A visual positioning guide system for a truck crane jib, a control method and a vehicle

Abstract

The application provides a visual positioning guide system for a truck hoisting boom, a control method and a vehicle, and relates to the technical field of logistics transportation. The visual positioning guide system for the truck hoisting boom is used for positioning and guiding a multilayer stacked truck-mounted container, and comprises a first position calibration device, a second position calibration device, an image acquisition module, a processing unit and a hoisting boom. The first position calibration device comprises a first shell, a first position signal emitter and a reference block. The second position calibration device comprises a second shell, a through hole, a first pressure sensor, a second pressure sensor and a second position signal emitter. The processing unit establishes a coordinate system according to the image collected by the image acquisition module, and marks the first position calibration device and the second position calibration device in the coordinate system according to the position signals of the first position signal emitter and the second position signal emitter. The hoisting boom is used for moving the truck-mounted container to a preset position.

Description

Technical Field

[0001] This invention relates to the field of logistics and transportation technology, specifically to a visual positioning and guidance system, control method, and vehicle for a truck crane boom. Background Technology

[0002] Vehicle-mounted cargo boxes are mainly used for transporting various goods and are suitable for various application scenarios such as manufacturing plants, supermarkets, express delivery, and personal use. They offer advantages such as mobility, ease of operation, high efficiency, large transport capacity, efficient use of space, and safety and reliability.

[0003] Currently, for the transportation of regular goods, in order to increase the transport capacity and improve the transport efficiency of a single vehicle, multiple cargo boxes are usually stacked in the same compartment (or on the cargo platform), and loaded and unloaded by relevant lifting mechanisms (lifting devices or hoisting devices) or manually.

[0004] However, when loading and unloading cargo boxes via a lifting mechanism, the image acquisition device of the current visual positioning guidance system is generally located on the lifting mechanism. This often results in stacked cargo boxes blocking each other, causing the visual positioning guidance to temporarily fail. This may lead to cargo boxes not being loaded accurately, and the upper cargo box may become unstable. Consequently, the cargo boxes may shake or vibrate during transportation, which can cause items to collide or be crushed.

[0005] The applicant retrieved the following existing related technologies using the search query "(cargo container or logistics container or transport container) and center of gravity":

[0006] Existing technology 1, Chinese patent document CN114819674B (Method, Device, Electronic Equipment and Storage Medium for Correcting the Center of Gravity of Cargo Loading), calculates the overall center of gravity offset or overall weight imbalance value by using the center of gravity coordinates and weight of the cargo. If it exceeds a preset value, the order of cargo loading and the sorting of individual cargo items are adjusted to stabilize the overall center of gravity. However, it cannot solve the problem of temporary failure of visual positioning guidance caused by the cargo box obstructing the image acquisition area of ​​the vehicle-mounted image acquisition device.

[0007] Prior art 2, Chinese patent document CN113247519A (A vision-controlled intelligent loading and unloading device and method), achieves automated loading and unloading of goods through a loading and unloading box module, a vision module, an assembly execution module, a position sensor, and a control unit, and is capable of position correction. However, it still cannot solve the problem of temporary failure of visual positioning guidance caused by the on-board cargo box obstructing the acquisition area of ​​the image acquisition device. Summary of the Invention

[0008] In order to solve the technical problems in related technologies, the present invention provides a visual positioning and guidance system, control method and vehicle for truck crane boom.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] According to a first aspect of the present invention, a visual positioning and guidance system for truck crane booms is provided for positioning and guiding multi-layered stacked truck cargo boxes, the visual positioning and guidance system for truck crane booms comprising:

[0011] A first position calibration device is used to be installed on the cargo plate of a vehicle and on the top of the cargo box. The first position calibration device includes a first housing, a first position signal transmitter disposed in the first housing, and a reference block formed on the first housing.

[0012] A second position calibration device is used to be installed at the bottom of the vehicle cargo box. The second position calibration device includes a second housing, a through hole opened on the second housing, and a first pressure sensor, a second pressure sensor, and a second position signal transmitter installed in the second housing. The through hole is matched with the shape of the reference block for insertion of the reference block. The first pressure sensor and the second pressure sensor are respectively installed on both sides of the reference block for collecting the pressure on both sides of the reference block.

[0013] An image acquisition module is installed on the crane boom and is used to acquire images of the vehicle's cargo platform.

[0014] A processing unit is installed on the crane boom and is communicatively connected to the first position calibration device, the second position calibration device, and the image acquisition module. The processing unit establishes a coordinate system for the cargo area of ​​the vehicle based on the image acquired by the image acquisition module, and marks the first position calibration device and the second position calibration device in the coordinate system according to the position signals of the first position signal transmitter and the second position signal transmitter; and transmits movement commands to the crane boom as needed.

[0015] The crane boom, in response to the movement command of the processing unit, is used to move the vehicle cargo box to a preset position and control the vehicle cargo box to gradually move down until the first pressure sensor and / or the second pressure sensor obtains the pressure value;

[0016] In the preset position, the line connecting the position coordinates of the second position calibration device on the cargo box to be placed in the coordinate system and the position coordinates of the corresponding first position calibration device in the coordinate system extends vertically.

[0017] Optionally, the second position calibration device further includes a stop block and an elastic element. The shape of the stop block matches the through hole. One end of the elastic element is connected to the stop block, and the other end of the elastic element is installed in the second housing so that the stop block is movably disposed in the through hole.

[0018] The first pressure sensor and the second pressure sensor are respectively located on both sides of the abutment block away from the reference block.

