needs to adapt to present multiple container truck. The chassis height of different trucks is different, need align carloader bottom and container bottom through posture adjustment platform before the beginning pile up neatly, makes things convenient for the carloader to drive into inside the container. In addition, in the stacking process, the car loader is in continuous movement, and in order to smoothly transmit goods, the extending length and the height position of the conveying belt conveyor need to be controlled in real time, so that the top end of the conveying belt and the universal platform at the rear part of the car loader are in the same level at any moment and the minimum gap is kept.
At present, the adjustment attitude adjustment platform aligns the bottom of a car loader with the bottom of a container, and the relative positions of the top end of an adjustment conveying belt and a universal platform at the rear part of the car loader are required to be adjusted manually, so that the operation is complex, the time consumption is long, and the efficiency of the car loader for conveying goods is seriously influenced.
Disclosure of Invention
The embodiment of the invention provides a logistics system control method, a logistics system control device and a logistics system control medium, which are used for realizing the automatic adjustment of the parallel of an attitude platform and the bottom of a container, facilitating the driving of a car loader into the container and improving the cargo transmission efficiency.
In a first aspect, an embodiment of the present invention provides a control method for a logistics system, where the logistics system includes a car loader, an attitude adjustment platform, and a container, where at least two photoelectric switches are disposed on a first contact surface between the attitude adjustment platform and a bottom of the container, at least one of the photoelectric switches is disposed at a topmost end of the first contact surface in a vertical direction, and a first preset distance is provided between the at least one photoelectric switch and the topmost photoelectric switch in the vertical direction, where the first preset distance is equal to a thickness of the bottom of the container in value, and the control method for the logistics system includes: receiving first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform respectively; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; and when determining that at least two photoelectric switches which are separated from the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, controlling the car loader to drive into the container from the attitude adjusting platform.
In a second aspect, an embodiment of the present invention further provides a logistics system control apparatus, where the apparatus includes:
the first photoelectric information receiving module is used for respectively receiving first photoelectric information of at least two photoelectric switches which are separated from the posture adjusting platform by the first preset distance in the vertical direction;
the attitude platform control module is used for controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information;
and the loading machine control module is used for controlling the loading machine to drive into the container from the posture adjusting platform when at least two photoelectric switches which are separated from the preset distance in the vertical direction are determined to be in a switch-on state based on the first photoelectric information.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the logistics system control method provided in any embodiment of the present invention.
In an embodiment of the present invention, the logistics system includes a car loader, an attitude adjustment platform, and a container, at least two photoelectric switches are disposed on a first contact surface between the attitude adjustment platform and the bottom of the container, at least one of the photoelectric switches is disposed at the topmost end of the first contact surface in the vertical direction, a first preset distance is provided between the at least one photoelectric switch and the topmost photoelectric switch in the vertical direction, and the first preset distance is numerically equal to the thickness of the bottom of the container, wherein the control method of the logistics system includes: receiving first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform respectively; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; when it is determined that at least two photoelectric switches which are separated from the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, the car loader is controlled to drive into the container from the posture adjusting platform, the problem that the efficiency of manually adjusting the relative position of the posture platform and the bottom of the container is low before the car loader drives into the container is solved, the automatic adjustment of the relative position of the posture platform and the bottom of the container is realized, and the logistics transmission efficiency is improved.
