Height following adjustment system and loading and unloading method

Abstract

The present invention provides a height following adjustment system and a loading and unloading method, which relate to the technical field of loading auxiliary equipment. The height following adjustment system includes: an equipment platform for carrying the loading and unloading equipment; a lifting mechanism connected below the equipment platform and used for lifting or lowering the equipment platform; a plurality of photoelectric sensor groups spaced apart at the edge of the equipment platform and used for detecting the relative height between the cargo loading surface of the carriage and the equipment platform in real time; and a controller electrically connected to the lifting mechanism and the plurality of photoelectric sensor groups and used for controlling the lifting of the lifting mechanism according to the detection results of the plurality of photoelectric sensor groups. The present invention also provides a loading and unloading method which adopts the above-mentioned height following adjustment system. The height following adjustment system and the loading and unloading method provided by the present invention can adjust the height of the equipment platform according to the height of the cargo loading surface of the carriage, and further can ensure that the loading and unloading equipment reciprocates between the equipment platform and the cargo loading surface of the carriage, thereby improving the loading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of loading auxiliary equipment, and in particular, to a height following adjustment system and a loading and unloading method. Background Art

[0002] In the fields of production enterprises and warehousing logistics, the demand for mechanization and automation in the process of loading and unloading goods is increasing, and automated loading and unloading equipment has become a research and development hotspot. During the process of loading and unloading goods, as the weight of the goods in the carriage increases or decreases, the height of the loading surface of the freight car carriage will change, and the height changes are random and unpredictable. In addition, the carriage heights of different freight cars are inconsistent, and these difficulties pose challenges to the positioning of the loading and unloading equipment with respect to the carriage height and space. For example, when using a loading and unloading equipment that can walk in the carriage for loading and unloading operations, the loading and unloading equipment needs to walk back and forth between the carriage and the equipment platform (used to carry and lift the loading and unloading equipment), and it is required that the height of the carriage loading surface and the equipment platform always remain the same. Summary of the Invention

[0003] The objectives of the present invention include, for example, providing a height following adjustment system that can adjust the height of the equipment platform according to the height of the carriage loading surface, and further can ensure that the loading and unloading equipment reciprocates between the equipment platform and the carriage loading surface, thereby improving the loading efficiency.

[0004] The present invention also aims to provide a loading and unloading method that can adjust the height of the equipment platform according to the height of the carriage loading surface, and further can ensure that the loading and unloading equipment reciprocates between the equipment platform and the carriage loading surface, thereby improving the loading efficiency.

[0005] Embodiments of the present invention may be implemented as follows:

[0006] Embodiments of the present invention provide a height following adjustment system for driving a loading and unloading equipment to lift relative to a carriage loading surface. The height following adjustment system includes:

[0007] An equipment platform for carrying the loading and unloading equipment.

[0008] A lifting mechanism connected below the equipment platform and used to lift or lower the equipment platform.

[0009] A plurality of photoelectric sensor groups spaced apart on the edge of the equipment platform for real-time detection of the relative height between the carriage loading surface and the equipment platform.

[0010] A controller electrically connected to the plurality of photoelectric sensor groups and used to control the lifting of the lifting mechanism according to the detection results of the plurality of photoelectric sensor groups.

[0011] Optionally, a plurality of the photoelectric sensor groups are arranged in a straight line and are arranged in the horizontal direction.

[0012] Optionally, the photoelectric sensor group includes a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is arranged above the second photoelectric sensor.

[0013] Optionally, the first photoelectric sensor and the second photoelectric sensor are arranged in a straight line direction and form an angle with the horizontal direction.

[0014] Optionally, the connection line of the first photoelectric sensor and the second photoelectric sensor is perpendicular to the horizontal direction.

[0015] A loading and unloading method uses a height following adjustment system, and the height following adjustment system includes:

[0016] An equipment platform for carrying the loading and unloading equipment.

[0017] A lifting mechanism is connected below the equipment platform and is used to lift or lower the equipment platform.

[0018] A plurality of photoelectric sensor groups are arranged at intervals on the edge of the equipment platform and are used to detect the relative height between the cargo loading surface of the carriage and the equipment platform in real time.

[0019] A controller is electrically connected to a plurality of the photoelectric sensor groups and is used to control the lifting of the lifting mechanism according to the detection results of the plurality of photoelectric sensor groups.

[0020] The loading and unloading method includes:

[0021] The controller receives the real-time occlusion signal obtained and sent by the photoelectric sensor group detecting the relative height between the equipment platform and the cargo loading surface of the carriage.

