Vehicle outline detection device and method for palletizing cargo loading system

Abstract

The present invention relates to a vehicle profile detection device and method for a palletizing cargo loading system. A left bracket and a right bracket are arranged on the back of an attachment, and the horizontal distance between the two brackets is greater than the width of the attachment. A first laser ranging sensor and a third laser ranging sensor are arranged on the left bracket, and a second laser ranging sensor and a fourth laser ranging sensor are arranged on the right bracket. The first laser ranging sensor and the second laser ranging sensor are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center. The third laser ranging sensor and the fourth laser ranging sensor are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center. The vehicle position is recognized through the coordinated detection of the four laser ranging sensors, and then the attachment is aligned with the cargo placement position during the movement of the attachment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing, and in particular to a vehicle shape contour detection device and method for a palletized cargo loading system. Background Art

[0002] Palletized shipment is an important method of transportation in the fields of cargo outbound and material circulation. Under the great demand for intelligent manufacturing, how to realize unmanned, intelligent, low-cost and high-efficiency loading of palletized goods has become an important issue. In the intelligent loading system of palletized goods, ensuring the alignment between the accessories and the vehicle can ensure that the stacked goods are correctly placed in the loading position of the vehicle. Patents such as CN111173339A, CN108584467A, and CN105806563A use image recognition combined with background calculations, or perform background modeling after laser ranging and scanning the entire vehicle to obtain the parking position of the vehicle, and then adjust the position of the accessories. The disadvantage is that the system architecture is large and requires sufficient background computing resources to support it, which is not conducive to real-time adjustment. Summary of the invention

[0003] In view of this, it is necessary to provide a vehicle shape contour detection device and method for a palletizing cargo loading system that is flexible, efficient, and adjustable in real time. In order to solve the above technical problems, the technical solution of the present invention is: a vehicle shape contour detection device for a palletizing cargo loading system, which is used to detect the relative position of the vehicle in front of the palletizing cargo loading system attachment, so as to achieve alignment between the palletizing and cargo release positions on the attachment, and is provided with a left bracket and a right bracket, the left bracket and the right bracket are respectively installed on the left and right sides of the back of the attachment, and the horizontal spacing between the left bracket and the right bracket is greater than the width of the attachment, the left bracket is provided with a first laser ranging sensor and a third laser ranging sensor, the right bracket is provided with a second laser ranging sensor and a fourth laser ranging sensor, and the first laser ranging sensor and the right bracket are provided with a first laser ranging sensor and a third laser ranging sensor. The two laser ranging sensors are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center. The third laser ranging sensor and the fourth laser ranging sensor are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center. The four laser ranging sensors are all provided with ranging heads, and all ranging heads are tilted obliquely downward, and the angles of the oblique downward tilt are all equal. A control module is also provided, and the control module is provided with an input port, a storage unit, and a calculation unit. The four laser ranging sensors are all provided with output ports, and the output ports are respectively connected to the input ports of the control module. The control module collects the ranging values ​​output by the four laser ranging sensors in real time.

[0004] Further preferably, the attachment is provided with a displacer, which can drive the attachment to translate left and right, the displacer is provided with an input port, the control module is provided with an output port, and the input port is connected to the output port of the control module.

[0005] Further preferably, the vertical spacing between the first laser ranging sensor and the third laser ranging sensor is B, the vertical spacing between the third laser ranging sensor and the horizontal plane where the vehicle compartment floor at the cargo placement position is located is A, the ranging heads of the four laser ranging sensors are tilted downward at an angle of θ, (A+B) / sinθ is marked as M, A / sinθ is marked as N, the M value and the N value are both stored in the storage unit of the control module, the ranging value of the first laser ranging sensor is marked as D1, the ranging value of the second laser ranging sensor is marked as D2, the ranging value of the third laser ranging sensor is marked as D3, and the ranging value of the fourth laser ranging sensor is marked as D4.

[0006] Further preferably, the palletizing cargo loading system is provided with a gantry, the accessories are arranged on the gantry, the gantry is provided with a mobile driving mechanism to drive the gantry to move along a fixed track, and the accessories move with the gantry of the palletizing cargo loading system.

