Container positioning device and method based on cleaning equipment

Abstract

The present invention relates to a container positioning device and method based on a cleaning device, wherein the container positioning device based on the cleaning device comprises a sensor platform located on the cleaning device, the sensor platform comprises side beams connected to both ends of a bottom beam, the side beams comprise a first side beam and a second side beam parallel to each other, the first side beam and the second side beam are both perpendicular to the bottom beam to form a U-shaped sensor platform; the opening of the U-shaped sensor platform is respectively provided with a first sensor and a second sensor facing the inside of the opening, the first sensor and the second sensor determine whether the container body enters the positioning detection area; at least four groups of laser sensors corresponding to the positions are provided on the two side beams facing the inside of the opening of the U-shaped sensor platform, the bottom beam is provided with a receiving sensor, the receiving sensor acquires the laser signal emitted by the laser sensor to realize positioning. The control accuracy is met by using the sensor control, automatic positioning is realized, and the complex alignment requirements before the container is cleaned are met at the same time.

Description

Technical Field

[0001] The invention relates to the field of container cleaning, and in particular to a container positioning device and method based on cleaning equipment. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Containers are commonly used means of transportation in logistics. After completing the cargo transfer, the inside of the container needs to be cleaned and disinfected by cleaning equipment to remove all kinds of dust and impurities contaminated on the inner wall of the container during cargo transportation.

[0004] Containers are large in size and weight, and their length is much greater than their height and width. When using cleaning equipment to clean the inside of the container, if the cleaning equipment is not positioned when entering the container or there is an error in the positioning, the cleaning equipment will not be able to cover all the space inside the container, and may even be unable to enter the container, thereby affecting the cleaning and disinfection effect of the container interior. Summary of the invention

[0005] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a container positioning device and method based on cleaning equipment, wherein several sensors for positioning are installed in a sensor platform, and the positional relationship between the container body and the cleaning platform is determined by using the information obtained by the sensors. The cleaning platform is adjusted to be parallel to the end face of the container body in the vertical and horizontal directions according to the positional relationship, thereby achieving positioning.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a container positioning device based on a cleaning device, comprising a sensor platform located on the cleaning device, the sensor platform comprising side beams connected to both ends of a bottom beam, the side beams comprising a first side beam and a second side beam parallel to each other, the first side beam and the second side beam are both perpendicular to the bottom beam to form a U-shaped sensor platform, the first side beam and the second side beam are respectively connected to columns, the columns are arranged vertically and are provided with distance sensors at the top ends;

[0008] The U-shaped sensor platform opening is provided with a first sensor and a second sensor facing the inside of the opening, respectively, and the first sensor and the second sensor obtain the position signal of the container body to determine whether the container body enters the positioning detection area;

[0009] At least four groups of laser sensors corresponding to the positions are arranged on the inner side of the opening of the U-shaped sensor platform on both side beams, and a receiving sensor is arranged on the bottom beam, which acquires the laser signal emitted by the laser sensor to realize positioning.

[0010] The bottom beam is also provided with a limit sensor.

[0011] The first sensor is located at one end of the first side beam away from the bottom beam, and the second sensor is located at one end of the second side beam away from the bottom beam. The first sensor and the second sensor are arranged opposite to each other.

[0012] The laser sensors include a third sensor, a fourth sensor, a fifth sensor, and a sixth sensor.

[0013] The fourth sensor is located in the middle of the first side beam, and the third sensor is arranged between the fourth sensor and the first sensor. The sixth sensor is located in the middle of the second side beam, and the fifth sensor is arranged between the sixth sensor and the second sensor. The third sensor and the fifth sensor are located in corresponding positions and the signal transmitting ends are arranged oppositely, and the fourth sensor and the sixth sensor are located in corresponding positions and the signal transmitting ends are arranged oppositely.

[0014] The third sensor, the fourth sensor, the fifth sensor and the sixth sensor all send laser signals to the receiving sensor located on the bottom beam.

[0015] A second aspect of the present invention provides a method for implementing positioning using the above device, comprising:

[0016] Step 1: After the cleaning platform rises to the highest height, it moves toward the container body. When the first sensor and / or the second sensor obtains the container body position information, the cleaning platform stops moving and enters step 2;

[0017] Step 2: If the third sensor and the fifth sensor simultaneously obtain the box information, the end surface of the box is parallel to the bottom beam, and the process goes to step 4;

[0018] If the third sensor obtains the box information but the fifth sensor does not obtain the box information, or the fifth sensor obtains the box information but the third sensor does not obtain the box information, then there is an angle between the end face of the box and the bottom beam, and the process goes to step 3;

[0019] Step 3: The cleaning platform drives the sensor platform to rotate. When the third sensor and the fifth sensor simultaneously obtain the box information, the rotation stops and the process goes to step 4.