Drawings
Fig. 1 is a flowchart of a method for controlling a logistics system according to a first embodiment of the invention;
FIG. 2 is a schematic diagram of a position of a photoelectric switch according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of another position of the optoelectronic switch according to the first embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling a logistics system according to a first embodiment of the invention;
fig. 5 is a flowchart of a control method of a logistics system in the second embodiment of the invention;
fig. 6 is a schematic flow chart of a control method of a logistics system in the second embodiment of the invention;
fig. 7 is a schematic structural diagram of a control device of a logistics system in a third embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a control method of a logistics system according to an embodiment of the present invention, where this embodiment is applicable to a situation where a stacker crane drives into a container, and the method may be executed by a logistics system control device, where the logistics system includes a car loader, an attitude adjustment platform, and a container, at least two photoelectric switches are disposed on a first contact surface of the attitude adjustment platform and a bottom of the container, at least one of the photoelectric switches is disposed at a topmost end of the first contact surface in a vertical direction, and at least one of the photoelectric switches is separated from the topmost photoelectric switch in the vertical direction by a first preset distance, and the first preset distance is equal to a thickness of the bottom of the container in a numerical value, as shown in fig. 1, the method specifically includes the following steps:
s110, receiving first photoelectric information of at least two photoelectric switches which are separated from each other by a first preset distance in the vertical direction on the attitude adjusting platform respectively.
The carloader can carry out the pile up neatly with the goods in the container to the goods in making the container is put in order. Before controlling the car loader to drive into the container, the attitude adjusting platform needs to be parallel to the bottom of the container, and when the attitude adjusting platform is parallel to the bottom of the container, the car loader is controlled to drive into the container from the attitude adjusting platform. The photoelectric switch can send out the light beam, and when the light beam was sheltered from, photoelectric switch was in the on-state, and when the light beam normally launches, photoelectric switch was in the off-state. Therefore, at least two photoelectric switches are arranged on a first contact surface between the attitude adjusting platform and the bottom of the container, so that the position of the attitude adjusting platform can be adjusted through the states of the photoelectric switches.
Optionally, as shown in fig. 2, a photoelectric switch may be disposed at the topmost end of the first contact surface between the attitude adjustment platform and the bottom of the container, and a photoelectric switch is disposed at a position that is a preset distance away from the topmost photoelectric switch in the vertical direction; as shown in fig. 3, a plurality of photoelectric switches may be provided at the uppermost end, and a plurality of photoelectric switches may be provided at positions separated by a predetermined distance from the uppermost photoelectric switch. When the topmost end of the first contact surface between the attitude adjusting platform and the bottom of the container is provided with the photoelectric switch, and the photoelectric switch is arranged at a preset distance away from the topmost photoelectric switch, the problem that the position of the attitude adjusting platform cannot be adjusted through photoelectric switch information when one of the photoelectric switches is damaged can occur. Therefore, a plurality of photoelectric switches are respectively arranged at the topmost end of the first contact surface and at a preset distance from the topmost photoelectric switch. When guaranteeing that there is photoelectric switch to damage, the position of gesture adjustment platform can normally be adjusted.
Before controlling the car loader to drive into the container, receiving photoelectric information of at least one photoelectric switch at the topmost end of the first contact surface in the vertical direction and photoelectric information of at least one photoelectric switch at a preset distance away from the topmost photoelectric switch in the vertical direction, and adjusting the position of the attitude adjusting platform according to the photoelectric information.
And S120, controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information.
And determining the relative position of the attitude adjusting platform and the bottom of the container according to the received first photoelectric information, and adjusting the position of the attitude adjusting platform. Optionally, controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information includes: when the photoelectric switch is determined to be in a switch-off state according to the first photoelectric information, determining whether the attitude platform reaches a preset highest position or a preset lowest position, controlling the attitude platform to descend when the attitude platform reaches the preset highest position, and controlling the attitude platform to ascend when the attitude platform reaches the preset lowest position; and when the at least one photoelectric switch is determined to be in a switch-off state and the at least one photoelectric switch is determined to be in a switch-on state according to the first photoelectric information, controlling the attitude platform to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state.
As shown in fig. 4, when the received first photoelectric information is that all the photoelectric information of the photoelectric switches are in the off state, it is described that the attitude adjustment platform is located above or below the bottom of the container, at this time, it needs to be determined whether the attitude adjustment platform is located at the preset highest position or the preset lowest position, when it is determined that the attitude adjustment platform is located at the preset highest position, the attitude adjustment platform is controlled to descend, and when it is determined that the attitude adjustment platform is located at the preset lowest position, the attitude adjustment platform is controlled to ascend.