[0022] The controller generates a relative height signal according to the real-time occlusion signal, and issues a lifting control signal for controlling the lifting of the lifting mechanism according to the relative height signal, so as to reduce the relative height between the equipment platform and the cargo loading surface of the carriage.

[0023] Optionally, the photoelectric sensor group includes a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is arranged above the second photoelectric sensor.

[0024] The controller issues the lifting control signal for controlling the lifting of the lifting mechanism according to the real-time occlusion signal when both the first photoelectric sensor and the second photoelectric sensor are occluded.

[0025] Alternatively, when the first optoelectronic sensor is not blocked and the second optoelectronic sensor is blocked, the controller issues a lifting control signal for controlling the lifting mechanism to maintain its height according to the real-time occlusion signal.

[0026] Alternatively, when both the first optoelectronic sensor and the second optoelectronic sensor are not blocked, the controller issues a lifting control signal for controlling the lifting mechanism to lower according to the real-time occlusion signal.

[0027] Optionally, there are multiple groups of the optoelectronic sensor groups.

[0028] The real-time occlusion signal includes: a first signal issued when multiple first optoelectronic sensors and multiple second optoelectronic sensors are both blocked, a second signal issued when at least one first optoelectronic sensor is not blocked and at least two second optoelectronic sensors are blocked, and a third signal issued when multiple first optoelectronic sensors are not blocked and at most one second optoelectronic sensor is blocked.

[0029] The controller issues a first instruction for controlling the lifting mechanism to rise according to the first signal.

[0030] Alternatively, the controller issues a second instruction for controlling the lifting mechanism to maintain its height according to the second signal.

[0031] Alternatively, the controller issues a third instruction for controlling the lifting mechanism to lower according to the third signal.

[0032] Optionally, the loading and unloading method further includes:

[0033] The controller issues a lowering signal for controlling the lifting mechanism to lower according to the high-position signal detected by the optoelectronic sensor group when the loading and unloading device moves from the device platform to the cargo surface of the carriage.

[0034] Optionally, the loading and unloading method further includes:

[0035] The controller issues a raising signal for controlling the lifting mechanism to rise according to the low-position signal detected by the optoelectronic sensor group when the loading and unloading device moves from the cargo surface of the carriage to the device platform.

[0036] The beneficial effects of the height following and adjusting system according to the embodiments of the present invention compared with the prior art include, for example:

[0037] The height following and adjusting system provided by the present invention can detect the height of the cargo loading surface of the carriage through a plurality of optoelectronic sensor groups installed on the equipment platform, and adjust the height of the equipment platform through the lifting mechanism according to the detected height of the cargo loading surface of the carriage, so that the height of the equipment platform can be level with the height of the cargo loading surface of the carriage, enabling the loading and unloading equipment to easily move from the equipment platform to the cargo loading surface of the carriage and also easily move from the cargo loading surface of the carriage to the equipment platform, thereby ensuring the safe and stable loading and unloading of the loading and unloading equipment and improving the loading and unloading efficiency of the loading and unloading equipment.

[0038] The present invention also provides a loading and unloading method, which adopts the above-mentioned height following and adjusting system, and the beneficial effects of this loading and unloading method relative to the prior art are the same as those of the height following and adjusting system relative to the prior art, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of the height following and adjusting system provided in the embodiment of the present invention from the first perspective;

[0041] Figure 2 is Figure 1 an enlarged structural diagram of part A in

[0042] Figure 3 It is a schematic structural diagram of the height following and adjusting system provided in the embodiment of the present invention from the second perspective;

[0043] Figure 4 It is a flowchart of the loading and unloading method provided in the embodiment of the present invention;

[0044] Figure 5 It is a partial flowchart of the loading and unloading method provided in the embodiment of the present invention;

[0045] Figure 6 It is a partial flowchart of the loading and unloading method provided in the embodiment of the present invention.

[0046] Reference numerals: 10 - height following and adjusting system; 11 - cargo loading surface of the carriage; 12 - loading and unloading equipment; 100 - equipment platform; 200 - lifting mechanism; 300 - optoelectronic sensor group; 310 - first optoelectronic sensor; 320 - second optoelectronic sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0049] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0050] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships in which the inventive product is customarily placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0051] In addition, terms such as "first", "second", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0052] It should be noted that the features in the embodiments of the present invention can be combined with each other without conflict.