[0019] Optionally, the through hole is formed as a triangular through hole, the abutment block is formed as a plate-like structure with an equilateral triangle cross-section, and the elastic element is connected to the bottom center of the abutment block;

[0020] The second position calibration device further includes a third pressure sensor, and the first pressure sensor, the second pressure sensor and the third pressure sensor are respectively installed at the bottom triangle of the abutment block.

[0021] Optionally, the first position calibration device further includes a contact rod disposed on the first housing, and the length of the contact rod in the vertical direction is greater than the length of the reference block;

[0022] The second housing has an inwardly recessed contact groove, the position of which corresponds to the contact rod for insertion of the contact rod. The second position calibration device also includes a contact sensor disposed in the contact groove, and the contact sensor is electrically connected to the processing unit.

[0023] When the first housing and the second housing are in contact, the contact rod abuts against the contact sensor.

[0024] Optionally, the visual positioning and guidance system for the truck crane boom further includes a position correction module. The position correction module includes a corresponding optical signal emitting element and an optical signal receiving element. The optical signal emitting element is disposed on the second position calibration device, and the optical signal receiving element is disposed on the first position calibration device. The optical signal receiving element is used to receive the optical signal emitted by the optical signal emitting element.

[0025] According to a second aspect of the present invention, a control method for a visual positioning and guidance system for a truck crane boom is provided, applicable to the visual positioning and guidance system for a truck crane boom described in any of the technical solutions of the first aspect of the present invention. The control method for the visual positioning and guidance system for a truck crane boom includes the following steps:

[0026] Establish a coordinate system based on the images acquired by the image acquisition module to establish the coordinate system of the vehicle's cargo area;

[0027] Position calibration: Based on the signals from the first position signal transmitter and the second position signal transmitter, the first position calibration device and the second position calibration device are correspondingly calibrated in the obtained coordinate system;

[0028] Once the placement is ready, the processing unit sends a movement command to the crane boom, which then controls the truck cargo box to be placed to move to the preset position.

[0029] When the cargo box is placed, the crane boom controls the cargo box to be placed to move down until the first pressure sensor and / or the second pressure sensor obtains the pressure value, at which point the crane boom releases the cargo box.

[0030] Optionally, the first position calibration device further includes a contact rod disposed on the first housing, and the length of the contact rod in the vertical direction is greater than the length of the reference block; a contact groove is formed inwardly on the second housing, the position of the contact groove corresponding to the contact rod for insertion of the contact rod; the second position calibration device further includes a contact sensor disposed in the contact groove, the contact sensor being electrically connected to the processing unit; when the first housing and the second housing are in contact, the contact rod abuts against the contact sensor.

[0031] The cargo container placement step also includes:

[0032] After the first pressure sensor and / or the second pressure sensor acquires the pressure value, the crane boom controls the cargo box to gradually descend until the contact rod abuts against the contact sensor.

[0033] Optionally, the visual positioning and guidance system for the truck crane boom further includes a position correction module. The position correction module includes a corresponding optical signal emitting element and an optical signal receiving element. The optical signal emitting element is disposed on the second position calibration device, and the optical signal receiving element is disposed on the first position calibration device. The optical signal receiving element is used to receive the optical signal emitted by the optical signal emitting element.

[0034] The placement preparation step further includes: after the vehicle cargo box is moved to the preset position, verifying whether the first position calibration device corresponds to the second position calibration device based on whether the light signal emitted by the light signal emitting element is received;

[0035] The cargo box placement step further includes: after the first pressure sensor and the second pressure sensor obtain the pressure value, the processing unit compares the values ​​of the first pressure sensor and the second pressure sensor in real time, determines the tilt direction of the vehicle cargo box, transmits the angle adjustment command to the crane arm, and verifies whether the first position calibration device corresponds to the second position calibration device based on whether the light signal emitted by the light signal emitting element is received, so that the vehicle cargo box continues to move downward in a horizontal state.

[0036] Optionally, the position calibration step further includes:

[0037] The processing unit acquires the position signals of all second position signal transmitters and assigns a serial number to all second position calibration devices in sequence along the first direction, wherein the first direction is the direction from the front of the vehicle to the rear of the vehicle, so that the crane boom places the vehicle cargo box one by one according to the serial number.

[0038] According to a third aspect of the present invention, a vehicle is also provided, the vehicle comprising a cargo platform, a cargo box, and a visual positioning and guidance system for a truck crane boom as described in any of the technical solutions of the first aspect of the present invention, wherein a plurality of first position calibration devices are spaced apart on the cargo platform, a plurality of second position calibration devices are spaced apart on the cargo box, and the crane boom is mounted on the vehicle.

[0039] Beneficial effects:

[0040] 1. Through the above technical solution, on one hand, the present invention uses a first position calibration device set on the cargo platform as a reference mark, which facilitates the processing unit to quickly and accurately identify the reference mark, thereby facilitating the loading of the bottommost cargo box. Simultaneously, the present invention uses a first position calibration device set on the top of the cargo box as an intermediate mark, which facilitates the processing unit to quickly and accurately identify the intermediate mark, thereby facilitating the loading of other cargo boxes besides the bottommost layer. This helps to compensate for the temporary failure of the visual positioning guidance system, ensuring that all cargo boxes are accurately loaded and preventing instability of the upper cargo boxes, thus improving the stability of the cargo boxes during transportation and preventing collisions or compression of items inside the cargo boxes. On the other hand, the present invention uses an image acquisition module to acquire images of the vehicle's cargo platform, thereby establishing a coordinate system for the vehicle's loading area. This allows the visual positioning guidance system to more accurately guide the movement of the crane boom. Simultaneously, the present invention uses the crane boom to execute the movement commands of the processing unit to move the cargo boxes to a preset position, thereby completing the loading of the cargo boxes. In another aspect, the present invention uses a first pressure sensor and a second pressure sensor to determine in real time whether there is uneven pressure on both sides of the reference block, thereby determining whether the cargo box tilts during movement. This allows the processing unit to issue adjustment commands to the crane boom in real time based on the collected pressure values, enabling the crane boom to fine-tune the posture of the cargo box in real time, thereby achieving stable loading of the cargo box.