When the received first photoelectric information indicates that at least one photoelectric switch is in a closed state and at least one photoelectric switch is in an open state, determining the relative position of the attitude adjusting platform and the bottom of the container according to the position of the photoelectric switch in the closed state or the open state, and further adjusting the ascending or descending of the attitude adjusting platform.
Optionally, controlling the attitude platform to ascend or descend according to the position of the photoelectric switch in the closed state or the open state includes: when the photoelectric switch in the on state is located at the topmost end of the first contact surface in the vertical direction, and the photoelectric switch in the off state is located at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the attitude platform to ascend; and when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction and the photoelectric switch in the open state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the attitude platform to descend. When at least one photoelectric switch at the topmost end of the first contact surface in the vertical direction is in an open state and at least one photoelectric switch which is away from the topmost photoelectric switch by a preset distance is in a closed state, determining that the posture adjusting platform is located below the bottom of the container, and controlling the posture adjusting platform to ascend. When at least one photoelectric switch positioned at the topmost end of the first contact surface in the vertical direction is in a closed state and at least one photoelectric switch which is away from the topmost photoelectric switch by a preset distance is in an open state, determining that the posture adjusting platform is positioned above the bottom of the container, and controlling the posture adjusting platform to descend.
S130, when at least two photoelectric switches which are separated from each other in the vertical direction by a preset distance are determined to be in a switch-on state based on the first photoelectric information, controlling the car loader to drive into the container from the attitude adjusting platform.
When at least one photoelectric switch positioned at the topmost end of the first contact surface in the vertical direction is in an open state, and at least one photoelectric switch positioned at a preset distance away from the topmost photoelectric switch is also in an open state, determining that the posture adjusting platform is parallel to the bottom of the container.
Optionally, the logistics system further includes a first distance measuring device, the first distance measuring device is disposed on the attitude adjustment platform or the container, and is configured to measure a distance between the attitude adjustment platform and the container, and the control method of the logistics system further includes: acquiring a first distance between the attitude adjusting platform and the container through the first distance measuring device; and adjusting the distance between the attitude adjusting platform and the container in the horizontal direction according to the first distance. The optional distance measuring device may be a laser distance measuring device, an ultrasonic distance measuring device, or an infrared distance measuring device. The distance measuring device is arranged on the attitude adjusting platform or the container, the horizontal distance between the attitude adjusting platform and the bottom of the container is obtained through the distance measuring device, and the horizontal position of the attitude adjusting platform is adjusted according to the horizontal distance so that the horizontal distance between the attitude adjusting platform and the bottom of the container is within a preset distance range.
And when the attitude adjusting platform is parallel to the bottom of the container and the horizontal distance is within a preset distance range, controlling the car loader to drive into the container.
According to the technical scheme of the embodiment, the first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform is respectively received; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; when it is determined that at least two photoelectric switches which are separated from the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, the car loader is controlled to drive into the container from the posture adjusting platform, the problem that the efficiency of manually adjusting the relative position of the posture platform and the bottom of the container is low before the car loader drives into the container is solved, the automatic adjustment of the relative position of the posture platform and the bottom of the container is realized, and the logistics transmission efficiency is improved.
Example two
Fig. 5 is a flowchart of a control method of a logistics system according to a second embodiment of the present invention, where the present embodiment is further optimized based on the first embodiment, the logistics system further includes a conveyor belt, at least two photoelectric switches are disposed on a second contact surface of the conveyor belt and a universal platform on a car loader, at least one photoelectric switch is disposed at a topmost end of the second contact surface in a vertical direction, the at least one photoelectric switch is separated from the topmost photoelectric switch by a second preset distance in the vertical direction, and the second preset distance is equal to a thickness of the universal platform in terms of a numerical value, and the control method of the logistics system further includes: when the car loader drives into the container, second photoelectric information of at least two photoelectric switches which are separated from the container by the first preset distance in the vertical direction on the conveying belt is received respectively; and controlling the relative position of the conveyor belt and the universal platform according to the second photoelectric information. The position of the universal platform is automatically tracked by the conveyor belt, and the goods on the conveyor belt can be conveyed to the universal platform.