[0053] First Embodiment

[0054] Please refer to Figure 1, in this embodiment, a height following and adjusting system 10 is provided, which is used to carry the loading and unloading device 12, and can drive the loading and unloading device 12 to lift relative to the cargo surface 11 of the carriage, so as to ensure that the loading and unloading device 12 can move relative to the height following and adjusting system 10 and move onto the cargo surface 11 of the carriage, and then realize the loading or unloading of goods through the loading and unloading device 12. In addition, through the adjustment of the height following and adjusting system 10, it is also convenient for the loading and unloading vehicle to move from the cargo surface 11 of the carriage to the height following and adjusting system 10. The height following and adjusting system 10 can adjust the height of the equipment platform 100 according to the height of the cargo surface 11 of the carriage, so as to ensure that the loading and unloading device 12 reciprocates between the equipment platform 100 and the cargo surface 11 of the carriage, and improve the loading efficiency.

[0055] It should be noted that when the loading and unloading device 12 is on the cargo surface 11 of the carriage, it can disassemble the goods on the cargo surface 11 of the carriage and transport them to other positions, or the loading and unloading device 12 can load the goods outside the carriage onto the cargo surface 11 of the carriage and stack multiple goods. Among them, in this embodiment, the loading and unloading device 12 can move from the height following and adjusting system 10 to the cargo surface 11 of the carriage, or the loading and unloading device 12 can move from the cargo surface 11 of the carriage to the height following and adjusting system 10.

[0056] The height following and adjusting system 10 includes an equipment platform 100, a lifting mechanism 200, multiple photoelectric sensor groups 300 and a controller (not shown in the figure). Among them, the equipment platform 100 is used to carry the loading and unloading device 12. The lifting mechanism 200 is connected below the equipment platform 100 and is used to lift the equipment platform 100. Multiple photoelectric sensor groups 300 are arranged at the edge of the equipment platform 100, and the multiple photoelectric sensor groups 300 can be used to detect the relative height between the cargo surface 11 of the carriage and the equipment platform 100 in real time and generate a real-time occlusion signal. The controller is arranged on the equipment platform 100 or the lifting mechanism 200, and both the lifting mechanism 200 and the multiple photoelectric sensor groups 300 are electrically connected to the controller, and the multiple photoelectric sensor groups 300 can send the real-time occlusion signal to the controller. The controller can generate a relative height signal according to the real-time occlusion signal and control the lifting mechanism 200 to lift the equipment platform 100 according to the relative height signal, so as to adjust the height of the equipment platform 100 to make the height of the equipment platform 100 the same as the height of the cargo surface 11 of the carriage, so as to facilitate the movement of the loading and unloading device 12 on the equipment platform 100 to the cargo surface 11 of the carriage, and it is also convenient for the loading and unloading device 12 to move from the cargo surface 11 of the carriage to the equipment platform 100.

[0057] In this embodiment, the lifting mechanism 200 can be a lifting structure driven by a motor. It should be understood that in other embodiments, the lifting mechanism 200 can also be a device driven by a cylinder or an oil cylinder. Among them, the setting method of the lifting mechanism 200 is the prior art and will not be elaborated here.

[0058] Further, in this embodiment, multiple photoelectric sensor groups 300 are arranged horizontally and in a straight line. It should be noted that the statement that multiple photoelectric sensor groups 300 are arranged horizontally means that when the height following adjustment system 10 is placed normally on the ground, at this time, multiple photoelectric sensor groups 300 are arranged horizontally, that is, multiple photoelectric sensor groups 300 are arranged in a straight line and parallel to the horizontal plane. It is ensured that when the cargo loading surface 11 of the carriage is horizontal, the relative height between the cargo loading surface 11 of the carriage and the equipment platform 100 can be accurately detected by multiple horizontally arranged photoelectric sensor groups 300, so that the controller can control the equipment platform 100 to lift to the same height as the cargo loading surface 11 of the carriage according to the detection results of multiple photoelectric sensor groups 300, facilitating the movement of the loading and unloading equipment 12.

[0059] It should be noted that in this embodiment, multiple photoelectric sensor groups 300 are arranged close to the upper surface of the equipment platform 100, where the upper surface of the equipment platform 100 is the plane of the equipment platform 100 for carrying the loading and unloading equipment 12. By arranging multiple photoelectric sensor groups 300 close to the upper surface of the equipment platform 100, it can be ensured that multiple photoelectric sensor groups 300 can accurately detect the relative height between the upper surface of the equipment platform 100 and the cargo loading surface 11 of the carriage, and further improve the accuracy of the controller to control the lifting mechanism 200 to adjust the relative height between the equipment platform 100 and the cargo loading surface 11 of the carriage.

