Identification system for loading equipment and loading equipment

Abstract

This invention relates to the field of automated loading technology, and discloses an identification system and loading equipment for loading devices. The loading equipment has a loading and unloading mechanism installed on the side of a chassis, such that the loading and unloading direction is perpendicular to the traveling direction of the chassis. The identification system is installed on the chassis and includes: a first laser ranging sensor configured to continuously output a signal in the loading and unloading direction to obtain first distance information of the loading equipment relative to the truck in the traveling direction; and a second laser ranging sensor, spaced apart from the first laser ranging sensor along the traveling direction. The identification system of this invention can automatically identify the relative position of the loading device and the truck in different loading operation environments, facilitating subsequent automated loading operations.

Description

Technical Field

[0001] This invention relates to the field of automated loading technology, and more specifically to an identification system for loading equipment and loading equipment. Background Technology

[0002] With the continuous development of automation, more and more industries are realizing automated assembly, production, testing and storage.

[0003] Currently, in the loading field, manual loading is still the primary method for handling goods, especially for side-loading wagons, curtain-side wagons, and flatbed wagons that require side loading. The diverse specifications of cargo boxes and wagons, along with the complex time and format requirements for loading, make automated and intelligent loading extremely difficult. However, traditional automated loading equipment, due to its level of automation and the complexity of loading processes, still requires manual assistance to complete the entire process. This manual assistance not only poses significant safety hazards but also fails to fully address labor costs, resulting in high labor intensity and low efficiency for the overall automated loading system. Furthermore, some robotic loading systems require the use of machine vision devices and necessitate the development of custom algorithms for different loading environments, leading to high operating costs. Summary of the Invention

[0004] The purpose of this invention is to overcome the problem that existing technologies cannot simultaneously achieve automated loading operations and adapt to the loading environment during side loading operations. This invention provides a loading equipment identification system and loading equipment. The identification system can automatically identify the relative position of the loading equipment and the truck in different loading operation environments, so as to facilitate subsequent automated loading operations.

[0005] To achieve the above objectives, the present invention provides an identification system for loading equipment, wherein the loading equipment has a loading and unloading mechanism installed on the side of a chassis such that the loading and unloading direction is perpendicular to the traveling direction of the chassis, and the identification system is installed on the chassis and includes:

[0006] A first laser ranging sensor is configured to continuously output a signal toward the loading / unloading direction to obtain first distance information of the loading equipment relative to the truck in the direction of travel.

[0007] A second laser ranging sensor is provided along the walking direction. The second laser ranging sensor is spaced apart from the first laser ranging sensor and is configured to continuously output signals toward the loading and unloading direction to obtain second distance information of the loading equipment relative to the truck in the walking direction.

[0008] A microcontroller, which is electrically connected to the first laser rangefinder and the second laser rangefinder, respectively;

[0009] The microcontroller is configured to receive the first distance information and / or the second distance information output from the first laser rangefinder and / or the second laser rangefinder, and compare the first distance information and / or the second distance information with a first preset distance value and / or a second preset distance value to obtain a deceleration signal and / or a parking signal output to the chassis.

[0010] Optionally, the first laser rangefinder and the second laser rangefinder are configured to emit lasers at an angle upwards.

[0011] Optionally, the first laser ranging sensor and the second laser ranging sensor are respectively installed at the beginning and end positions of the walking chassis along the walking direction.

[0012] A second aspect of the present invention provides a vehicle loading device, the vehicle loading device including a control device and the aforementioned identification system electrically connected to the control device.

[0013] Optionally, the loading equipment includes a drive motor that is connected to the chassis to provide driving power. The drive motor is electrically connected to the control device, which is capable of receiving and processing the deceleration signal and / or the parking signal output by the identification system, and controlling the chassis through the drive motor.

[0014] Optionally, the vehicle mounting equipment includes a displacement monitoring device mounted on the chassis and electrically connected to the control device. The displacement monitoring device includes an encoder mounted on the drive motor. The encoder is configured to receive and process the rotational speed signal of the drive motor to obtain the speed information of the chassis in real time.