As shown in fig. 5, the method specifically includes the following steps:
s210, receiving first photoelectric information of at least two photoelectric switches which are separated from each other by a first preset distance in the vertical direction on the attitude adjusting platform respectively.
S220, controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information.
And S230, when at least two photoelectric switches which are separated from each other in the vertical direction by a preset distance are determined to be in a switch-on state based on the first photoelectric information, controlling the car loader to drive into the container from the posture adjusting platform.
And S240, respectively receiving second photoelectric information of at least two photoelectric switches which are separated from each other by a second preset distance in the vertical direction on the conveyor belt after the car loader drives into the container.
After the carloader drives into the container, stacking is started, the universal platform on the carloader moves along with the movement of the carloader, so that the conveying belt needs to track the position of the universal platform, the universal platform is parallel to the universal platform, the horizontal distance of the universal platform is within a preset distance range, and the conveying belt is ensured to convey the universal platform to the carloader. The top end of the contact surface of the conveyor belt and the universal platform is provided with at least one photoelectric switch, and the position, which is away from the topmost photoelectric switch by a preset distance, of the top end in the vertical direction is provided with at least one photoelectric switch, so that photoelectric information of the photoelectric switches is acquired.
And S250, controlling the relative position of the conveyor belt and the universal platform according to the second photoelectric information.
The relative position of the conveyor belt and the universal platform is determined through photoelectric information of a photoelectric switch on the conveyor belt, and then the position of the conveyor belt is adjusted.
As shown in fig. 6, optionally, controlling the relative position between the conveyor belt and the universal platform according to the second photoelectric information includes: when the photoelectric switch is determined to be in a switch-off state according to the second photoelectric information, determining whether the conveyor belt reaches a preset highest position or a preset lowest position, controlling the conveyor belt to descend when the conveyor belt reaches the preset highest position, and controlling the conveyor belt to ascend when the conveyor belt reaches the preset lowest position; and when at least one photoelectric switch is determined to be in a switch-off state and at least one photoelectric switch is determined to be in a switch-on state according to the second photoelectric information, controlling the conveyor belt to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state. When the received second photoelectric information indicates that the photoelectric switches are all in the closed state, it is indicated that the photoelectric switches are not shielded, at the moment, the conveyor belt is located above or below the universal platform, at the moment, whether the conveyor belt is located at the preset highest position or the preset lowest position needs to be judged, when the conveyor belt is located at the preset highest position, the conveyor belt is controlled to descend, and when the conveyor belt is located at the preset lowest position, the conveyor belt is controlled to ascend. When the second photoelectric information is received, at least one photoelectric switch is in a closed state, and at least one photoelectric switch is in an open state, determining the relative position of the conveyor belt and the universal platform according to the position of the photoelectric switch in the closed state or the open state, and further adjusting the ascending or descending of the conveyor belt.
Optionally, the controlling the conveyor belt to ascend or descend according to the position of the photoelectric switch in the closed state or the open state includes: when the photoelectric switch in the on state is located at the topmost end of the second contact surface in the vertical direction, and the photoelectric switch in the off state is located at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the conveyor belt to ascend; and when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction and the photoelectric switch in the open state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the conveyor belt to descend. When at least one photoelectric switch at the topmost end of the second contact surface in the vertical direction is in an open state and at least one photoelectric switch which is away from the topmost photoelectric switch by a preset distance is in a closed state, the conveyor belt is determined to be positioned below the universal platform, and at the moment, the conveyor belt is controlled to ascend. When at least one photoelectric switch positioned at the topmost end of the second contact surface in the vertical direction is in a closed state and at least one photoelectric switch which is away from the topmost photoelectric switch by a preset distance is in an open state, the conveyor belt is determined to be positioned above the universal platform, and at the moment, the conveyor belt is controlled to descend.