[0041] Specifically, firstly, in this invention, the processing unit receives position signals from a first position signal transmitter disposed in the first housing and a second position signal transmitter disposed in the second housing, and marks the corresponding position signals in the coordinate system of the established cargo area of ​​the vehicle. By making the position signals of the two devices in the same vertical direction, the accurate positioning of the vehicle cargo box is achieved, thereby enabling accurate loading of multiple layers of vehicle cargo boxes.

[0042] Secondly, in this invention, a conventional visual positioning and guidance system is constructed by an image acquisition module, a processing unit, and a crane boom to establish the coordinate system of the vehicle's cargo area, generate and adjust movement commands, and execute the movement commands, thereby realizing the loading and unloading of the vehicle's cargo box.

[0043] Third, in this invention, after the crane boom moves the vehicle cargo box to the preset position, during the descent of the vehicle cargo box, the vehicle cargo box may tilt due to external airflow or vibration of the crane boom itself. To address this situation, this invention provides a first pressure sensor and a second pressure sensor, which are used to determine the tilt state of the vehicle cargo box by identifying the pressure signals on both sides of the reference block when the second position calibration device on the vehicle cargo box just comes into contact with the corresponding first position calibration device. This allows the processing unit to issue corresponding adjustment commands to the crane boom as needed, so that the vehicle cargo box can be loaded in a relatively horizontal posture at the corresponding position.

[0044] 2. Other beneficial effects or advantages of the present invention will be described in detail in conjunction with specific structures in specific embodiments. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In addition, it should be understood that the proportional relationship of each component in the drawings of this specification does not represent the proportional relationship in the actual material selection and design, but is only a schematic diagram of the structure or position, wherein:

[0046] Figure 1 This is a three-dimensional structural diagram of a vehicle provided in an exemplary embodiment of the present invention, wherein a cargo platform, a vehicle cargo box, and a crane boom are shown;

[0047] Figure 2 yes Figure 1 Enlarged schematic diagram of the local structure at point A;

[0048] Figure 3 This is a three-dimensional structural diagram of a vehicle provided in an exemplary embodiment of the present invention, wherein a cargo platform and a cargo box are shown;

[0049] Figure 4 yes Figure 3 Enlarged schematic diagram of the local structure at point B;

[0050] Figure 5 This is a three-dimensional structural diagram of a vehicle cargo box provided in an exemplary embodiment of the present invention, wherein four first position calibration devices are provided on the top of the vehicle cargo box;

[0051] Figure 6This is a three-dimensional structural diagram of a vehicle cargo box provided in an exemplary embodiment of the present invention, wherein four second position calibration devices are provided at the bottom of the vehicle cargo box;

[0052] Figure 7 This is a perspective structural diagram of a first position calibration device and a second position calibration device provided in an exemplary embodiment of the present invention, wherein parts of the first housing and the second housing are hidden to show the components therein;

[0053] Figure 8 This is a three-dimensional structural diagram of the first position calibration device and the second position calibration device provided in an exemplary embodiment of the present invention, viewed from a partial cross-sectional perspective.

[0054] Figure 9 This is a schematic diagram of the arrangement of a visual positioning and guidance system for a truck crane boom provided in an exemplary embodiment of the present invention;

[0055] Figure 10 This is a schematic diagram of the steps of a visual positioning and guidance system control method for a truck crane boom provided in an exemplary embodiment of the present invention.

[0056] Explanation of the labels in the attached drawings:

[0057] 100-Vehicle; 101-Visual positioning and guidance system for truck crane boom; 102-Cargo box; 103-Cargo plate; 1-First position calibration device; 11-First housing; 12-First position signal transmitter; 13-Reference block; 14-Contact rod; 2-Second position calibration device; 21-Second housing; 211-Contact groove; 22-Through hole; 23-First pressure sensor; 24-Second pressure sensor; 25-Second position signal transmitter; 26-Abutting block; 27-Elastic element; 28-Third pressure sensor; 29-Contact sensor; 3-Image acquisition module; 4-Processing unit; 5-Crane boom; 61-Optical signal transmitting element; 62-Optical signal receiving element. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0060] In the description of this invention, it should be noted that the terms used, such as "top" and "bottom," refer to the upper part of the visual positioning and guidance system for the truck crane boom of this invention as the top and the lower part as the bottom when in use; the terms used, such as "first" and "second," are only for distinguishing descriptions and do not indicate or imply a difference in importance or order; the terms used, such as "inner" and "outer," refer to the inner and outer parts of a specific outline. The use of the above terms is only for the purpose of clearly and simply describing the technical solution of this invention and should not be construed as limiting this invention.