[0060] Optionally, please refer to Figure 1 and Figure 2 , in this embodiment, the photoelectric sensor group 300 may include a first photoelectric sensor 310 and a second photoelectric sensor 320, and the first photoelectric sensor 310 is arranged above the second photoelectric sensor 320. It should be noted that in this embodiment, when the height following adjustment system 10 is placed normally on the ground, the first photoelectric sensor 310 is located above the upper surface of the equipment platform 100, and the second photoelectric sensor 320 is located below the upper surface of the equipment platform 100, that is, the upper surface of the equipment platform 100 is located between the first photoelectric sensor 310 and the second photoelectric sensor 320. Among them, an installation block (not marked in the figure) can be set on the side of the equipment platform 100, one end of the installation block fits against the side of the equipment platform 100, and the other end protrudes above the upper surface of the equipment platform 100, and the first photoelectric sensor 310 and the second photoelectric sensor 320 are respectively installed at both ends of the installation block. It should be understood that in other embodiments, the first photoelectric sensor 310 and the second photoelectric sensor 320 can also be both arranged below the upper surface of the equipment platform 100, so that the first photoelectric sensor 310 and the second photoelectric sensor 320 are both installed on the side surface of the edge of the equipment platform 100.

[0061] It should be noted that in other embodiments, the optoelectronic sensor group 300 may further include a third optoelectronic sensor, that is, the number of optoelectronic sensors in the optoelectronic sensor group 300 can be set according to actual requirements.

[0062] It should be noted that in other embodiments, the optoelectronic sensor group 300 may also be optoelectronic sensors that simultaneously arrange multiple independent optoelectronic signals, that is, an optoelectronic sensor contains multiple optoelectronic sensing components that can independently transmit and receive optoelectronic signals, and the multiple optoelectronic sensing components are arranged in parallel. In this way, by arranging multiple optoelectronic sensing components in an optoelectronic sensor in the vertical direction, it can be used to detect the relative height between the upper surface of the equipment platform 100 and the cargo loading surface 11 of the carriage.

[0063] Among them, when the cargo loading surface 11 of the carriage is parallel to the horizontal plane, during the process of the equipment platform 100 rising from a position lower than the cargo loading surface 11 of the carriage to a position higher than the cargo loading surface 11 of the carriage, the shielding conditions of the first optoelectronic sensor 310 and the second optoelectronic sensor 320 are as follows: First, both the first optoelectronic sensor 310 and the second optoelectronic sensor 320 are shielded by the carriage, and at this time the equipment platform 100 is lower than the cargo loading surface 11 of the carriage; then, the first optoelectronic sensor 310 is not shielded by the carriage, and the second optoelectronic sensor 320 is shielded by the carriage, and at this time the equipment platform 100 is roughly flush with the cargo loading surface 11 of the carriage; then, both the first optoelectronic sensor 310 and the second optoelectronic sensor 320 are not shielded by the carriage, and at this time the equipment platform 100 is higher than the cargo loading surface 11 of the carriage. That is, in this embodiment, the first optoelectronic sensor 310 and the second optoelectronic sensor 320 in the optoelectronic sensor group 300 can send the detected results of being shielded to the controller, and the controller can judge the relative height between the cargo loading surface 11 of the carriage and the upper surface of the equipment platform 100 based on the detected results sent by the first optoelectronic sensor 310 and the second optoelectronic sensor 320, and then control the lifting mechanism 200 to adjust the height of the equipment platform 100 to achieve the purpose of making the upper surface of the equipment platform 100 flush with the cargo loading surface 11 of the carriage.

[0064] Further, in this embodiment, the first photoelectric sensor 310 and the second photoelectric sensor 320 are arranged in a straight line direction and form an angle with the horizontal direction. Optionally, in this embodiment, the connection line between the first photoelectric sensor 310 and the second photoelectric sensor 320 is perpendicular to the horizontal direction. That is, in this embodiment, when the height following adjustment system 10 is normally placed on the ground, the connection line between the first photoelectric sensor 310 and the second photoelectric sensor 320 is perpendicular to the horizontal plane. By setting the arrangement direction of the first photoelectric sensor 310 and the second photoelectric sensor 320 to be perpendicular to the horizontal direction, the distance between the first photoelectric sensor 310 and the second photoelectric sensor 320 can be shortened, and further, the first photoelectric sensor 310 and the second photoelectric sensor 320 can jointly provide accurate detection of the relative height between the upper surface of the equipment platform 100 and the cargo-carrying surface 11 of the carriage, improving the accuracy of the controller to control the lifting mechanism 200 to lift the equipment platform 100 to make the upper surface of the equipment platform 100 flush with the cargo-carrying surface 11 of the carriage according to the detection results of the first photoelectric sensor 310 and the second photoelectric sensor 320. It should be understood that in other embodiments, the connection line between the first photoelectric sensor 310 and the second photoelectric sensor 320 may also form an acute angle or an obtuse angle with the horizontal direction, as long as the first photoelectric sensor 310 is higher than the second photoelectric sensor 320.