[0020] Step 4: Based on the distance information between the box and the side beams obtained by the distance sensor, the cleaning platform is translated so that the distance from the box to the two side beams is equal, and the positioning is completed.

[0021] The above steps 2-4 can be performed simultaneously.

[0022] After positioning is completed, the inspection process is carried out: the cleaning platform is lowered to the lowest height, the container door is opened and inspected, and the container is left after the inspection; after the inspection, the cleaning platform is lifted, and when it is lifted to the bottom of the door frame, the limit sensor works, the lifting action stops, and the above steps 2-4 are performed again.

[0023] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0024] 1. Use logic control to meet the complex alignment requirements before container cleaning, such as front and back, left and right, high and low, and angle requirements. The control method is simple and easy to implement in the process of realizing container positioning and alignment.

[0025] 2. Use sensor control to meet control accuracy and realize automatic positioning. Compared with visual recognition, it is not easily affected by the ambient light on site and has low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 is a schematic diagram of the position relationship between the cleaning platform and the container body from a top view provided by one or more embodiments of the present invention;

[0028] Figure 2 is a schematic diagram of the overall structure of a positioning device from a top view provided by one or more embodiments of the present invention;

[0029] Figure 3 is a schematic diagram of the position relationship between the positioning device and the cleaning platform from a side view perspective provided by one or more embodiments of the present invention;

[0030] FIG4( a ) is a schematic diagram of a state in which the cleaning device stops moving when the box reaches the positioning area provided by one or more embodiments of the present invention;

[0031] FIG4( b ) is a schematic diagram of a state in which a positioning device according to one or more embodiments of the present invention determines that a box is tilted while a truck is parallel;

[0032] FIG4(c) is a schematic diagram of a state in which the cleaning platform provided by one or more embodiments of the present invention is rotated so that the box body and the cleaning platform are parallel in the vertical direction;

[0033] FIG4(d) is a schematic diagram showing a state in which a distance difference between the two side beams and the box body occurs after the cleaning platform provided by one or more embodiments of the present invention rotates;

[0034] FIG4(e) is a schematic diagram of a state in which the cleaning platform provided by one or more embodiments of the present invention is translated so that the box is located in the middle of the cleaning platform;

[0035] In the figure: 1. cleaning equipment, 2. cleaning platform, 3. sensor platform, 31. first sensor, 32. second sensor, 33. third sensor, 34. fourth sensor, 35. fifth sensor, 36. sixth sensor, 37. receiving sensor, 38. limit sensor, 301. bottom beam, 302. side beam, 303. column, 4. box, 41. vertical position of box, 5. distance sensor. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] As described in the background technology, when cleaning equipment is used to clean the inside of a container, a truck is used to carry the container, and the cleaning equipment is driven in reverse to enter the container body to complete the cleaning. However, a container is a rectangular cuboid whose length is much greater than its height and width. In the process of the cleaning equipment entering the inside of the box from one end of the box, there are errors in the horizontal and vertical directions. As the space is deepened, the errors are magnified, making it difficult for the cleaning equipment to cover all the spaces inside the box, especially the corners of the inner wall of the box. The existing technology often controls the entry process of the cleaning equipment by manual control, which is difficult to meet the four types of positioning requirements for the cleaning equipment in front and back, left and right, high and low, and angle, and even makes it impossible for the cleaning equipment to enter the box.

[0040] Therefore, the following embodiments provide a container positioning device and method based on cleaning equipment, in which several sensors for positioning are installed in a sensor platform, and the information obtained by the sensors is used to determine the positional relationship between the box and the cleaning platform. The cleaning platform is adjusted vertically and horizontally to be parallel to the end face of the box according to the positional relationship, thereby achieving positioning.

[0041] Embodiment 1:

[0042] like Figure 1-3 As shown, the purpose of this embodiment is to provide a container positioning device based on a cleaning device, including a sensor platform 3 located on a cleaning platform 2, the sensor platform 3 includes side beams 302 connected to both ends of a bottom beam 301, the side beams 302 include a first side beam and a second side beam parallel to each other, the first side beam and the second side beam are perpendicular to the bottom beam 301 to form a U-shaped sensor platform, the first side beam and the second side beam are respectively connected to a column 303, the column 303 is vertically arranged and a distance sensor 5 is provided at the top;

[0043] The opening of the U-shaped sensor platform 3 is provided with a first sensor 31 and a second sensor 32 facing the inner side of the opening, respectively, and the first sensor 31 and the second sensor 32 determine whether the container body enters the positioning detection area;

[0044] The first sensor 31 and the second sensor 32 are a pair of laser beam sensors and receivers. When the laser signal is cut off, it is considered that the container has entered the positioning area.