[0061] To facilitate a clearer understanding of the technical solution of this invention by those skilled in the art, the technical problems existing in the prior art are described in detail below:

[0062] Currently, for loading and unloading goods or containers, the lifting mechanisms (such as hoisting devices and lifting equipment) are generally equipped with visual positioning guidance systems. The image acquisition devices (such as industrial cameras and fisheye cameras) of these systems are typically mounted on the lifting mechanism. These systems generally achieve loading and unloading of containers by recognizing the positioning effect of marker points or marking devices (markers or marking devices are set on the vehicle's cargo platform and unloading area to facilitate the loading and unloading of the container). However, because the image acquisition device is fixed in position, and the container itself has a certain volume, during the loading and unloading of multi-layered containers, there may be situations where the loaded or unloaded container is located between the image acquisition device and the marker point (or marking device). This means that part of the container may obstruct the image acquisition device's capture range, preventing the device from recognizing the specific location of the marker point (or marking device), thus causing the visual positioning guidance system to temporarily malfunction. In this situation, the current solution is generally that the visual positioning guidance system will infer (or predict, or calculate) the specific location of the obscured marker (or marker device) based on the position of the marker (or marker device) around the obscured marker (or marker device) and the size of the vehicle cargo box, and then carry out loading and unloading of the vehicle cargo box at the corresponding location.

[0063] However, such positioning accuracy is not high, and there may be instances where the cargo box is not accurately loaded into place, which can easily lead to instability in the center of gravity of the cargo box. This is especially true for the upper cargo box. Once the center of gravity is unstable, it is very likely to cause shaking, vibration, or other phenomena during transportation, which may cause the items inside the cargo box to squeeze or collide with each other, resulting in damage or destruction of the items.

[0064] In view of this, the present invention provides a novel visual positioning and guidance system for truck crane booms to solve this problem.

[0065] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0066] Example 1

[0067] like Figures 1 to 9 As shown, according to a first aspect of the present invention, a visual positioning guidance system 101 for truck crane boom is provided for stacking and positioning guidance of multi-layered truck cargo boxes 102. The visual positioning guidance system 101 for truck crane boom includes a first position calibration device 1, a second position calibration device 2, an image acquisition module 3, a processing unit 4, and a crane boom 5.

[0068] The first position calibration device 1 is used to be installed on the cargo plate 103 of the vehicle 100 and on the top of the cargo box 102. The first position calibration device 1 includes a first housing 11, a first position signal transmitter 12 disposed in the first housing 11, and a reference block 13 formed on the first housing 11.

[0069] The second position calibration device 2 is used to be installed at the bottom of the vehicle cargo box 102. The second position calibration device 2 includes a second housing 21, a through hole 22 opened on the second housing 21, and a first pressure sensor 23, a second pressure sensor 24 and a second position signal transmitter 25 installed in the second housing 21. The through hole 22 is matched with the shape of the reference block 13 for the reference block 13 to be inserted. The first pressure sensor 23 and the second pressure sensor 24 are respectively installed on both sides of the reference block 13 to collect the pressure on both sides of the reference block 13.

[0070] The image acquisition module 3 is installed on the crane boom 5 and is used to acquire images of the cargo plate 103 of the vehicle 100.

[0071] The processing unit 4 is installed on the crane boom 5 and is communicatively connected to the first position calibration device 1, the second position calibration device 2 and the image acquisition module 3. The processing unit 4 establishes a coordinate system of the cargo area of ​​the vehicle 100 based on the image acquired by the image acquisition module 3, and marks the first position calibration device 1 and the second position calibration device 2 in the coordinate system based on the position signals of the first position signal transmitter 12 and the second position signal transmitter 25; and transmits the movement command to the crane boom 5 as needed.

[0072] The lifting boom 5, responding to the movement command of the processing unit 4, moves the vehicle-mounted cargo box 102 to a preset position and controls the vehicle-mounted cargo box 102 to gradually move downward until the first pressure sensor 23 and / or the second pressure sensor 24 acquire pressure values. At the preset position, the line connecting the position coordinates of the second position calibration device 2 on the vehicle-mounted cargo box 102 and the corresponding position coordinates of the first position calibration device 1 in the coordinate system extends vertically.

[0073] Through the above technical solution, on one hand, the present invention uses the first position calibration device 1 set on the cargo plate 103 as a reference mark, which facilitates the processing unit 4 to quickly and accurately identify the reference mark, so as to complete the loading of the bottom layer of the vehicle cargo box 102. At the same time, the present invention uses the first position calibration device 1 set on the top of the vehicle cargo box 102 as an intermediate mark, which facilitates the processing unit 4 to quickly and accurately identify the intermediate mark, so as to complete the loading of the other layers of vehicle cargo boxes 102 except the bottom layer. This helps to compensate for the problem of temporary failure of the visual positioning guidance system, which also helps to ensure that all vehicle cargo boxes 102 can be accurately loaded, avoid the problem of unstable center of gravity of the upper vehicle cargo box 102, thereby improving the stability of the vehicle cargo box 102 during transportation, and further helping to avoid collision or compression of the items inside the vehicle cargo box 102. On the other hand, the present invention acquires images of the cargo platform 103 of the vehicle 100 through the image acquisition module 3, so as to establish a coordinate system for the cargo area of ​​the vehicle 100. This allows the visual positioning guidance system to more accurately guide the movement of the crane boom 5. Simultaneously, the present invention uses the crane boom 5 to execute the movement commands of the processing unit 4 to move the cargo box 102 to a preset position, thereby completing the loading of the cargo box 102. Furthermore, the present invention uses the first pressure sensor 23 and the second pressure sensor 24 to determine in real time whether there is uneven pressure on both sides of the reference block 13, thereby determining whether the cargo box 102 tilts during movement. The processing unit 4 then issues adjustment commands to the crane boom 5 in real time based on the collected pressure values, enabling the crane boom 5 to fine-tune the posture of the cargo box 102 in real time, thus achieving stable loading of the cargo box 102.