[0065] Optionally, in this embodiment, any one of the first photoelectric sensors 310 among the multiple first photoelectric sensors 310 in the multiple photoelectric sensor groups 300 is higher than any one of the second photoelectric sensors 320 to ensure the detection accuracy of the photoelectric sensor group 300. In addition, the distance between the first photoelectric sensor 310 and the second photoelectric sensor 320 in each photoelectric sensor group 300 is equal, that is, the straight line formed by the multiple first photoelectric sensors 310 is parallel to the straight line formed by the multiple second photoelectric sensors 320, thereby ensuring that the detection accuracies of the multiple photoelectric sensor groups 300 are the same and facilitating the improvement of the overall detection accuracy of the multiple photoelectric sensor groups 300. Further, in this embodiment, the straight line formed by the multiple first photoelectric sensors 310 is parallel to the horizontal direction, and the straight line formed by the multiple second photoelectric sensors 320 is parallel to the horizontal direction to ensure that both the multiple first photoelectric sensors 310 and the multiple second photoelectric sensors 320 can accurately detect the relative height between the upper surface of the equipment platform 100 and the cargo-carrying surface 11 of the carriage, and improve the overall detection accuracy of the multiple photoelectric sensor groups 300.

[0066] It should be noted that in other embodiments, there may also be a certain deviation in the arrangement of the multiple first photoelectric sensors 310 and the arrangement of the multiple second photoelectric sensors 320. For example, the multiple first photoelectric sensors 310 are arranged to form a straight line parallel to the horizontal direction, and the multiple second photoelectric sensors 320 are arranged to form a curve or a broken line; or, the multiple second photoelectric sensors 320 are arranged to form a straight line parallel to the horizontal plane, and the multiple first photoelectric sensors 310 are arranged to form a curve or a broken line, etc. That is, the multiple first photoelectric sensors 310 are arranged in a straight line and parallel to the horizontal direction, and / or the multiple second photoelectric sensors 320 are arranged to form a straight line and parallel to the horizontal direction.

[0067] Optionally, please refer to Figure 1 and Figure 3 , in this embodiment, the number of the photoelectric sensor groups 300 is two, and the two photoelectric sensor groups 300 are respectively arranged at both ends of the side of the equipment platform 100, so as to improve the accuracy of the relative height between the carriage loading surface 11 and the upper surface of the equipment platform 100 by the photoelectric sensor groups 300. At the same time, it can also prevent the first photoelectric sensors 310 higher than the upper surface of the equipment platform 100 from affecting the movement of the loading and unloading equipment 12 to the carriage loading surface 11, and also prevent the first photoelectric sensors 310 from being damaged when the loading and unloading equipment 12 moves. In addition, in this embodiment, the connection line of the two first photoelectric sensors 310 is parallel to the horizontal direction, and the connection line of the two second photoelectric sensors 320 is parallel to the horizontal direction. It should be understood that in other embodiments, the number of the photoelectric sensor groups 300 can be determined according to actual needs.

[0068] In addition, please refer to Figure 1 and Figure 4 , in this embodiment, a loading and unloading method is also provided. This loading and unloading method uses the above-mentioned height following adjustment system 10 so that the relative height between the equipment platform 100 and the carriage loading surface 11 can be adjusted through this loading and unloading method, thereby ensuring that the loading and unloading equipment 12 can move conveniently and stably between the equipment platform 100 and the carriage loading surface 11. And this loading and unloading method can adjust the height of the equipment platform 100 according to the height of the carriage loading surface 11, so as to ensure that the loading and unloading equipment 12 can reciprocate between the equipment platform 100 and the carriage loading surface 11, and can improve the loading efficiency.

[0069] The loading and unloading method includes:

[0070] Step S10, the controller receives the real-time occlusion signal obtained and sent by the photoelectric sensor group 300 detecting the relative height between the equipment platform 100 and the carriage loading surface 11.

[0071] That is, among them, the situation of being blocked by the carriage is converted into a real-time occlusion signal by the multiple photoelectric sensor groups 300, and the real-time occlusion signal is sent to the controller.