Optionally, the logistics system further includes a second distance measuring device, the second distance measuring device is disposed on the conveyor belt or the universal platform and is configured to measure a distance between the conveyor belt and the universal platform, and the control method of the logistics system further includes: acquiring a second distance between the conveyor belt and the universal platform through a second distance measuring device; and adjusting the distance between the conveyor belt and the universal platform in the horizontal direction according to the second distance. The distance measuring device is arranged on the conveyor belt or the universal platform, and the position of the conveyor belt in the horizontal direction is adjusted according to the distance between the conveyor belt and the universal platform, so that the horizontal distance between the conveyor belt and the universal platform is within a preset distance range.
When the conveyer belt is parallel with universal platform and the horizontal distance is in predetermineeing the distance range, goods accessible conveyer belt transmission to universal platform.
According to the technical scheme of the embodiment, the first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform is respectively received; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; when it is determined that at least two photoelectric switches which are separated from the container by the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, the car loader is controlled to drive into the container from the attitude adjusting platform, second photoelectric information of the at least two photoelectric switches which are separated from the container by the second preset distance in the vertical direction on the conveying belt is respectively received after the car loader drives into the container, the relative position of the conveying belt and the universal platform is controlled according to the second photoelectric information, the problem that the efficiency of manually adjusting the relative position of the conveying belt and the universal platform is low before goods are conveyed to the universal platform through the conveying belt is solved, the automatic adjustment of the relative position of the conveying belt and the universal platform is realized, and the logistics transmission efficiency is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a control device of a logistics system according to a third embodiment of the present invention, where the logistics system includes a car loader, an attitude adjustment platform, and a container, where at least two photoelectric switches are disposed on a first contact surface of the attitude adjustment platform and a bottom of the container, at least one of the photoelectric switches is disposed at a topmost end of the first contact surface in a vertical direction, and a first preset distance is provided between the at least one photoelectric switch and the topmost photoelectric switch in the vertical direction, where the first preset distance is equal to a thickness of the bottom of the container in value, and the control device of the logistics system includes: the system comprises a first photoelectric information receiving module 310, an attitude platform control module 320 and a truck loader control module 330.
The first photoelectric information receiving module 310 is configured to receive first photoelectric information of at least two photoelectric switches that are separated from the attitude adjustment platform by the first preset distance in the vertical direction, respectively; the attitude platform control module 320 is used for controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; the car loader control module 330 is configured to control the car loader to drive into the container from the attitude adjustment platform when it is determined that at least two photoelectric switches separated from each other by the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information.
In the technical solution of the above embodiment, the attitude platform control module 320 includes:
the attitude platform position adjusting unit is used for determining whether the attitude platform reaches a preset highest position or a preset lowest position when the photoelectric switch is determined to be in a switch-off state according to the first photoelectric information, controlling the attitude platform to descend when the attitude platform reaches the preset highest position, and controlling the attitude platform to ascend when the attitude platform reaches the preset lowest position; and when the at least one photoelectric switch is determined to be in a switch-off state and the at least one photoelectric switch is determined to be in a switch-on state according to the first photoelectric information, controlling the attitude platform to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state.
In the technical solution of the above embodiment, the attitude platform position adjusting unit includes:
the attitude platform ascending control subunit is used for controlling the attitude platform to ascend when the photoelectric switch in the on state is positioned at the topmost end of the first contact surface in the vertical direction and the photoelectric switch in the off state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction;
and the attitude platform descending control subunit is used for controlling the attitude platform to descend when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction and the photoelectric switch in the open state is positioned at a preset distance away from the topmost photoelectric switch in the vertical direction.