[0074] Specifically, firstly, in this invention, the processing unit 4 receives position signals from the first position signal transmitter 12 disposed in the first housing 11 and the second position signal transmitter 25 disposed in the second housing 21, and marks the corresponding position signals in the coordinate system of the cargo area of ​​the vehicle 100. By making the position signals of the two devices in the same vertical direction (i.e., the line connecting the position coordinates of the second position calibration device 2 on the cargo box 102 to be placed and the position coordinates of the corresponding first position calibration device 1 in the coordinate system extends in the vertical direction), the accurate positioning of the cargo box 102 is achieved, thereby enabling the accurate loading of multiple cargo boxes 102.

[0075] Second, in this invention, a conventional visual positioning guidance system is constructed by the image acquisition module 3, the processing unit 4 and the lifting boom 5 to establish the coordinate system of the cargo area of ​​the vehicle 100, generate and adjust the movement command, and execute the movement command, thereby realizing the loading and unloading of the cargo box 102.

[0076] Third, in this invention, after the crane boom 5 moves the vehicle cargo box 102 to the preset position, during the downward movement of the vehicle cargo box 102, the vehicle cargo box 102 may tilt due to external air flow (e.g., wind force) or vibration of the crane boom 5 itself. In response to this situation, this invention provides a first pressure sensor 23 and a second pressure sensor 24, which are used to determine the tilt state of the vehicle cargo box 102 by identifying the pressure signals on both sides of the reference block 13 when the second position calibration device 2 on the vehicle cargo box 102 just comes into contact with the corresponding first position calibration device 1. This allows the processing unit 4 to issue corresponding adjustment commands to the crane boom 5 as needed, so that the vehicle cargo box 102 can be loaded in a relatively horizontal posture at the corresponding position.

[0077] It is understood that this invention can be applied to the loading and unloading of cargo boxes 102 of any number of layers. The loading of each layer of cargo boxes 102 is marked by the first position marking device 1 on the top of the next layer of cargo boxes 102 (for the bottom layer, it is marked by the first position marking device 1 on the cargo plate 103), so that the control unit can accurately load each cargo box 102 on each layer. Furthermore, this invention directly mounts the crane boom 5 on the vehicle 100, which not only allows for the loading and unloading of cargo boxes 102 directly via the crane boom 5 after arriving at the transportation destination, saving queuing time and improving transportation efficiency; but also allows for the direct replacement of cargo boxes 102 containing goods after arriving at the transportation destination, avoiding empty return trips for the vehicle 100, thus improving transportation efficiency and profitability.

[0078] Furthermore, it should be noted that during the unloading process, a corresponding first position calibration device 1 can be set in a designated unloading area (e.g., unloading platform, ground, or on the cargo platform 103 of another vehicle 100) to ensure that the unloaded cargo boxes 102 can also be accurately loaded into place one by one. The unloading process and the working principle of compensating for the temporary failure of the visual positioning guidance system are the same as those of the loading process, and will not be described in detail here.

[0079] In one embodiment of the present invention, such as Figure 7 and Figure 8 As shown, the second position calibration device 2 of the present invention may further include a stop block 26 and an elastic member 27. The shape of the stop block 26 matches the through hole 22. One end of the elastic member 27 is connected to the stop block 26, and the other end of the elastic member 27 is installed in the second housing 21 so that the stop block 26 is movably disposed in the through hole 22. The first pressure sensor 23 and the second pressure sensor 24 are respectively disposed on both sides of the stop block 26 away from the reference block 13.

[0080] Thus, on the one hand, the abutment block 26 of the present invention can play a shielding role, preventing external debris (such as dust, small stones and other small solid debris) from entering the second housing 21, which is beneficial to improving the protective effect of the second position calibration device 2, so as to ensure the normal operation of the second position calibration device 2. On the other hand, the first pressure sensor 23 and the second pressure sensor 24 of the present invention are disposed on both sides of the abutment block 26 away from the reference block 13. When the second position calibration device 2 on the vehicle cargo box 102 just contacts the corresponding first position calibration device 1, if the vehicle cargo box 102 is tilted to a certain extent, the pressure values ​​corresponding to the first pressure sensor 23 and the second pressure sensor 24 will be different. At this time, the processing unit 4 can adjust the lifting angle of the crane boom 5 according to the pressure difference between the two pressure sensors until the pressure difference between the first pressure sensor 23 and the second pressure sensor 24 is less than the pressure threshold (this pressure threshold can be adjusted according to actual needs. For example, for precision instruments, valuable and fragile items, the pressure threshold can be set to a smaller value, such as 0, so that the vehicle cargo box 102 can be loaded in a near-horizontal posture). On yet another aspect, the elastic member 27 provides the abutment block 26 with the ability to return to its original position, so that when the vehicle cargo box 102 is lifted or removed from the second position calibration device 2, the abutment block 26 can always be located within the through hole 22.

[0081] In one embodiment of the present invention, such as Figure 2 , Figure 4 , Figure 7 and Figure 8As shown, the through hole 22 of the present invention can be formed as a triangular through hole, the abutment block 26 is formed as a plate structure with an equilateral triangle cross section (correspondingly, the reference block 13 is also formed as a plate structure with an equilateral triangle cross section), and the elastic member 27 is connected to the bottom center of the abutment block 26; wherein, the second position calibration device 2 also includes a third pressure sensor 28, and the first pressure sensor 23, the second pressure sensor 24 and the third pressure sensor 28 are respectively installed at the bottom triangle of the abutment block 26.