[0072] Step S20: The controller generates a relative height signal based on the real-time occlusion signal, and issues a lifting control signal for controlling the lifting of the lifting mechanism 200 according to the relative height signal, so as to reduce the relative height between the equipment platform 100 and the cargo-carrying surface 11 of the carriage.

[0073] In this embodiment, after receiving the real-time occlusion signal, the controller can generate a relative height signal based on the real-time occlusion signal, and control the lifting of the lifting mechanism 200 according to the relative height signal, thereby realizing the adjustment of the height of the equipment platform 100 and making the upper surface of the equipment platform 100 at the same height as the cargo-carrying surface 11 of the carriage.

[0074] Further, in this embodiment, when the cargo-carrying surface 11 of the carriage is parallel to the horizontal plane, at this time, the straight line formed by the two first photoelectric sensors 310 is parallel to the cargo-carrying surface 11 of the carriage, and the straight line formed by the two second photoelectric sensors 320 is parallel to the cargo-carrying surface 11 of the carriage. When the equipment platform 100 is lifted by the lifting mechanism 200, the carriage will simultaneously occlude multiple first photoelectric sensors 310 or multiple second photoelectric sensors 320. Similarly, the carriage will simultaneously expose multiple first photoelectric sensors 310 or multiple second photoelectric sensors 320, and make multiple first photoelectric sensors 310 or multiple second photoelectric sensors 320 simultaneously show an unoccluded state. Please refer to Figure 5 , at this time, step S20 includes:

[0075] Step S21: The controller issues a lifting control signal for controlling the lifting mechanism 200 to rise according to the real-time occlusion signal when both the first photoelectric sensor 310 and the second photoelectric sensor 320 are occluded.

[0076] When multiple first photoelectric sensors 310 and multiple second photoelectric sensors 320 are both occluded, at this time, the carriage is higher than the equipment platform 100. The controller generates a corresponding relative height signal based on the real-time occlusion signal, and controls the lifting mechanism 200 to raise the equipment platform 100 according to the relative height signal, so that the height of the equipment platform 100 can be equal to the height of the cargo-carrying surface 11 of the carriage.

[0077] Step S22: The controller issues a lifting control signal for controlling the lifting mechanism 200 to maintain the height according to the real-time occlusion signal when the first photoelectric sensor 310 is not occluded and the second photoelectric sensor 320 is occluded.

[0078] That is, when multiple first optoelectronic sensors 310 are not blocked by the carriage while multiple second optoelectronic sensors 320 are blocked by the carriage, at this time, the cargo surface 11 of the carriage is located between the first optoelectronic sensors 310 and the second optoelectronic sensors 320, which indicates that the cargo surface 11 of the carriage is substantially flush with the upper surface of the equipment platform 100. At this time, there is no need for the lifting mechanism 200 to lift the equipment platform 100, and the controller sends a lifting control signal for maintaining the height to the lifting mechanism 200. At this time, the lifting mechanism 200 does not act.

[0079] Step S23: The controller issues a lifting control signal for controlling the lifting mechanism 200 to lower according to the real-time occlusion signals when both the first optoelectronic sensors 310 and the second optoelectronic sensors 320 are not blocked.

[0080] That is, when multiple first optoelectronic sensors 310 and multiple second optoelectronic sensors 320 are not blocked by the carriage, at this time, the cargo surface 11 of the carriage is lower than the height of the equipment platform 100. The controller then reduces the height of the equipment platform 100 according to the detection results of the first optoelectronic sensors 310 and the second optoelectronic sensors 320, so as to achieve the purpose that the height of the upper surface of the equipment platform 100 is equal to the height of the cargo surface 11 of the carriage.

[0081] It should be noted that step S21, step S22, and step S23 do not refer to the sequence of three steps. The controller will execute the corresponding steps in any situation to achieve the purpose of making the equipment platform 100 flush with the cargo surface 11 of the carriage.

[0082] Furthermore, when there is a certain angle between the cargo surface 11 of the carriage and the horizontal plane, at this time, as the equipment platform 100 moves, some of the first optoelectronic sensors 310 or some of the second optoelectronic sensors 320 will be blocked or exposed first. In this embodiment, the real-time occlusion signals include: a first signal issued when multiple first optoelectronic sensors 310 and multiple second optoelectronic sensors 320 are both blocked, a second signal issued when at least one first optoelectronic sensor 310 is not blocked and at least two second optoelectronic sensors 320 are blocked, and a third signal issued when multiple first optoelectronic sensors 310 are not blocked and at most one second optoelectronic sensor 320 is blocked.