[0045] At least two groups of laser sensors are also provided at corresponding positions on the two side beams 302 facing the inner side of the U-shaped sensor platform 3. A receiving sensor 37 is provided in the middle of the bottom beam 301 to receive the laser signal emitted by the laser sensor. A limit sensor 38 is also provided in the middle of the bottom beam 301.

[0046] The cleaning device 1 comprises a cleaning platform 2 , and a sensor platform 3 is connected to the cleaning platform 2 .

[0047] In this embodiment, a first sensor 31 is provided at one end of the first side beam away from the bottom beam 301, and a second sensor 32 is provided at one end of the second side beam away from the bottom beam 301. The first sensor 31 and the second sensor 32 are located in corresponding positions.

[0048] A fourth sensor 34 is provided at the middle of the first side beam, and a third sensor 33 is provided between the fourth sensor 34 and the first sensor 31;

[0049] A sixth sensor 36 is provided at the middle of the second side beam, and a fifth sensor 35 is provided between the sixth sensor 36 and the second sensor 32;

[0050] The third sensor 33 and the fifth sensor 35 are positioned correspondingly and the signal transmitting ends are arranged relatively, the fourth sensor 34 and the sixth sensor 36 are positioned correspondingly and the signal transmitting ends are arranged relatively, and the third sensor 33, the fourth sensor 34, the fifth sensor 35 and the sixth sensor 36 send laser signals to the receiving sensor 37 located in the middle of the bottom beam 301.

[0051] The distance information and laser signals obtained by each sensor are used to realize the positioning of the cleaning equipment when it moves toward the box.

[0052] In this embodiment, the markings of the sensors in the figure and their corresponding types and functions are shown in Table 1.

[0053] Table 1: Sensor function and type comparison table

[0054]

[0055]

[0056] Embodiment 2:

[0057] The container cleaning process starts with a truck carrying a box 4 driving into the parking area. After the truck stops, the cleaning platform 2 of the cleaning equipment 1 rises to the highest point and moves toward the box door at the rear of the box 4. When the end face of the cleaning platform 2 is parallel to the box door and the distance between the two sides of the box 4 and the cleaning platform 2 meets the requirements, it is considered that the positioning meets the cleaning requirements. The cleaning platform 2 then rises to the same height as the bottom surface of the box, and the box door is opened to perform cleaning work. The staff can enter the interior of the box from the cleaning platform 2 to perform inspection or cleaning operations.

[0058] As shown in FIG4 , the purpose of this embodiment is to use the device in the first embodiment to implement a container positioning method based on a cleaning device, including the following steps:

[0059] Step 1: After the cleaning platform rises to the highest height, it moves toward the container body. When the first sensor and / or the second sensor obtains the container body information, the cleaning platform stops moving and enters step 2;

[0060] Step 2: If the sensors at the corresponding positions of the beams on both sides of the sensor platform simultaneously obtain the box information, then the end surface of the box is parallel to the bottom beam, and then proceed to step 4;

[0061] If the sensors on one set of side beams of the sensor platform obtain the box information, and the sensors at the corresponding positions on the other set of side beams do not obtain the box information, then there is an angle between the end face of the box and the bottom beam, and the process goes to step 3;

[0062] Step 3: The cleaning platform drives the sensor platform to rotate. When the sensors at the corresponding positions of the beams on both sides simultaneously obtain the box information, the rotation stops and goes to step 4;

[0063] Step 4: Based on the distance information between the box and the side beams obtained by the distance sensor, the cleaning platform is translated so that the distance from the box to the two side beams is equal, and the positioning is completed.

[0064] In actual application, the above steps 2-4 can be performed simultaneously.

[0065] After positioning is completed, perform an inspection: the cleaning platform is lowered to the lowest height, the container door is opened and inspected, and the container is left after the inspection; after the inspection, the cleaning platform is lifted, and when it is lifted to the bottom of the door frame, the limit sensor works, the lifting action stops, and the above steps 2-4 are performed again.