[0082] In this way, since the first pressure sensor 23, the second pressure sensor 24, and the third pressure sensor 28 are located at the bottom triangle of the abutment block 26, they can be formed as three non-collinear pressure sensors. This allows for more accurate identification of the tilt direction and tilt angle of the vehicle cargo box 102, so that the processing unit 4 can generate adjustment commands more quickly and accurately, thereby enabling the crane boom 5 to adjust the posture of the vehicle cargo box 102 more accurately and quickly.

[0083] In one embodiment of the present invention, such as Figure 7 and Figure 8 As shown, the first position calibration device 1 of the present invention may further include a contact rod 14, which is disposed on the first housing 11, and in the vertical direction, the length of the contact rod 14 is greater than the length of the reference block 13; a contact groove 211 is formed inwardly on the second housing 21, the position of the contact groove 211 corresponds to the contact rod 14 for insertion of the contact rod 14; the second position calibration device 2 further includes a contact sensor 29 disposed in the contact groove 211, which is electrically connected to the processing unit 4; when the first housing 11 and the second housing 21 are in contact, the contact rod 14 abuts against the contact sensor 29.

[0084] In this way, when the first housing 11 contacts the second housing 21 (i.e. when the vehicle cargo box 102 is loaded into place), the contact rod 14 abuts against the contact sensor 29. At this time, the processing unit 4 can obtain the information that the vehicle cargo box 102 is loaded into place, so as to issue a stop descent command to the crane boom 5, and facilitate the crane boom 5 to carry out other loading work of the vehicle cargo box 102.

[0085] Since the processing unit 4 establishes a coordinate system based on the image of the cargo platform 103 of the vehicle 100 acquired by the image acquisition device, the position of the cargo platform 103 of the vehicle 100 or the first position calibration device 1 set on the cargo platform 103 may be displaced to a certain extent because the vehicle 100 is in an idling state. At this time, the crane boom 5 may experience a certain degree of misalignment when loading the cargo box 102 according to the previously established coordinate system.

[0086] In view of this, in one embodiment of the present invention, such as Figure 7 and Figure 8 As shown, the visual positioning guidance system 101 for truck crane boom of the present invention may further include a position correction module. The position correction module includes a corresponding optical signal emitting element 61 and an optical signal receiving element 62. The optical signal emitting element 61 is disposed on the second position calibration device 2, and the optical signal receiving element 62 is disposed on the first position calibration device 1. The optical signal receiving element 62 is used to receive the optical signal emitted by the optical signal emitting element 61.

[0087] In this way, after the crane boom 5 moves the vehicle cargo box 102 to the preset position, the position of the vehicle cargo box 102 can be verified by the optical signal transmitting element 61 and the optical signal receiving element 62 to avoid the above-mentioned misalignment and to enable the vehicle cargo box 102 to be loaded more accurately.

[0088] According to a second aspect of the invention, such as Figure 10 As shown, a visual positioning and guidance system control method for a truck crane boom is provided, applied to the visual positioning and guidance system 101 for a truck crane boom in any of the technical solutions of the first aspect of the present invention. The visual positioning and guidance system control method for a truck crane boom includes the following steps:

[0089] Establish a coordinate system based on the images acquired by the image acquisition module 3 to establish the coordinate system of the cargo area of ​​vehicle 100.

[0090] Position calibration: Based on the signals from the first position signal transmitter 12 and the second position signal transmitter 25, the first position calibration device 1 and the second position calibration device 2 are correspondingly calibrated in the obtained coordinate system.

[0091] In the placement preparation, the processing unit 4 sends a movement command to the crane boom 5, and the crane boom 5 controls the vehicle cargo box 102 to be placed to move to the preset position; at the preset position, the line connecting the position coordinates of the second position calibration device 2 on the vehicle cargo box 102 to be placed in the coordinate system and the position coordinates of the corresponding first position calibration device 1 in the coordinate system extends in the vertical direction.

[0092] When the cargo box is placed, the crane boom 5 controls the cargo box 102 to be placed to move down until the first pressure sensor 23 and / or the second pressure sensor 24 obtain the pressure value, and then the crane boom 5 releases the cargo box 102.

[0093] In this way, the vehicle-mounted cargo box 102 can be accurately positioned, so that all multi-layer vehicle-mounted cargo boxes 102 can be accurately loaded into place. This helps to compensate for the temporary failure of the visual positioning guidance system, and also helps to ensure that all vehicle-mounted cargo boxes 102 can be accurately loaded, avoiding the problem of the upper vehicle-mounted cargo box 102 being unstable. This helps to improve the stability of the vehicle-mounted cargo box 102 during transportation, and further helps to avoid collisions or compression of the items inside the vehicle-mounted cargo box 102.

[0094] In one embodiment of the present invention, the cargo box placement step may further include: after the first pressure sensor 23 and / or the second pressure sensor 24 acquire the pressure value, the crane boom 5 controls the vehicle cargo box 102 to gradually descend until the contact rod 14 abuts against the contact sensor 29.

[0095] In this way, when the first housing 11 contacts the second housing 21 (i.e., when the vehicle cargo box 102 is loaded into place), the contact rod 14 abuts against the contact sensor 29. At this time, the processing unit 4 can obtain the information that the vehicle cargo box 102 is loaded into place, and thus can issue a stop descent command to the crane boom 5 to avoid damage caused by excessive downward movement of the vehicle cargo box 102, and facilitate the crane boom 5 to carry out other loading work of the vehicle cargo box 102.