Optionally, the logistics system further includes a first distance measuring device, and the first distance measuring device is disposed on the attitude adjustment platform or the container.
In the technical solution of the above embodiment, the control device of the logistics system further includes:
the first distance adjusting module is used for acquiring a first distance between the attitude adjusting platform and the container through the first distance measuring device;
and the distance adjusting module in the horizontal direction is used for adjusting the distance between the attitude adjusting platform and the container in the horizontal direction according to the first distance.
Optionally, the logistics system further comprises a conveyor belt, at least two photoelectric switches are arranged on a second contact surface of the conveyor belt and a universal platform on the car loader, at least one photoelectric switch is arranged at the topmost end of the second contact surface in the vertical direction, at least one photoelectric switch and the topmost photoelectric switch are separated from each other by a second preset distance in the vertical direction, and the second preset distance is equal to the thickness of the universal platform in numerical value.
In the technical solution of the above embodiment, the control device of the logistics system further includes:
the second photoelectric information receiving module is used for respectively receiving second photoelectric information of at least two photoelectric switches which are separated from the container by the first preset distance in the vertical direction on the conveying belt after the carloader drives into the container;
and the relative position control module is used for controlling the relative position of the conveyor belt and the universal platform according to the second photoelectric information.
In the technical solution of the above embodiment, the relative position control module includes:
the conveyor belt position adjusting unit is used for determining whether the conveyor belt reaches a preset highest position or a preset lowest position when the photoelectric switch is determined to be in a switch-off state according to the second photoelectric information, controlling the conveyor belt to descend when the preset highest position is reached, and controlling the conveyor belt to ascend when the preset lowest position is reached; and when at least one photoelectric switch is determined to be in a switch-off state and at least one photoelectric switch is in a switch-on state according to the second photoelectric information, controlling the conveyor belt to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state.
In the technical solution of the above embodiment, the conveyor belt position adjusting unit includes:
the conveyor belt lifting control subunit is used for controlling the conveyor belt to lift when the photoelectric switch in the on state is positioned at the topmost end of the second contact surface in the vertical direction or the photoelectric switch in the off state is positioned at a position which is away from the topmost photoelectric switch in the vertical direction by a preset distance;
and the conveyor belt descending control subunit is used for controlling the conveyor belt to descend when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction or the photoelectric switch in the open state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction.
Optionally, the logistics system further comprises a second distance measuring device, and the second distance measuring device is arranged on the conveyor belt or the universal platform and is used for measuring the distance between the conveyor belt and the universal platform.
In the technical solution of the above embodiment, the control device of the logistics system further includes:
the first distance acquisition module is used for acquiring a first distance between the conveyor belt and the universal platform through the first distance measurement device;
and the distance adjusting module is used for adjusting the distance between the conveyor belt and the universal platform in the horizontal direction according to the first distance.
According to the technical scheme of the embodiment of the invention, the logistics system comprises a car loader, an attitude adjusting platform and a container, wherein at least two photoelectric switches are arranged on a first contact surface between the attitude adjusting platform and the bottom of the container, at least one photoelectric switch is arranged at the topmost end of the first contact surface in the vertical direction, a first preset distance is reserved between the at least one photoelectric switch and the topmost photoelectric switch in the vertical direction, and the first preset distance is equal to the thickness of the bottom of the container in value, and the control method of the logistics system comprises the following steps: receiving first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform respectively; controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information; when it is determined that at least two photoelectric switches which are separated from the preset distance in the vertical direction are in a switch-on state based on the first photoelectric information, the car loader is controlled to drive into the container from the posture adjusting platform, the problem that the efficiency of manually adjusting the relative position of the posture platform and the bottom of the container is low before the car loader drives into the container is solved, the automatic adjustment of the relative position of the posture platform and the bottom of the container is realized, and the logistics transmission efficiency is improved.