[0066] The specific process is as follows:

[0067] 1. A truck carrying a container body 4 enters a designated area with a width of 3.5 meters.

[0068] 2. The cleaning platform 2 rises to the highest height, which in this embodiment is 1.7 meters.

[0069] 3. As shown in FIG. 4( a ), the cleaning platform 2 moves forward and approaches the container body 4 . When the first sensor 31 and / or the second sensor 32 senses the container body 4 , the cleaning platform 2 stops moving and enters the positioning process.

[0070] The first sensor 31 and the second sensor 32 are a pair of laser beam sensors and receivers. When the laser signal is cut off, it is considered that the container body has entered the positioning detection area and the positioning process is executed.

[0071] 4. Positioning: There is no angle between the cleaning platform and the box 4, that is, when the cleaning platform is close to the box, the end face of the box (box door) is parallel to the bottom beam 301 (the box 4 is in the vertical position 41), and the sensors at the corresponding positions of the two side beams simultaneously obtain the box information, and then the step of adjusting the distance is performed; in this embodiment, the third sensor 33 and the fifth sensor 35 simultaneously obtain the box information, the cleaning platform stops moving forward, and the distance adjustment is performed;

[0072] It should be noted that the box vertical position 41 refers to the position where the box centerline is perpendicular to the bottom beam 301 of the cleaning platform, that is, the box end face (box door) is parallel to the bottom beam 301. When the box is close to the sensor platform, there are two situations where the box vertical position 41 and the actual position of the box 4 have an angle or no angle. In this embodiment, the box vertical position 41 is used to provide a reference position that can show the angle for explanation.

[0073] The third sensor 33 and the fifth sensor 35 are laser emitting sensors, which send laser signals to the receiving sensor 37 located in the middle of the bottom beam 301. When the laser signal is blocked, it is considered that the box has passed the position where the sensor is located, and the cleaning device obtains the box information;

[0074] 5. Positioning: There is a certain angle between the cleaning platform and the box 4. As shown in FIG4(b), there is an angle α between the box 4 and the vertical position 41. When the cleaning platform is close to the box, there is an angle between the end face (box door) of the box 4 and the bottom beam 301. If the sensors of one set of side beams obtain the box information, while the sensors at the corresponding positions on the other set of side beams do not obtain the box information, the angle adjustment step is performed.

[0075] In this embodiment, the box 4 has an angle α, the box 4 blocks the laser signal emitted by the fifth sensor 35, and at the same time, the laser signal emitted by the third sensor 33 at the corresponding position is still at a certain distance from the box, so it is not blocked, then it is considered that the box 4 enters the triangular area formed by the fifth sensor 35, the receiving sensor 37 and the bottom angle of the sensor platform in a tilted posture relative to the vertical position 41, and the angle adjustment step is performed;

[0076] 6. Angle adjustment: As shown in Figure 4(c), the cleaning platform 2 drives the sensor platform 3 to rotate. When the sensors at the corresponding positions of the beams on both sides simultaneously obtain the box information, the rotation stops;

[0077] In this embodiment, since the fifth sensor 35 obtains the box information first and the third sensor 33 at the corresponding position does not obtain the box information, the cleaning platform 2 drives the sensor platform 3 to rotate clockwise until the fifth sensor 35 and the third sensor 33 obtain the box information at the same time, and the spacing adjustment is performed.

[0078] 7. The third sensor 33 and the fourth sensor 34, as well as the fifth sensor 35 and the sixth sensor 36 are used in conjunction. First, during the parallel alignment process, when the left and right corners of the container are respectively located between the two signals (laser signals) emitted by the third sensor 33 and the fourth sensor 34, or between the two signals (laser signals) emitted by the fifth sensor 35 and the sixth sensor 36, the platform is considered to be parallel to the container; second, the limit protection function. If there are only the third sensor 33 and the fifth sensor 35, even if there is no parallelism, as long as the distance between the container and the bottom beam is close enough, these two sets of sensors will be blocked and give parallel signals. In order to avoid misjudgment, the fourth sensor 34 and the sixth sensor 36 play the role of judging the extreme position. If these two sets of sensors obtain signals (i.e., the emitted laser signals are blocked), even if the container and the bottom beam are considered to be parallel at this time, a collision may occur due to the close distance, and the staff can process it according to the triggered fourth sensor 34 and sixth sensor 36.