[0096] In one embodiment of the present invention, based on the provision of a position correction module, the placement preparation step may further include: after the vehicle-mounted cargo box 102 is moved to a preset position, verifying whether the first position calibration device 1 corresponds to the second position calibration device 2 based on whether the light signal emitted by the light signal emitting element 61 is received. Thus, after the crane boom 5 moves the vehicle-mounted cargo box 102 to the preset position, the position of the vehicle-mounted cargo box 102 can be verified based on the light signal emitting element 61 and the light signal receiving element 62 to avoid the aforementioned misalignment and facilitate more accurate loading of the vehicle-mounted cargo box 102.

[0097] In another embodiment of the present invention, based on the provision of a position correction module, the cargo box placement step may further include: after the first pressure sensor 23 and the second pressure sensor 24 acquire pressure values, the processing unit 4 compares the values ​​of the first pressure sensor 23 and the second pressure sensor 24 in real time, determines the tilt direction of the vehicle cargo box 102, transmits an angle adjustment command to the crane boom 5, and verifies whether the first position calibration device 1 corresponds to the second position calibration device 2 based on whether the light signal emitted by the light signal emitting element 61 is received, so that the vehicle cargo box 102 continues to move downward in a horizontal state.

[0098] In one embodiment of the present invention, the position calibration step of the present invention may further include: the processing unit 4 acquires the position signals of all second position signal transmitters 25, and sequentially assigns a serial number to all second position calibration devices 2 along a first direction, wherein the first direction is the direction from the front of the vehicle 100 to the rear of the vehicle 100, so that the crane boom 5 places the vehicle cargo box 102 one by one according to the serial number.

[0099] In this way, the vehicle cargo boxes 102 can be placed one by one according to the set sequence number. This not only makes it easier to place the vehicle cargo boxes 102, but also helps to reduce the possibility of the vehicle cargo boxes 102 obstructing the image acquisition area of ​​the image acquisition device to a certain extent.

[0100] It should be noted that this method of placing the cargo boxes 102 one by one cannot completely prevent them from obstructing the image acquisition device's acquisition area. For example, if the height of the stacked cargo boxes 102 is higher than the height of the image acquisition device, the already placed cargo boxes 102 are very likely to obstruct the acquisition area of ​​the image acquisition device. As another example, when transferring the cargo boxes 102 from the vehicle 100 to the ground, if the height of the stacked cargo boxes 102 is higher than the height of the image acquisition device, it is very easy for the unloaded cargo boxes 102 to obstruct the acquisition area of ​​the image acquisition device.

[0101] According to a third aspect of the present invention, a vehicle 100 is also provided, the vehicle 100 including a cargo platform 103, a cargo box 102 and a visual positioning guidance system 101 for a truck crane boom according to any of the technical solutions in the first aspect of the present invention, wherein a plurality of first position calibration devices 1 are spaced apart on the cargo platform 103, a plurality of second position calibration devices 2 are spaced apart on the cargo box 102, and the crane boom 5 is mounted on the vehicle 100.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual positioning guide system for a truck crane jib, characterized in that A visual positioning guide system (101) for a multi-layer stacked truck-mounted container (102) stacking positioning guide, comprising: a first position calibration device (1) arranged on a loading plate (103) of a vehicle (100) and on a top of a truck-mounted container (102), the first position calibration device (1) comprising a first housing (11), a first position signal emitter (12) arranged in the first housing (11), and a reference block (13) formed on the first housing (11); a second position calibration device (2) arranged on a bottom of the truck-mounted container (102), the second position calibration device (2) comprising a second housing (21), a through hole (22) opened on the second housing (21), and a first pressure sensor (23), a second pressure sensor (24), and a second position signal emitter (25) arranged in the second housing (21), the through hole (22) being matched with the shape of the reference block (13) for inserting the reference block (13), the first pressure sensor (23) and the second pressure sensor (24) being arranged on two sides of the reference block (13) respectively for collecting the pressure on the two sides of the reference block (13); an image acquisition module (3) arranged on a hoist arm (5) and used for acquiring an image of the loading plate (103) of the vehicle (100); a processing unit (4) arranged on the hoist arm (5), and the processing unit (4) being in communication connection with the first position calibration device (1), the second position calibration device (2), and the image acquisition module (3) respectively, the processing unit (4) establishing a coordinate system of a loading area of the vehicle (100) according to the image acquired by the image acquisition module (3), marking the first position calibration device (1) and the second position calibration device (2) in the coordinate system according to position signals of the first position signal emitter (12) and the second position signal emitter (25), and transmitting a moving instruction to the hoist arm (5) according to transmission needs; the hoist arm (5) being used for moving the truck-mounted container (102) to a preset position and controlling the truck-mounted container (102) to gradually move downward until the first pressure sensor (23) and / or the second pressure sensor (24) acquire a pressure value in response to the moving instruction of the processing unit (4); wherein, in the preset position, a line between a position coordinate of the second position calibration device (2) on the truck-mounted container (102) to be placed in the coordinate system and a position coordinate of the corresponding first position calibration device (1) in the coordinate system extends in a vertical direction.

2. The visual positioning guide system for truck-mounted load- handling booms according to claim 1, characterized in that The second position calibration device (2) further comprises a stop block (26) and an elastic member (27), the stop block (26) is shaped to match the through hole (22), one end of the elastic member (27) is connected to the stop block (26), and the other end of the elastic member (27) is installed in the second housing (21), so that the stop block (26) is movably arranged in the through hole (22); The first pressure sensor (23) and the second pressure sensor (24) are arranged on the two sides of the stop block (26) away from the reference block (13).