[0007] A vehicle profile detection method for a palletized cargo loading system is applied to the above-mentioned device, and the method specifically comprises:

[0008] Step S101: The palletizing cargo loading system drives the attachments to move forward;

[0009] Step S102: Determine whether D1 or D2 is equal to M. If so, proceed to step S103; if not, return to step S101;

[0010] Step S103: Determine whether D1 is equal to D2. If so, proceed to step S105; if not, return to step S104;

[0011] Step S104: adjust the level of the attachment, and then return to step S102;

[0012] Step S105: Determine whether D3 or D4 is equal to N. If so, proceed to step S106; if not, return to step S101;

[0013] Step S106: Determine whether D3 and D4 are equal, if so, end; if not, return to step S104.

[0014] Further preferably, the determining whether D1 or D2 is equal to M further includes:

[0015] A left bracket and a right bracket are respectively arranged on the left and right sides of the attachment, and the horizontal distance between the left bracket and the right bracket is greater than the width of the attachment. The left bracket is provided with a first laser ranging sensor and a third laser ranging sensor, and the right bracket is provided with a second laser ranging sensor and a fourth laser ranging sensor. The first laser ranging sensor and the second laser ranging sensor are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment. The third laser ranging sensor and the fourth laser ranging sensor are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment.

[0016] The vertical distance between the first laser distance sensor and the third laser distance sensor is B, the vertical distance between the third laser distance sensor and the horizontal plane where the cargo placement position is located is A, the angles of the ranging heads of the four laser distance sensors tilting downward are all θ, (A+B) / sinθ is marked as M, A / sinθ is marked as N, and the M value and N value are both stored in the storage unit of the control module.

[0017] The four laser ranging sensors are all provided with output ports, and the output ports are respectively connected to the input ports of the control module. The control module collects the ranging values ​​output by the four laser ranging sensors in real time. The ranging value of the first laser ranging sensor is marked as D1, and the ranging value of the second laser ranging sensor is marked as D2. The calculation unit compares the collected D1 and D2 values ​​with the stored M value to confirm whether D1 or D2 is equal to M.

[0018] If D1 or D2 is not equal to M, it indicates that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor have not irradiated the vehicle compartment floor at the cargo placement position, and the palletizing cargo loading system drives the attachment to still be at a certain distance from the vehicle compartment floor at the cargo placement position, and needs to continue to move forward. The palletizing cargo loading system is provided with a movable gantry, and the attachment is arranged on the gantry, and the gantry drives the attachment to move forward;

[0019] If one of D1 or D2 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position.

[0020] Further preferably, the determining whether D1 is equal to D2 further includes:

[0021] If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor simultaneously illuminate the vehicle compartment floor at the cargo placement position.

[0022] If only one of D1 or D2 is equal to M, the detection laser emitted by its corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet irradiated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position is not aligned with the accessories of the palletizing cargo loading system, and the position of the accessories needs to be adjusted left and right.

[0023] Further preferably, the attachment level adjustment further includes:

[0024] The attachment is provided with a displacer, which can drive the attachment to move left and right, the displacer is provided with an input port, the control module is provided with an output port, and the input port is connected to the output port of the control module.

[0025] The control module outputs control instructions to the shifter,

[0026] When D1 is less than D2, the control module outputs a control instruction to the shifter to make it translate to the left; when D1 is greater than D2, the control module outputs a control instruction to the shifter to make it translate to the right;

[0027] When D3 is less than D4, the control module outputs a control instruction to the shifter to make it translate to the left; when D3 is greater than D4, the control module outputs a control instruction to the shifter to make it translate to the right.

[0028] Further preferably, judging whether D3 or D4 is equal to N further includes:

[0029] If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor simultaneously illuminate the vehicle compartment floor at the cargo placement position.

[0030] The distance measurement value of the third laser distance measurement sensor is marked as D3, and the distance measurement value of the fourth laser distance measurement sensor is marked as D4.