[0079] 8. Distance adjustment: As shown in FIG. 4( d ), based on the distance information between the box 4 and the side beam obtained by the distance sensor 5 , the cleaning platform is translated so that the distances from the box to the first side beam and the second side beam are equal, and the inspection step is performed;

[0080] The distance sensor 5 is an ultrasonic sensor, which emits ultrasonic waves to the surrounding space and uses the received echoes to determine the distance between the sensor signal transmitting end and the target object. In this embodiment, the distance sensors 5 are arranged in pairs and are both located at the top of two groups of vertically arranged columns 303, respectively obtaining the distance from the first side beam to the box and the distance from the second side beam to the box;

[0081] In this embodiment, the spacing a is the distance from the first side beam to the box body; the spacing b is the distance from the second side beam to the box body; when b>a, the cleaning platform translates toward side a, and when b=a, as shown in Figure 4(e), the cleaning platform stops.

[0082] In actual applications, when the container enters the positioning detection area, the sensor platform can simultaneously perform the positioning, angle adjustment and spacing adjustment in the above process.

[0083] 9. Inspection: The cleaning platform 2 is lowered to the lowest height, the container door is opened and inspected, and the container is left after the inspection; after the inspection, the cleaning platform 2 is lifted, and when it is lifted to the bottom of the door frame, the limit sensor 38 works, the lifting action stops, and the positioning, angle adjustment and spacing adjustment contents in the above steps 4-7 are performed again, so as to increase the parallelism between the door and the bottom beam.

[0084] 10. Cleaning: The cleaning equipment performs cleaning.

[0085] The above process utilizes sensor control to meet control accuracy, realize automatic positioning, and meet the complex alignment requirements before container cleaning, such as front and back, left and right, high and low, and angle requirements.

[0086] Compared with the visual positioning process, it no longer relies on complex algorithms and computer recognition processes, reduces hardware and software costs, and uses simple logical judgment to achieve the container positioning process. The structure is simple and easy to implement.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A container positioning device based on a cleaning device, characterized in that: The sensor platform includes a sensor platform located on the cleaning device, the sensor platform includes side beams connected to both ends of the bottom beam, the side beams include a first side beam and a second side beam parallel to each other, the first side beam and the second side beam are both perpendicular to the bottom beam to form a U-shaped sensor platform, the first side beam and the second side beam are respectively connected to columns, the columns are vertically arranged and the top ends are each provided with a distance sensor; The U-shaped sensor platform opening is provided with a first sensor and a second sensor facing the inside of the opening, respectively, and the first sensor and the second sensor obtain the position signal of the container body to determine whether the container body enters the positioning detection area; At least four groups of laser sensors corresponding to the positions are arranged on the inner side of the opening of the U-shaped sensor platform on both side beams, and a receiving sensor is arranged on the bottom beam. The four groups of laser sensors all send laser signals to the receiving sensor, and the receiving sensor obtains the laser signals sent by the laser sensor to realize positioning; Among the four groups of laser sensors, the fourth sensor is located in the middle of the first side beam, and the third sensor is arranged between the fourth sensor and the first sensor; the sixth sensor is located in the middle of the second side beam, and the fifth sensor is arranged between the sixth sensor and the second sensor; the third sensor and the fifth sensor correspond in position and the signal transmitting ends are arranged relatively, and the fourth sensor and the sixth sensor correspond in position and the signal transmitting ends are arranged relatively.

2. The container positioning device based on the cleaning equipment according to claim 1, characterized in that: The bottom beam is also provided with a limit sensor for limiting the lifting action of the cleaning platform.

3. The container positioning device based on the cleaning equipment according to claim 1, characterized in that: The first sensor is located at an end of the first side beam away from the bottom beam, and the second sensor is located at an end of the second side beam away from the bottom beam.

4. A method for realizing positioning based on the device according to any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1: After the cleaning platform rises to the highest height, it moves toward the container body. When the first sensor and / or the second sensor obtains the container body position information, the cleaning platform stops moving and enters step 2; Step 2: If the third sensor and the fifth sensor simultaneously obtain the box information, the end surface of the box is parallel to the bottom beam, and the process goes to step 4; If the third sensor obtains the box information but the fifth sensor does not obtain the box information, or the fifth sensor obtains the box information but the third sensor does not obtain the box information, then there is an angle between the end face of the box and the bottom beam, and the process goes to step 3; Step 3: The cleaning platform drives the sensor platform to rotate. When the third sensor and the fifth sensor simultaneously obtain the box information, the rotation stops and the process goes to step 4. Step 4: Based on the distance information between the box and the side beams obtained by the distance sensor, the cleaning platform is translated so that the distance from the box to the two side beams is equal, and the positioning is completed.

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