[0015] Optionally, the displacement monitoring device includes a third laser ranging sensor that outputs a signal toward the direction of travel and is electrically connected to the control device, and a reflector that cooperates with the third laser ranging sensor. The third laser ranging sensor is configured to output a signal to the reflector and receive a feedback signal from the reflector, so as to obtain the position information of the loading equipment in the direction of travel in real time.

[0016] Optionally, the vehicle mounting equipment includes a locking device installed at the bottom of the chassis and electrically connected to the control device. The control device is capable of receiving and processing the parking signal output by the identification system to control the braking of the chassis through the locking device.

[0017] Optionally, the loading equipment includes a pushing device mounted on the chassis and a lifting gantry device mounted on the telescopic end of the pushing device and telescopic relative to the chassis along the loading and unloading direction;

[0018] The ejection device includes an extension distance detection element electrically connected to the control device. The extension distance detection element is configured to output a signal to the lifting gantry device in the loading / unloading direction and receive a feedback signal from the lifting gantry device to obtain the ejection position information of the lifting gantry device in real time.

[0019] Optionally, the loading equipment includes a fork device that moves up and down along the height direction of the lifting gantry device, and the fork device is electrically connected to the control device;

[0020] The fork assembly includes a fork carriage that moves up and down along the height direction of the lifting mast assembly, multiple fork pairs that are adjustable along the length direction of the fork carriage, an adjustment component for adjusting the position of the fork pairs on the fork carriage, and a spacing detection element for detecting the distance between two fork pairs.

[0021] Optionally, the fork assembly includes a cargo box height detection element mounted on the fork carriage for detecting the cargo box height of the truck, the cargo box height detection element being electrically connected to the control device.

[0022] Optionally, the fork assembly includes a plurality of forks mounted on the fork pair and whose position is adjustable along the length of the fork pair.

[0023] Optionally, the fork assembly includes a gravity sensor for detecting the weight of the cargo on the forks, the gravity sensor being electrically connected to the control device.

[0024] Optionally, the loading equipment includes a clamping device mounted on the chassis for clamping cargo, the clamping device being electrically connected to the control device.

[0025] The beneficial effects of the present invention through the above technical solution are as follows:

[0026] The identification system can acquire the relative position between the loading vehicle and the truck, thereby controlling the loading vehicle's deceleration or parking to automate the relative positional relationship between them. After determining the truck's position, the loading vehicle decelerates or parks beside it, preparing for loading or unloading. Specifically, the identification system can automatically identify and control the loading position, pre-controlling the loading vehicle's deceleration. Furthermore, it can accurately park the loading equipment at the designated loading position, achieving more precise loading operations. Simultaneously, the loading equipment of this invention automatically identifies truck models of different lengths and heights, performing high-quality automated loading operations, ensuring goods are neatly arranged and do not exceed the vehicle's dimensions. This loading equipment is not only highly practical, space-saving, and stable and safe, but it can also significantly improve the loading efficiency of loading multiple vehicle models simultaneously, reducing labor intensity and loading time, thereby lowering loading logistics costs.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0028] Undoubtedly, such and other objects of the present invention will become more apparent after the following detailed description of the preferred embodiments, which are illustrated in various accompanying drawings and figures.

[0029] To make the above and other objects, features and advantages of the present invention more apparent and understandable, one or more preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof.

[0031] In the attached diagram:

[0032] Figure 1 This is a schematic diagram of one embodiment of the loading equipment in this invention;

[0033] Figure 2 yes Figure 1 Enlarged view of A in the middle;

[0034] Figure 3 yes Figure 1 Enlarged view of B in the middle;

[0035] Figure 4 This is a front view of one embodiment of the loading equipment in this invention;

[0036] Figure 5 This is a left view of one embodiment of the loading equipment in this invention;

[0037] Figure 6 This is a schematic diagram illustrating the working principle of the control device in this invention.

[0038] Explanation of reference numerals in the attached figures

[0039] 1-Walking chassis, 2-Identification system, 21-First laser rangefinder sensor, 22-Second laser rangefinder sensor, 3-Locking device, 4-Drive motor, 5-Extend device, 51-Extend distance detection element, 6-Third laser rangefinder sensor, 7-Lifting mast device, 8-Fork assembly, 81-Fork carriage, 82-Fork pair, 83-Adjustment component, 84-Spacing detection element, 85-Fork rod, 9-Cargo box height detection element, 10-Gravity sensor element, 11-Clamping device, 12-Encoder. Detailed Implementation

[0040] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] Furthermore, numerous specific details are set forth in the following description for illustrative purposes to provide a thorough understanding of the embodiments of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without the specific details or particular methods described herein.