[0031] If D3 or D4 is not equal to M, it indicates that the detection lasers emitted by the third laser ranging sensor and the fourth laser ranging sensor have not irradiated the vehicle compartment floor at the cargo release position, and the attachments driven by the palletizing cargo loading system are still a certain distance away from the cargo release position, and the palletizing cargo loading system needs to drive the attachments to continue moving forward;

[0032] If one of D3 or D4 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position.

[0033] Further preferably, judging whether D3 and D4 are equal further includes:

[0034] If both D3 and D4 are equal to N, it means that the detection lasers emitted by the third laser ranging sensor and the fourth laser ranging sensor simultaneously irradiate the vehicle compartment floor at the cargo placement position.

[0035] If only one of D3 or D4 is equal to N, the detection laser emitted by its corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet irradiated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position and the accessories of the palletizing cargo loading system are still not fully aligned, and the position of the accessories needs to be adjusted left and right.

[0036] Compared with the prior art, the present invention has the following beneficial effects: with the help of four laser ranging sensors arranged on the left and right sides of the attachment, through the real-time ranging values ​​of the four laser ranging sensors, combined with the logical judgment method of the control module, the relative position between the vehicle compartment floor at the cargo placement position and the attachment of the stacking cargo loading system can be judged and adjusted in time, which has the advantages of simple architecture, low cost, real-time and high efficiency.

[0037] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of a vehicle profile detection device for a palletized cargo loading system according to an embodiment of the present invention.

[0039] Figure 2 It is a top view of a vehicle profile detection device of a palletized cargo loading system according to an embodiment of the present invention.

[0040] Figure 3 It is a front view of a vehicle profile detection device of a palletized cargo loading system according to an embodiment of the present invention.

[0041] Figure 4 It is a schematic diagram showing the dimensions of a vehicle profile detection device of a palletized cargo loading system according to an embodiment of the present invention.

[0042] Figure 5 The present invention is a flowchart of a vehicle profile detection method of a palletized cargo loading system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0044] Please refer to Figures 1 to 5 A vehicle profile detection device for a palletizing cargo loading system is used to detect the relative position of the vehicle in front of the attachment of the palletizing cargo loading system, so as to achieve alignment between the palletizing and the cargo placing positions on the attachment 1, and is provided with a left bracket 2 and a right bracket 3.

[0045] The left bracket 2 and the right bracket 3 are respectively provided with a bottom rod, a vertical rod, and a triangular frame. The bottom rod is locked on the back of the attachment 1, the vertical rod is vertically arranged and located at the outermost layer, and the triangular frame is arranged on the inner side of the vertical rod.

[0046] The left bracket 2 and the right bracket 3 are respectively installed on the left and right sides of the back of the attachment 1, and the horizontal distance between the left bracket 2 and the right bracket 3 is greater than the width of the attachment 1. The left bracket 2 is provided with a first laser distance sensor 4 and a third laser distance sensor 5. The first laser distance sensor 4 and the third laser distance sensor 5 are arranged on the outer side of the left bracket 2 upright pole.

[0047] The right bracket 3 is provided with a second laser distance measuring sensor 6 and a fourth laser distance measuring sensor 7. The first laser distance measuring sensor 4 and the second laser distance measuring sensor 6 are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment 1. The second laser distance measuring sensor 6 and the fourth laser distance measuring sensor 7 are arranged on the outer side of the upright pole of the right bracket 3.

[0048] The third laser ranging sensor 5 and the fourth laser ranging sensor 7 are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment 1. The four laser ranging sensors are all provided with ranging heads, and all ranging heads are tilted obliquely downward, and the angles of the oblique downward tilt are all equal. A control module is also provided, and the control module is provided with an input port, a storage unit, and a calculation unit. The four laser ranging sensors are all provided with output ports, and the output ports are respectively connected to the input ports of the control module. The control module collects the ranging values ​​output by the four laser ranging sensors in real time.

[0049] The attachment 1 is provided with a displacer 8, and the displacer 8 can drive the attachment 1 to move left and right. The displacer 8 is provided with an input port, and the control module is provided with an output port, and the input port is connected to the output port of the control module.