3. The visual positioning guide system for truck-mounted load- handling booms according to claim 2, characterized in that The through hole (22) is formed as a triangular hole, the stop block (26) is formed as a plate structure with an equilateral triangular cross section, and the elastic member (27) is connected to the center of the bottom of the stop block (26). The second position calibration device (2) further comprises a third pressure sensor (28), and the first pressure sensor (23), the second pressure sensor (24) and the third pressure sensor (28) are respectively installed at the three corners of the bottom surface of the stop block (26).

4. The visual positioning guide system for truck-mounted load- lifting booms according to claim 1, characterized in that The first position calibration device (1) further comprises a contact rod (14), which is arranged on the first housing (11) and has a length greater than that of the reference block (13) in the vertical direction; The second housing (21) is inwardly recessed to form a contact groove (211), the position of the contact groove (211) corresponds to the contact rod (14) for inserting the contact rod (14), and the second position calibration device (2) further comprises a contact sensor (29) arranged in the contact groove (211), which is electrically connected to the processing unit (4); When the first housing (11) and the second housing (21) are in contact, the contact rod (14) abuts against the contact sensor (29).

5. The visual positioning guide system for truck-mounted load- lifting booms according to claim 1, characterized in that, The visual positioning guide system (101) of the truck hoisting boom further comprises a position correction module, the position correction module comprises a light signal emitting element (61) and a light signal receiving element (62) corresponding to each other, the light signal emitting element (61) is arranged on the second position calibration device (2), and the light signal receiving element (62) is arranged on the first position calibration device (1), and the light signal receiving element (62) is used to receive the light signal emitted by the light signal emitting element (61).

6. A method of controlling a visual positioning guide system for a truck loading crane jib, characterized in that The visual positioning guide system control method of the truck hoisting boom applied to any one of claims 1-5, the visual positioning guide system control method of the truck hoisting boom comprises the following steps: A coordinate system is established, and a coordinate system of the cargo carrying area of the vehicle (100) is established according to the image collected by the image acquisition module (3); Position calibration, the first position calibration device (1) and the second position calibration device (2) are calibrated in the obtained coordinate system according to the signals of the first position signal emitter (12) and the second position signal emitter (25). The placing preparation, the processing unit (4) sends a moving instruction to the crane boom (5), and the crane boom (5) controls the vehicle-mounted container (102) to be placed to move to a preset position; The container placing, the crane boom (5) controls the vehicle-mounted container (102) to be placed to move downward until the first pressure sensor (23) and / or the second pressure sensor (24) obtains a pressure value, and the crane boom (5) releases the vehicle-mounted container (102).

7. The method of claim 6, wherein: The first position calibration device (1) further comprises a contact rod (14) arranged on the first housing (11), and the length of the contact rod (14) is greater than the length of the reference block (13) in the vertical direction; the second housing (21) is inwardly recessed to form a contact groove (211), the position of the contact groove (211) corresponds to the contact rod (14) for inserting the contact rod (14), and the second position calibration device (2) further comprises a contact sensor (29) arranged in the contact groove (211), and the contact sensor (29) is electrically connected with the processing unit (4); when the first housing (11) contacts the second housing (21), the contact rod (14) abuts against the contact sensor (29); The container placing step further comprises: After the first pressure sensor (23) and / or the second pressure sensor (24) obtains a pressure value, the crane boom (5) controls the vehicle-mounted container (102) to gradually descend until the contact rod (14) abuts against the contact sensor (29).

8. The method of claim 6, wherein, The visual positioning guide system (101) of the truck crane boom further comprises a position correction module, the position correction module comprises a light signal emitting element (61) and a light signal receiving element (62) corresponding to each other, the light signal emitting element (61) is arranged on the second position calibration device (2), and the light signal receiving element (62) is arranged on the first position calibration device (1); the light signal receiving element (62) is used for receiving the light signal emitted by the light signal emitting element (61); The placing preparation step further comprises: after the vehicle-mounted container (102) moves to the preset position, whether the first position calibration device (1) corresponds to the second position calibration device (2) is verified according to whether the light signal receiving element (62) receives the light signal emitted by the light signal emitting element (61); The container placing step further comprises: after the first pressure sensor (23) and the second pressure sensor (24) obtain a pressure value, the processing unit (4) compares the values of the first pressure sensor (23) and the second pressure sensor (24) in real time, judges the inclination direction of the vehicle-mounted container (102), transmits an angle adjusting instruction to the crane boom (5), and according to whether the light signal receiving element (62) receives the light signal emitted by the light signal emitting element (61), whether the first position calibration device (1) corresponds to the second position calibration device (2) is verified, so that the vehicle-mounted container (102) continues to move downward in a horizontal state.

9. The method of claim 5, wherein, The position calibration step further comprises: The processing unit (4) acquires the position signals of all the second position signal emitters (25) and sequentially assigns a serial number to all the second position calibration devices (2) in a first direction, wherein the first direction is a direction pointing from the front of the vehicle (100) to the rear of the vehicle (100), so that the lifting jib (5) places the vehicle-mounted cargo box (102) one by one according to the serial number.

10. A vehicle characterized by comprising: A visual positioning guide system (101) for a truck lifting jib according to any one of claims 1-5, comprising a cargo plate (103), a vehicle-mounted cargo box (102), and a plurality of first position calibration devices (1) arranged at intervals on the cargo plate (103), a plurality of second position calibration devices (2) arranged at intervals on the vehicle-mounted cargo box (102), and the lifting jib (5) mounted on the vehicle (100).

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