[0042] Furthermore, in the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two main bodies are not connected through a transitional structure, but rather formed as a whole through a connecting structure. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] The identification system 2 in this invention can acquire the relative position between the loading vehicle and the truck, thereby controlling the loading vehicle's deceleration or parking to automate the relative positional relationship between them. After determining the truck's position, the loading vehicle decelerates or parks beside it, preparing for loading or unloading. Specifically, the identification system 2 can automatically identify and control the loading position, pre-controlling the loading vehicle's deceleration. Furthermore, it can accurately park the loading equipment at the designated loading position, achieving more precise loading operations. Simultaneously, the loading equipment of this invention automatically identifies truck models of different lengths and heights, performing high-quality automated loading operations, ensuring goods are neatly arranged and do not exceed the vehicle's dimensions. This loading equipment is not only highly practical, space-saving, and stable and safe, but it can also significantly improve the loading efficiency of loading multiple vehicle models simultaneously, reducing labor intensity and loading time, thereby lowering loading logistics costs.

[0045] like Figure 1 , Figure 4 and Figure 5 As shown, the identification system for the loading equipment of the present invention has a loading and unloading mechanism installed on the side of the chassis 1, such that the loading and unloading direction is perpendicular to the traveling direction of the chassis 1. The loading and unloading mechanism includes a push-out device 5, a lifting mast device 7, and a fork device 8, as described below. The working principles and functions of these devices will be described in subsequent paragraphs.

[0046] like Figure 1 , Figure 2 and Figure 4 As shown, the identification system 2 of the present invention is installed on the walking chassis 1 and includes:

[0047] A first laser rangefinder 21 is configured to continuously output a signal toward the loading / unloading direction to obtain first distance information of the loading equipment relative to the truck in the direction of travel.

[0048] The second laser rangefinder 22 is spaced apart from the first laser rangefinder 21 along the walking direction and is configured to continuously output signals toward the loading and unloading direction to obtain second distance information of the loading equipment relative to the truck in the walking direction.

[0049] A microcontroller, which is electrically connected to the first laser rangefinder 21 and the second laser rangefinder 22 respectively;

[0050] The microcontroller is configured to receive the first distance information and / or the second distance information output from the first laser rangefinder 21 and / or the second laser rangefinder 22, and compare the first distance information and / or the second distance information with a first preset distance value and / or a second preset distance value to obtain a deceleration signal and / or a parking signal output to the walking chassis 1.

[0051] The microcontroller operates as follows: It includes a first comparison module and a second comparison module. The first comparison module compares first distance information with a first preset distance value, and the second comparison module compares second distance information with a second preset distance value. The microcontroller can output a deceleration signal based on the comparison result from the first comparison module, and it can output a parking signal based on the comparison result from the second comparison module. The first and second preset distance values ​​are set according to the operating environment of the vehicle.

[0052] like Figure 1 and Figure 2 As shown, the first laser ranging sensor 21 and the second laser ranging sensor 22 in this invention are configured to emit laser beams obliquely upwards, thereby enabling the low-position sensor to detect goods at a high position. When the first laser ranging sensor 21 and the second laser ranging sensor 22 are working, although the laser beam is emitted obliquely upwards, a small portion of the beam will still be reflected back to the receiver, and the receiver will still generate a signal change, thus achieving a ranging effect to sense whether goods are present at a high position.