[0050] The vertical distance between the first laser ranging sensor 4 and the third laser ranging sensor 5 is B, the vertical distance between the third laser ranging sensor 5 and the horizontal plane where the vehicle compartment floor at the cargo placement position is located is A, the ranging heads of the four laser ranging sensors are tilted downward at an angle of θ, (A+B) / sinθ is marked as M, A / sinθ is marked as N, and the M value and N value are both stored in the storage unit of the control module. The ranging value of the first laser ranging sensor 4 is marked as D1, the ranging value of the second laser ranging sensor 6 is marked as D2, the ranging value of the third laser ranging sensor 5 is marked as D3, and the ranging value of the fourth laser ranging sensor 7 is marked as D4.

[0051] The palletizing cargo loading system is provided with a gantry, the attachment 1 is arranged on the gantry, the gantry is provided with a moving drive mechanism to drive the gantry to move along a fixed track, and the attachment 1 moves along with the gantry of the palletizing cargo loading system.

[0052] A vehicle profile detection method for a palletized cargo loading system is applied to the above-mentioned device, and the method specifically comprises:

[0053] Step S101: the palletizing cargo loading system drives the attachment 1 to move forward;

[0054] Step S102: Determine whether D1 or D2 is equal to M. If so, proceed to step S103; if not, return to step S101;

[0055] Step S103: Determine whether D1 is equal to D2. If so, proceed to step S105; if not, return to step S104;

[0056] Step S104: the attachment 1 is adjusted horizontally, and then the process returns to step S102;

[0057] Step S105: Determine whether D3 or D4 is equal to N. If so, proceed to step S106; if not, return to step S101;

[0058] Step S106: Determine whether D3 and D4 are equal, if so, end; if not, return to step S104.

[0059] The determination of whether D1 or D2 is equal to M also includes:

[0060] A left bracket 2 and a right bracket 3 are respectively arranged on the left and right sides of the attachment 1, and the horizontal distance between the left bracket 2 and the right bracket 3 is greater than the width of the attachment 1. The left bracket 2 is provided with a first laser ranging sensor 4 and a third laser ranging sensor 5, and the right bracket 3 is provided with a second laser ranging sensor 6 and a fourth laser ranging sensor 7. The first laser ranging sensor 4 and the second laser ranging sensor 6 are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment 1. The third laser ranging sensor 5 and the fourth laser ranging sensor 7 are installed at the same height and are symmetrical with respect to the central symmetry plane of the attachment 1.

[0061] The vertical distance between the first laser distance sensor 4 and the third laser distance sensor 5 is B, the vertical distance between the third laser distance sensor 5 and the horizontal plane where the cargo placement position is located is A, the angles of the ranging heads of the four laser distance sensors tilting downward are all θ, (A+B) / sinθ is marked as M, A / sinθ is marked as N, and the M value and N value are both stored in the storage unit of the control module.

[0062] The four laser distance measuring sensors are all provided with output ports, and the output ports are respectively connected to the input ports of the control module. The control module collects the distance measurement values ​​output by the four laser distance measuring sensors in real time. The distance measurement value of the first laser distance measuring sensor 4 is marked as D1, and the distance measurement value of the second laser distance measuring sensor 6 is marked as D2. The calculation unit compares the collected D1 and D2 values ​​with the stored M value to confirm whether D1 or D2 is equal to M.

[0063] If D1 or D2 is not equal to M, it indicates that the detection lasers emitted by the first laser ranging sensor 4 and the second laser ranging sensor 6 have not irradiated the vehicle compartment floor at the cargo placement position, and the palletizing cargo loading system drives the attachment 1 to still be at a certain distance from the vehicle compartment floor at the cargo placement position, and needs to continue to move forward. The palletizing cargo loading system is provided with a movable gantry, and the attachment 1 is arranged on the gantry, and the gantry drives the attachment 1 to move forward;

[0064] If one of D1 or D2 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position.

[0065] The determination of whether D1 is equal to D2 also includes:

[0066] If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor 4 and the second laser ranging sensor 6 simultaneously irradiate the vehicle compartment floor at the cargo placement position.

[0067] If only one of D1 or D2 is equal to M, the detection laser emitted by its corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet irradiated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position is not aligned with the accessory 1 of the palletizing cargo loading system, and the position of the accessory 1 needs to be adjusted left and right.