[0083] Please refer to Figure 6 , at this time, step S20 includes:

[0084] Step S24: The controller issues a first instruction for controlling the lifting mechanism 200 to rise according to the first signal.

[0085] Among them, the first signal indicates that both the first photoelectric sensor 310 and the multiple second photoelectric sensors 320 are blocked. That is, in this embodiment, both of the two first photoelectric sensors 310 and the two second photoelectric sensors 320 are blocked, indicating that the loading surface 11 of the carriage is higher than the upper surface of the equipment platform 100. The controller then controls the lifting mechanism 200 to raise the equipment platform 100 according to the first signal.

[0086] Step S25: The controller issues a second instruction to control the lifting mechanism 200 to maintain the height according to the second signal.

[0087] Among them, the second signal indicates that at least one first photoelectric sensor 310 is not blocked and at least two second photoelectric sensors 320 are blocked. That is, in this embodiment, it is manifested as one first photoelectric sensor 310 not being blocked and the other first photoelectric sensor 310 and the two second photoelectric sensors 320 being blocked, or both of the two first photoelectric sensors 310 not being blocked and both of the two second photoelectric sensors 320 being blocked. At this time, the upper surface of the equipment platform 100 and the loading surface 11 of the carriage are substantially flush. The controller then controls the lifting mechanism 200 to maintain the height according to the second signal, that is, the lifting mechanism 200 does not operate at this time.

[0088] Step S26: The controller issues a third instruction to control the lifting mechanism 200 to lower according to the third signal.

[0089] Among them, the third signal indicates that all of the multiple first photoelectric sensors 310 are not blocked and at most one second photoelectric sensor 320 is blocked. That is, in this embodiment, it is manifested as one second photoelectric sensor 320 and both of the two first photoelectric sensors 310 not being blocked and the other second photoelectric sensor 320 being blocked, or both of the two first photoelectric sensors 310 and the two second photoelectric sensors 320 not being blocked. At this time, it indicates that the equipment platform 100 is higher than the loading surface 11 of the carriage. The controller then controls the lifting mechanism 200 to lower the equipment platform 100 to achieve the purpose of making the equipment platform 100 flush with the loading surface 11 of the carriage.

[0090] It should be noted that step S24, step S25, and step S26 do not refer to the sequence of the three steps. The controller will execute the corresponding steps in any case to achieve the purpose of making the equipment platform 100 flush with the loading surface 11 of the carriage.

[0091] In addition, the loading and unloading method further includes:

[0092] Step S31: The controller controls the lowering signal of the lifting mechanism 200 to lower according to the high-position signal detected by the photoelectric sensor group 300 when the loading and unloading device 12 moves from the equipment platform 100 to the loading surface 11 of the carriage.

[0093] That is, in this embodiment, after the loading and unloading device 12 moves from the equipment platform 100 to the cargo-carrying surface 11 of the carriage, due to the gravity of the loading and unloading device 12, the cargo-carrying surface 11 of the carriage descends, resulting in the situation where the cargo-carrying surface 11 of the carriage is lower than the equipment platform 100. At this time, the controller can control the lifting mechanism 200 to lower the equipment platform 100, thereby achieving the purpose of making the equipment platform 100 and the cargo-carrying surface 11 of the carriage flush in real time.

[0094] Step S32: The controller controls the lifting mechanism 200 to raise according to the low-position signal detected by the optoelectronic sensor group 300 when the loading and unloading device 12 moves from the cargo-carrying surface 11 of the carriage to the equipment platform 100.

[0095] That is, in this embodiment, after the loading and unloading device 12 moves from the cargo-carrying surface 11 of the carriage to the equipment platform 100, the cargo-carrying surface 11 of the carriage will show an upward phenomenon, thereby making the cargo-carrying surface 11 of the carriage higher than the equipment platform 100. At this time, the controller controls the lifting mechanism 200 to raise the equipment platform 100, thereby achieving the purpose of making the equipment platform 100 and the cargo-carrying surface 11 of the carriage flush in real time.

[0096] It should be noted that step S31 and step S32 do not refer to the sequence of two steps. The controller will execute the corresponding steps in any situation to achieve the purpose of making the equipment platform 100 and the cargo-carrying surface 11 of the carriage flush.