[0053] like Figure 1 and Figure 2 As shown, along the travel direction, the first laser ranging sensor 21 and the second laser ranging sensor 22 are respectively installed at the beginning and end positions of the travel chassis 1. This can be understood as follows: in the travel direction, the first laser ranging sensor 21 and the second laser ranging sensor 22 are linearly installed on the travel chassis 1 with a certain interval, and the interval between them is much smaller than the length of the travel chassis 1. Furthermore, the installation of the first laser ranging sensor 21 and the second laser ranging sensor 22 at the beginning and end positions can be understood as treating the first laser ranging sensor 21 and the second laser ranging sensor 22 as a set of components, with each set of components linearly arranged in the travel direction. In this invention, there are at least two sets of components; however, it is preferred that there are two sets of components. These two sets of components are installed at the beginning and end positions respectively, and regardless of which direction the loading vehicle approaches the truck in the travel direction, the relative position between the loading vehicle and the truck can be determined, thereby controlling the deceleration and parking of the loading vehicle.

[0054] Furthermore, the first laser rangefinder 21 and the second laser rangefinder 22 are linearly arranged one after the other in the direction of travel. Regardless of which direction the loading vehicle approaches the truck, the first laser rangefinder 21 must be the first to detect the truck, thus controlling the loading vehicle to decelerate appropriately. Then, the second laser rangefinder 22 detects the truck after the first laser rangefinder 21, thus controlling the loading vehicle to brake. The sensing sequence of the first laser rangefinder 21 and the second laser rangefinder 22 must be strictly limited.

[0055] The loading equipment of this invention includes a control device and the aforementioned identification system 2, which is electrically connected to the control device. For example... Figure 6 The diagram shows the working principle of the control device.

[0056] like Figure 4 and Figure 5 As shown, the vehicle mounting equipment in this invention includes a drive motor 4 that is connected to the chassis 1 to provide walking power. The drive motor 4 is electrically connected to the control device. The control device is able to receive and process the deceleration signal and / or the parking signal output by the identification system 2, and control the chassis 1 through the drive motor 4.

[0057] like Figure 4 As shown, the vehicle mounting equipment in this invention includes a displacement monitoring device installed on the chassis 1 and electrically connected to the control device. The displacement monitoring device includes an encoder 12 installed on the drive motor 4. The encoder 12 is configured to receive and process the rotational speed signal of the drive motor 4 to obtain the speed information of the chassis 1 in real time.

[0058] like Figure 1 , Figure 2 and Figure 4 As shown, the displacement monitoring device of this invention includes a third laser ranging sensor 6 that outputs signals toward the direction of travel and is electrically connected to the control device, and a reflector that cooperates with the third laser ranging sensor 6. The third laser ranging sensor 6 is configured to output signals to the reflector and receive feedback signals from the reflector, so as to obtain the position information of the loading equipment in the direction of travel in real time. The position of the reflector is appropriately selected according to the working environment of the loading process. Furthermore, the reflector in this invention is preferably located on a straight line in the direction of travel, and reflectors are installed at both ends of this straight line to facilitate the loading process's back-and-forth movement along the straight line.

[0059] Displacement monitoring devices can acquire real-time speed and location information of loading equipment, facilitating self-management of the loading equipment.

[0060] like Figure 4As shown, the vehicle mounting equipment in this invention includes a locking device 3 installed at the bottom of the chassis 1 and electrically connected to the control device. The control device is capable of receiving and processing the parking signal output by the identification system 2, so as to control the braking of the chassis 1 through the locking device 3.

[0061] like Figure 1 , Figure 4 and Figure 5 As shown, the loading equipment of this invention includes a pushing device 5 mounted on the chassis 1 and a lifting gantry device 7 mounted on the telescopic end of the pushing device 5 and telescopic relative to the chassis 1 along the loading / unloading direction. The pushing device 5 includes an extension distance detection element 51 electrically connected to the control device. The extension distance detection element 51 is configured to output a signal to the lifting gantry device 7 in the loading / unloading direction and receive feedback signals from the lifting gantry device 7 to obtain the real-time pushing position information of the lifting gantry device 7. Preferably, the pushing device 5 in this invention is a scissor-type telescopic mechanism.

[0062] like Figure 1 , Figure 4 and Figure 5 As shown, the loading equipment in this invention includes a fork device 8 that moves up and down along the height direction of the lifting gantry device 7, and the fork device 8 is electrically connected to the control device.