[0068] The horizontal adjustment of the attachment 1 also includes:

[0069] The attachment 1 is provided with a displacement device 8, and the displacement device 8 can drive the attachment 1 to move left and right. The displacement device 8 is provided with an input port, and the control module is provided with an output port, and the input port is connected to the output port of the control module.

[0070] The control module outputs control instructions to the shifter 8,

[0071] When D1 is less than D2, the control module outputs a control instruction to the shifter 8 to make it translate to the left; when D1 is greater than D2, the control module outputs a control instruction to the shifter 8 to make it translate to the right;

[0072] When D3 is smaller than D4, the control module outputs a control instruction to the shifter 8 to make it translate to the left; when D3 is larger than D4, the control module outputs a control instruction to the shifter 8 to make it translate to the right.

[0073] Determine whether D3 or D4 is equal to N, and also include,

[0074] If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor 4 and the second laser ranging sensor 6 simultaneously irradiate the vehicle compartment floor at the cargo placement position.

[0075] The distance measurement value of the third laser distance measurement sensor 5 is marked as D3, and the distance measurement value of the fourth laser distance measurement sensor 7 is marked as D4.

[0076] If D3 or D4 is not equal to M, it indicates that the detection lasers emitted by the third laser ranging sensor 5 and the fourth laser ranging sensor 7 have not irradiated the vehicle compartment floor at the cargo release position, and the attachment 1 driven by the palletizing cargo loading system is still a certain distance away from the cargo release position, and the palletizing cargo loading system needs to drive the attachment 1 to continue moving forward;

[0077] If one of D3 or D4 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position.

[0078] Determine whether D3 and D4 are equal, and also include,

[0079] If both D3 and D4 are equal to N, it means that the detection lasers emitted by the third laser ranging sensor 5 and the fourth laser ranging sensor 7 simultaneously irradiate the vehicle compartment floor at the cargo placement position.

[0080] If only one of D3 or D4 is equal to N, the detection laser emitted by its corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet irradiated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position is still not fully aligned with the accessory 1 of the palletizing cargo loading system, and the position of the accessory 1 needs to be adjusted left and right.

[0081] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A vehicle profile detection device for a palletizing cargo loading system, used to detect the relative position of the vehicle in front of an attachment of the palletizing cargo loading system, so as to achieve alignment between the palletizing and the cargo placing positions on the attachment, characterized in that: A left bracket and a right bracket are provided, the left bracket and the right bracket are respectively installed on the left and right sides of the back of the attachment, and the horizontal distance between the left bracket and the right bracket is greater than the width of the attachment, the left bracket is provided with a first laser ranging sensor and a third laser ranging sensor, the right bracket is provided with a second laser ranging sensor and a fourth laser ranging sensor, the first laser ranging sensor and the second laser ranging sensor are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center, the third laser ranging sensor and the fourth laser ranging sensor are installed at the same height and are symmetrical with the central symmetry plane of the attachment as the center, the four laser ranging sensors are all provided with ranging heads, and all ranging heads are tilted obliquely downward, and the angles of the oblique downward tilt are equal, and a control module is also provided; The control module is provided with an input port, a storage unit, and a calculation unit. The four laser ranging sensors are provided with output ports, and the output ports are respectively connected to the input ports of the control module. The control module collects the ranging values ​​output by the four laser ranging sensors in real time. The vertical distance between the first laser ranging sensor and the third laser ranging sensor is B, the vertical distance between the third laser ranging sensor and the horizontal plane where the vehicle compartment floor of the cargo placement position is located is A, the angle at which the ranging heads of the four laser ranging sensors are tilted downward is θ, (A+B) / sinθ is marked as M, A / sinθ is marked as N, and the M value and the N value are both stored in the storage unit of the control module, the ranging value of the first laser ranging sensor is marked as D1, the ranging value of the second laser ranging sensor is marked as D2, the ranging value of the third laser ranging sensor is marked as D3, and the ranging value of the fourth laser ranging sensor is marked as D4; The calculation unit compares the collected D1 value and D2 value with the stored M value respectively to confirm whether D1 or D2 is equal to M. If D1 or D2 is not equal to M, it indicates that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor have not irradiated the vehicle compartment floor at the cargo release position, and the accessories of the stacking cargo loading system are still a certain distance away from the vehicle compartment floor at the cargo release position, and the stacking cargo loading system needs to drive the accessories to continue to move forward. The stacking cargo loading system is provided with a movable gantry, and the accessories are arranged on the gantry, and the gantry can drive the accessories forward; if one of D1 or D2 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo release position; If both D3 and D4 are equal to N, it means that the detection lasers emitted by the third laser ranging sensor and the fourth laser ranging sensor simultaneously illuminate the vehicle compartment floor at the cargo placement position. If only one of D3 or D4 is equal to N, the detection laser emitted by its corresponding laser ranging sensor has illuminated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet illuminated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position and the accessories of the palletizing cargo loading system are still not fully aligned, and the position of the accessories needs to be adjusted left and right. Among them, the attachment is provided with a displacer, and the displacer can drive the attachment to move left and right. The displacer is provided with an input port, and the control module is provided with an output port. The input port of the displacer is connected to the output port of the control module.