[0097] In summary, the height-following adjustment system 10 provided in this embodiment can detect the height of the cargo-carrying surface 11 of the carriage through multiple optoelectronic sensor groups 300 installed on the equipment platform 100, and adjust the height of the equipment platform 100 through the lifting mechanism 200 according to the detected height of the cargo-carrying surface 11 of the carriage, so that the height of the equipment platform 100 can be flush with the height of the cargo-carrying surface 11 of the carriage, enabling the loading and unloading device 12 to easily move from the equipment platform 100 to the cargo-carrying surface 11 of the carriage and also easily move from the cargo-carrying surface 11 of the carriage to the equipment platform 100, thereby ensuring the safety and stability of the loading and unloading of the loading and unloading device 12 and improving the loading and unloading efficiency of the loading and unloading device 12.

[0098] Second Embodiment

[0099] In this embodiment, a loading system (not shown in the figure) is provided. This loading system adopts the above-mentioned height-following adjustment system 10 and can execute the above-mentioned loading and unloading method. The loading system provided in this embodiment can adjust the height of the equipment platform 100 according to the height of the cargo-carrying surface 11 of the carriage, thereby ensuring that the loading and unloading device 12 reciprocates between the equipment platform 100 and the cargo-carrying surface 11 of the carriage and improving the loading efficiency.

[0100] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A height following adjustment system for driving a loading and unloading device to lift relative to the cargo surface of a carriage, characterized in that, The height following adjustment system includes: A device platform for carrying the loading and unloading device; A lifting mechanism connected below the device platform and used to lift or lower the device platform; Multiple photoelectric sensor groups spaced apart at the edge of the device platform for real-time detection of the relative height between the cargo loading surface of the carriage and the device platform; A controller electrically connected to the lifting mechanism and multiple photoelectric sensor groups, and used to control the lifting of the lifting mechanism according to the detection results of the multiple photoelectric sensor groups; The multiple photoelectric sensor groups are arranged in a straight line and are arranged horizontally; Each photoelectric sensor group includes a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is arranged above the second photoelectric sensor; the multiple first photoelectric sensors are arranged in a straight line and parallel to the horizontal direction, and / or the multiple second photoelectric sensors are arranged to form a straight line and parallel to the horizontal direction; The first photoelectric sensor and the second photoelectric sensor are arranged in a straight line direction and form an angle with the horizontal direction; The connection line between the first photoelectric sensor and the second photoelectric sensor is perpendicular to the horizontal direction.

2. A loading and unloading method, characterized in that, When using the height following adjustment system as described in claim 1, the loading and unloading method includes: The controller receives the real-time occlusion signal obtained and sent by the photoelectric sensor group detecting the relative height between the device platform and the cargo loading surface of the carriage; The controller generates a relative height signal according to the real-time occlusion signal, and issues a lifting control signal for controlling the lifting of the lifting mechanism according to the relative height signal to reduce the relative height between the device platform and the cargo loading surface of the carriage.

3. The loading and unloading method according to claim 2, characterized in that, Each photoelectric sensor group includes a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is arranged above the second photoelectric sensor; The controller issues a lifting control signal for controlling the lifting of the lifting mechanism according to the real-time occlusion signal when both the first photoelectric sensor and the second photoelectric sensor are occluded; Or, the controller issues a lifting control signal for controlling the lifting mechanism to maintain its height according to the real-time occlusion signal when the first photoelectric sensor is not occluded and the second photoelectric sensor is occluded; Or, the controller issues a lifting control signal for controlling the lowering of the lifting mechanism according to the real-time occlusion signal when both the first photoelectric sensor and the second photoelectric sensor are not occluded.

4. The loading and unloading method according to claim 3, characterized in that, There are multiple photoelectric sensor groups; The real-time occlusion signal includes: a first signal issued when multiple first photoelectric sensors and multiple second photoelectric sensors are all occluded, a second signal issued when at least one first photoelectric sensor is not occluded and at least two second photoelectric sensors are occluded, and a third signal issued when multiple first photoelectric sensors are not occluded and at most one second photoelectric sensor is occluded; The controller issues a first instruction for controlling the lifting of the lifting mechanism according to the first signal; Or, the controller issues a second instruction for controlling the lifting mechanism to maintain its height according to the second signal; Alternatively, the controller issues a third command to control the lowering of the lifting mechanism according to the third signal.

5. The loading and unloading method according to claim 2, characterized in that, The loading and unloading method further includes: The controller controls the lowering signal for the lowering of the lifting mechanism according to the high-level signal detected by the optoelectronic sensor group when the loading and unloading device moves from the device platform to the cargo surface of the carriage.

6. The loading and unloading method according to claim 2, characterized in that, The loading and unloading method further includes: The controller controls the raising signal for the raising of the lifting mechanism according to the low-level signal detected by the optoelectronic sensor group when the loading and unloading device moves from the cargo surface of the carriage to the device platform.

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