[0063] like Figure 1 , Figure 4 and Figure 5 As shown, the fork assembly 8 of this invention includes a fork carriage 81 that moves up and down along the height direction of the lifting mast device 7, multiple fork assemblies 82 whose positions are adjustable along the length direction of the fork carriage 81, an adjustment assembly 83 for adjusting the position of the fork assemblies 82 on the fork carriage 81, and a spacing detection element 84 for detecting the distance between two fork assemblies 82. The length direction of the fork carriage 81 is parallel to the travel direction. Installing multiple fork assemblies 82 is mainly to allow for loading multiple stacks of goods in each loading process, improving loading efficiency. Preferably, there are two fork assemblies 82 in this invention to facilitate operation and control of the fork assemblies 82 for loading and unloading goods. Since goods vary in size, the space and position occupied by the goods during loading and unloading differ. To overcome this problem, the position of the fork assemblies 82 on the fork carriage 81 is adjustable to accommodate goods of different sizes.

[0064] like Figure 3 , Figure 4 and Figure 5As shown, the forklift device 8 of this invention includes a cargo box height detection element 9 mounted on the fork carriage 81 and used to detect the cargo box height of the truck. The cargo box height detection element 9 is electrically connected to the control device. The cargo box height detection element 9 in this invention can be a machine vision inspection device, an acoustic or optical scanning device, etc., mainly for detecting the cargo box height of the truck on the side of the loading equipment, so that the forklift device 8 can accurately load and unload goods.

[0065] like Figure 3 As shown, the fork assembly 8 of this invention includes a plurality of fork shanks 85 mounted on the fork assemblies 82 and whose positions are adjustable along the length of the fork assemblies 82. When the volume of the goods is known, the spacing between the fork shanks 85 is adjusted to ensure that two fork shanks 85 can lift the goods. If the goods are heavy and large, the spacing between the fork shanks 85 can be reduced, thereby enabling multiple fork shanks 85 to lift the goods, ensuring stable and safe loading and unloading.

[0066] like Figure 3 As shown, the fork assembly 8 of the present invention includes a gravity sensor 10 for detecting the weight of goods on the fork 85, and the gravity sensor 10 is electrically connected to the control device. The gravity sensor 10 is capable of determining whether there are goods on the fork 85.

[0067] like Figure 1 , Figure 4 and Figure 5 As shown, the loading equipment of the present invention includes a clamping device 11 mounted on the traveling chassis 1 for clamping goods, and the clamping device 11 is electrically connected to the control device. Preferably, the clamping device 11 clamps the goods in the traveling direction to ensure that the goods are stably stored on the loading platform during transfer, preventing them from slipping and being damaged.

[0068] Working Principle: When the loading equipment moves from the rear of the truck bed to the front for loading, the first laser rangefinder 21 detects the truck bed baffle or cargo at the front of the truck bed and sends a deceleration signal. The control device then controls the drive motor 4 to decelerate based on the deceleration signal. The loading equipment continues to move forward due to inertia until the second laser rangefinder 22, located behind the first laser rangefinder 21, detects the truck bed baffle or cargo. This confirms that the loading equipment has reached the loading position and sends a parking signal. The control device then controls the locking device 3 to clamp the rails and lock the loading equipment in place, thus achieving parking. Simultaneously, the drive motor 4 stops operating. Once the loading equipment is parked at the loading position, the control device opens the clamping device 16, releasing the grip on the cargo. Then, the lifting mast device 7 is controlled to lift the goods on the fork device 8 to a height above the truck bed. Then, the pushing device is controlled to push the lifting mast device 7 and the goods towards the truck bed. When the extension value obtained by the extension distance detection device 51 reaches the set value, the fork device 8 is controlled to descend and exit from the pallet fork hole at the bottom of the goods, and the goods are placed on the truck bed to complete the loading.