The control device of the logistics system provided by the embodiment of the invention can execute the control method of the logistics system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used to perform a method for controlling a logistics system,
of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the control method of the logistics system provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the control device of the logistics system, the units and modules included in the control device are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. A control method of a logistics system is characterized in that the logistics system comprises a car loader, an attitude adjusting platform and a container, at least two photoelectric switches are arranged on a first contact surface of the attitude adjusting platform and the bottom of the container, at least one photoelectric switch is arranged at the topmost end of the first contact surface in the vertical direction, at least one photoelectric switch is at a first preset distance from the topmost photoelectric switch in the vertical direction, and the first preset distance is equal to the thickness of the bottom of the container in value, wherein the control method of the logistics system comprises the following steps:
receiving first photoelectric information of at least two photoelectric switches which are separated from each other by the first preset distance in the vertical direction on the attitude adjusting platform respectively;
controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information;
when at least two photoelectric switches which are separated from the preset distance in the vertical direction are determined to be in a switch-on state based on the first photoelectric information, controlling the car loader to drive into the container from the posture adjusting platform;
the controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information comprises:
when the photoelectric switch is determined to be in a switch-off state according to the first photoelectric information, determining whether the attitude adjusting platform reaches a preset highest position or a preset lowest position, controlling the attitude adjusting platform to descend when the attitude adjusting platform reaches the preset highest position, and controlling the attitude adjusting platform to ascend when the attitude adjusting platform reaches the preset lowest position;
and when the at least one photoelectric switch is determined to be in a switch-off state and the at least one photoelectric switch is determined to be in a switch-on state according to the first photoelectric information, controlling the attitude adjusting platform to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state.
2. The method of claim 1, wherein controlling the attitude adjustment platform to ascend or descend according to the position of the photoelectric switch in the closed state or the open state comprises:
when the photoelectric switch in the on state is located at the topmost end of the first contact surface in the vertical direction and the photoelectric switch in the off state is located at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the posture adjusting platform to ascend;
and when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction and the photoelectric switch in the open state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the posture adjusting platform to descend.
3. The method according to claim 1, wherein the logistics system further comprises a first distance measuring device, the first distance measuring device is disposed on the attitude adjusting platform or the container, and is used for measuring the distance between the attitude adjusting platform and the container, and the control method of the logistics system further comprises:
acquiring a first distance between the attitude adjustment platform and the container through the first distance measurement device;
and adjusting the distance between the attitude adjusting platform and the container in the horizontal direction according to the first distance.
4. The method according to claim 1, wherein the logistics system further comprises a conveyor belt, at least two photoelectric switches are arranged on a second contact surface of the conveyor belt and a universal platform on the car loader, at least one photoelectric switch is arranged at the topmost end of the second contact surface in the vertical direction, at least one photoelectric switch is vertically spaced from the topmost photoelectric switch by a second preset distance, and the second preset distance is equal to the thickness of the universal platform in value, and the control method of the logistics system further comprises:
when the car loader drives into the container, second photoelectric information of at least two photoelectric switches which are separated from each other by the second preset distance in the vertical direction on the conveyor belt is respectively received;
and controlling the relative position of the conveyor belt and the universal platform according to the second photoelectric information.
5. The method of claim 4, wherein said controlling the relative position of the conveyor belt and the gimbaled platform based on the second optoelectronic information comprises:
when the photoelectric switch is determined to be in a switch-off state according to the second photoelectric information, determining whether the conveyor belt reaches a preset highest position or a preset lowest position, controlling the conveyor belt to descend when the conveyor belt reaches the preset highest position, and controlling the conveyor belt to ascend when the conveyor belt reaches the preset lowest position;
and when at least one photoelectric switch is determined to be in a switch-off state and at least one photoelectric switch is determined to be in a switch-on state according to the second photoelectric information, controlling the conveyor belt to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state.