2. The vehicle profile detection device for a palletized cargo loading system according to claim 1, characterized in that: The gantry is provided with a moving drive mechanism to drive the gantry to move along a fixed track, and the attachment moves along with the gantry of the palletizing cargo loading system.

3. A vehicle outline detection method for a palletized cargo loading system, applied to the vehicle outline detection device for a palletized cargo loading system according to any one of claims 1 to 2, the method specifically comprising: Step S101: The palletizing cargo loading system drives the attachments to move forward; Step S102: Determine whether D1 or D2 is equal to M. If so, proceed to step S103; if not, return to step S101; Step S103: Determine whether D1 and D2 are equal, if so, proceed to step S105; if not, proceed to step S104; Step S104: adjust the level of the attachment, and then return to step S102; Step S105: Determine whether D3 or D4 is equal to N. If so, proceed to step S106; if not, return to step S101; Step S106: Determine whether D3 and D4 are equal, if so, end; if not, return to step S104.

4. The vehicle outline detection method for a palletized cargo loading system according to claim 3, characterized in that: The determining whether D1 is equal to D2 also includes: If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor simultaneously illuminate the vehicle compartment floor at the cargo placement position. If only one of D1 or D2 is equal to M, the detection laser emitted by its corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position, while the detection laser emitted by the other laser ranging sensor has not yet irradiated the vehicle compartment floor at the cargo placement position, indicating that the vehicle compartment floor at the cargo placement position is parked crookedly, and the vehicle compartment floor at the cargo placement position is not aligned with the accessories of the palletizing cargo loading system, and the position of the accessories needs to be adjusted left and right.

5. The vehicle outline detection method for a palletized cargo loading system according to claim 3, characterized in that: The attachment level adjustment also includes: The control module outputs control instructions to the shifter, When D1 is less than D2, the control module outputs a control instruction to the shifter to make it translate to the left; when D1 is greater than D2, the control module outputs a control instruction to the shifter to make it translate to the right; When D3 is less than D4, the control module outputs a control instruction to the shifter to make it translate to the left; when D3 is greater than D4, the control module outputs a control instruction to the shifter to make it translate to the right.

6. The vehicle outline detection method for a palletized cargo loading system according to claim 4, characterized in that: Determine whether D3 or D4 is equal to N, and also include, If both D1 and D2 are equal to M, it means that the detection lasers emitted by the first laser ranging sensor and the second laser ranging sensor simultaneously irradiate the vehicle compartment floor at the cargo placement position; If D3 or D4 is not equal to M, it indicates that the detection lasers emitted by the third laser ranging sensor and the fourth laser ranging sensor have not irradiated the vehicle compartment floor at the cargo release position, and the attachments driven by the palletizing cargo loading system are still a certain distance away from the cargo release position, and the palletizing cargo loading system needs to drive the attachments to continue moving forward; If one of D3 or D4 is equal to M, it indicates that the detection laser emitted by the corresponding laser ranging sensor has irradiated the vehicle compartment floor at the cargo placement position.

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