[0069] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

Claims

1. A system for identifying loading equipment, characterized in that, The loading equipment has a loading and unloading mechanism installed on the side of the chassis (1) such that the loading and unloading direction is perpendicular to the traveling direction of the chassis (1). The identification system (2) is installed on the chassis (1) and includes: A first laser ranging sensor (21) is configured to continuously output a signal toward the loading and unloading direction to obtain first distance information of the loading equipment relative to the truck in the direction of travel. The second laser ranging sensor (22) is spaced relative to the first laser ranging sensor (21) along the walking direction and is configured to continuously output a signal toward the loading and unloading direction to obtain the second distance information of the loading equipment relative to the truck in the walking direction. A microcontroller is electrically connected to the first laser rangefinder (21) and the second laser rangefinder (22). The microcontroller is configured to receive the first distance information and / or the second distance information output from the first laser rangefinder (21) and / or the second laser rangefinder (22), and compare the first distance information and / or the second distance information with the first preset distance value and / or the second preset distance value to obtain the deceleration signal and / or parking signal output to the walking chassis (1); The first laser rangefinder (21) and the second laser rangefinder (22) are configured to emit lasers at an angle upward; along the walking direction, the first laser rangefinder (21) and the second laser rangefinder (22) are respectively installed at the beginning and end positions of the walking chassis (1).

2. A loading device, characterized in that, Includes a control device and an identification system (2) according to claim 1, which is electrically connected to the control device.

3. The loading equipment according to claim 2, characterized in that, The loading equipment includes a drive motor (4) that is connected to the chassis (1) to provide driving power. The drive motor (4) is electrically connected to the control device, which is capable of receiving and processing the deceleration signal and / or the parking signal output by the identification system (2), and controlling the chassis (1) through the drive motor (4).

4. The loading equipment according to claim 3, characterized in that, The loading equipment includes a displacement monitoring device installed on the chassis (1) and electrically connected to the control device. The displacement monitoring device includes an encoder (12) installed on the drive motor (4). The encoder (12) is configured to receive and process the rotation speed signal of the drive motor (4) to obtain the speed information of the chassis (1) in real time.

5. The loading equipment according to claim 4, characterized in that, The displacement monitoring device includes a third laser ranging sensor (6) that outputs a signal toward the direction of travel and is electrically connected to the control device, and a reflector that cooperates with the third laser ranging sensor (6). The third laser ranging sensor (6) is configured to output a signal to the reflector and receive a feedback signal from the reflector, so as to obtain the position information of the loading equipment in the direction of travel in real time.

6. The loading equipment according to claim 2, characterized in that, The vehicle mounting equipment includes a locking device (3) installed at the bottom of the chassis (1) and electrically connected to the control device. The control device is able to receive and process the parking signal output by the identification system (2) to control the braking of the chassis (1) through the locking device (3).

7. The loading equipment according to claim 2, characterized in that, The loading equipment includes a push-out device (5) mounted on the walking chassis (1) and a lifting gantry device (7) mounted on the telescopic end of the push-out device (5) and telescopic relative to the walking chassis (1) in the loading and unloading direction. The ejection device (5) includes an extension distance detection element (51) electrically connected to the control device. The extension distance detection element (51) is configured to output a signal to the lifting gantry device (7) in the loading and unloading direction and receive a feedback signal from the lifting gantry device (7) to obtain the ejection position information of the lifting gantry device (7) in real time.

8. The loading equipment according to claim 7, characterized in that, The loading equipment includes a fork device (8) that moves up and down along the height direction of the lifting gantry device (7), and the fork device (8) is electrically connected to the control device. The fork assembly (8) includes a fork carriage (81) that moves up and down along the height direction of the lifting mast assembly (7), a plurality of fork pairs (82) that are adjustable along the length direction of the fork carriage (81), an adjustment component (83) for adjusting the position of the fork pairs (82) on the fork carriage (81), and a spacing detection element (84) for detecting the distance between two fork pairs (82).

9. The loading equipment according to claim 8, characterized in that, The fork assembly (8) includes a cargo box height detection element (9) mounted on the fork carriage (81) and used to detect the cargo box height of the truck, the cargo box height detection element (9) being electrically connected to the control device.

10. The loading equipment according to claim 9, characterized in that, The fork assembly (8) includes a plurality of forks (85) mounted on the fork pair (82) and whose position is adjustable along the length of the fork pair (82).

11. The loading equipment according to claim 10, characterized in that, The fork assembly (8) includes a gravity sensing element (10) for detecting the weight of the cargo on the forks (85), and the gravity sensing element (10) is electrically connected to the control device.

12. The loading equipment according to claim 2, characterized in that, The loading equipment includes a clamping device (11) mounted on the chassis (1) for clamping goods, and the clamping device (11) is electrically connected to the control device.

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