6. The method of claim 5, wherein controlling the belt to ascend or descend according to the position of the photoelectric switch in a closed state or an open state comprises:
when the photoelectric switch in the on state is located at the topmost end of the second contact surface in the vertical direction, and the photoelectric switch in the off state is located at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the conveyor belt to ascend;
and when the photoelectric switch in the closed state is positioned at the topmost end of the contact surface in the vertical direction and the photoelectric switch in the open state is positioned at a position which is away from the topmost photoelectric switch by a preset distance in the vertical direction, controlling the conveyor belt to descend.
7. The method according to claim 5, wherein the logistics system further comprises a second distance measuring device disposed on a conveyor belt or a universal platform for measuring a distance between the conveyor belt and the universal platform, and the control method of the logistics system further comprises:
acquiring a second distance between the conveyor belt and the universal platform through the second distance measuring device;
and adjusting the distance between the conveyor belt and the universal platform in the horizontal direction according to the second distance.
8. A control device of a logistics system, wherein the logistics system comprises a car loader, an attitude adjusting platform and a container, at least two photoelectric switches are arranged on a first contact surface between the attitude adjusting platform and the bottom of the container, at least one photoelectric switch is arranged at the topmost end of the first contact surface in the vertical direction, a first preset distance is reserved between the at least one photoelectric switch and the topmost photoelectric switch in the vertical direction, and the first preset distance is numerically equal to the thickness of the bottom of the container, and the control device of the logistics system comprises:
the first photoelectric information receiving module is used for respectively receiving first photoelectric information of at least two photoelectric switches which are separated from the posture adjusting platform by the first preset distance in the vertical direction;
the attitude adjusting platform control module is used for controlling the relative position of the attitude adjusting platform and the bottom of the container according to the first photoelectric information;
attitude adjustment platform control module includes:
the attitude adjusting platform position adjusting unit is used for determining whether the attitude adjusting platform reaches a preset highest position or a preset lowest position when the photoelectric switch is determined to be in a switch-off state according to the first photoelectric information, controlling the attitude adjusting platform to descend when the preset highest position is reached, and controlling the attitude adjusting platform to ascend when the preset lowest position is reached;
when the fact that at least one photoelectric switch is in a switch-off state and at least one photoelectric switch is in a switch-on state is determined according to the first photoelectric information, the posture adjusting platform is controlled to ascend or descend according to the position of the photoelectric switch in the switch-off state or the switch-on state;
and the car loader control module is used for controlling the car loader to drive into the container from the posture adjusting platform when at least two photoelectric switches which are separated from the preset distance in the vertical direction are determined to be in a switch-on state based on the first photoelectric information.
9. A computer-readable storage medium on which a computer program is stored, the program being characterized by implementing a logistics system control method of any one of claims 1-7 when executed by a processor.
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| CN206108449U (en) * | 2016-08-31 | 2017-04-19 | 长沙长泰机器人有限公司 | Automatic loading system of van |
| CN106394927B (en) * | 2016-10-28 | 2018-10-19 | 美迪斯智能装备有限公司 | A kind of aircraft altitude for connecting bridge follows equipment and its control method |
| CN106829551A (en) * | 2017-02-15 | 2017-06-13 | 安得物流股份有限公司 | Automatic roller machine truck-loading facilities |
| CN107352290A (en) * | 2017-08-31 | 2017-11-17 | 烟台海德汽车零部件有限责任公司 | Packing case automatic loading robot |
| CN107840278A (en) * | 2017-12-19 | 2018-03-27 | 罗伯泰克自动化科技（苏州）有限公司 | The automatic correcting system of stacker loading platforms |
| CN208008022U (en) * | 2018-02-05 | 2018-10-26 | 武汉人天包装自动化技术股份有限公司 | A kind of new type auto loading system |
| CN208716462U (en) * | 2018-08-17 | 2019-04-09 | 广东美的智能机器人有限公司 | Loading system |
| CN110498266A (en) * | 2019-09-26 | 2019-11-26 | 合肥泰禾光电科技股份有限公司 | Height follows adjustment system and handling method |
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