A side automatic loading method and system with adaptive height

Abstract

The present application relates to automatic loading system technical field, especially to a kind of side automatic loading method and system of self-adapting height.A kind of side automatic loading method of self-adapting height, including S1, control system initialization;S2, automatic loading equipment drives to carriage side, after detection, goods is lifted to suitable position;S3, detect the skew angle of truck, reserve the area that cannot load goods;S4, push goods to compartment face and detect whether it is normal unloading;S5, repeat S2-S4 step until full load.The present application is detected by using multiple groups of sensors, control equipment operation and carry out feedback regulation, to reach the purpose of loading equipment height self-adapting, solve the problem of automatic loading equipment running stability in the process of loading in different car type truck caused by different car height, width and truck parking offset and other complex situations, improve efficiency, reduce cost, reduce high demand for vehicle limit, improve the adaptability of automatic loading.

Description

Technical Field

[0001] This invention relates to the field of automated loading system technology, and in particular to an adaptive height side-mounted automated loading method and system. Background Technology

[0002] In light of the current development of domestic and international market demands, the unmanned, automated, and intelligent loading process has become an inevitable trend. However, in the domestic market, loading operations are still mainly carried out by manual labor in conjunction with forklifts. The more advanced method is to use RGV or AGV vehicles with built operating platforms, automated lifting mechanisms, and dedicated attachments. Although this can reduce labor intensity, the operating efficiency is low and the inspection and manufacturing costs are high.

[0003] Therefore, the industry's side-position automatic loading and unloading is still in its initial stage of development. When the transfer vehicles are social vehicles with different models, different cargo heights, different cargo widths, and different parking offsets, the existing technology often uses camera photography and recognition to detect and identify the vehicle models. However, in practical applications, the semi-open environment or the impact of the camera resolution results in a high failure rate, a large amount of computational data, and the cost and maintenance of camera-based computational recognition are relatively high. Summary of the Invention

[0004] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and other accompanying drawings.

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide an adaptive height side-loading automatic loading method and system. By using multiple sets of sensors to detect and calculate the position of the target truck bed, the system controls the lifting and lowering of the equipment and performs feedback adjustments to achieve adaptive height of the loading equipment. This solves the problem of operational stability of the automatic loading equipment caused by complex situations such as different truck models, different truck bed heights, different truck bed widths, and different truck parking offsets during the loading process. It avoids the shortcomings of existing loading systems that are only suitable for one or a few types of truck models, while reducing costs, lowering the high requirements for vehicle restrictions, and improving the adaptability of automatic loading.

[0006] This invention provides an adaptive height side-mounted automatic loading method, including...

[0007] S1. The control system is initialized, and the various mechanisms on the automatic loading equipment are reset to their origins, and the detection device is reset to its data.

[0008] S2. The automatic loading equipment moves to the side of the carriage, and after inspection, lifts the goods to a suitable position;

[0009] S3. Detect the truck's tilt angle and reserve areas where loading is not possible to avoid forklifts repeatedly driving to load goods;

[0010] S4. The automatic loading equipment pushes the goods onto the truck bed and checks whether they are unloaded normally. After normal unloading, the goods are separated from the truck bed.

[0011] S5. Repeat steps S2-S4 to continue the loading and unloading process until the load is full.

[0012] Here, the directional coordinates are defined as follows: X is the direction in which the automatic loading equipment faces the car body, Y is the direction parallel to the vehicle, and Z is the direction along the height of the car body.

[0013] The automatic loading equipment is equipped with a lifting mechanism, and distance detection devices are installed on both the left and right sides of the lifting mechanism. In step S2, the difference in the distance detection device value is used to determine whether the goods have been lifted to the appropriate position.

[0014] In some embodiments, the specific operation steps of S2 are as follows:

[0015] S21. The control system controls the lifting mechanism to rise continuously, and the distance detection device emits a beam of light to continuously detect the distance to the side of the carriage.

[0016] S22. When the distance detection device experiences the first significant difference change, that is, there is a difference between the side of the carriage and the surface of the carriage, the emitted beam suddenly becomes longer, and a space for placing goods is detected. At this time, the data in the device is saved.

[0017] S23. The control system controls the lifting mechanism to continue to move downwards, accurately finding the position where the first huge difference change occurred in step S22. The distance detection device emits a beam until the second huge difference change occurs, at which point the position of the car surface can be determined, and the data in the equipment is saved again.

[0018] S24. Reserve a safe loading height difference ΔZ1, determine the loading height Z3 of the lifting mechanism, and prepare to load the goods.

[0019] In some embodiments, in step S22, the detection values ​​within the distance detection device are saved and denoted as X. 1-1 With X 1-2 The height of the lifting mechanism is saved and denoted as Z1. In step S23, the detection value of the distance detection device is saved and denoted as X. 2-1 With X 2-2 Save the height of the lifting mechanism, denoted as Z2.

[0020] In some embodiments, step S3 involves detecting the skew angle of the truck, and the specific skew angle is calculated as follows:

[0021] ΔX1=|X 1-1 -X 1-2 |

[0022] ΔX2=|X 2-1 -X 2-2 |

[0023] Tan(θ) = ΔX² / Y¹

[0024] Calculate the first detection difference ΔX1 and the second detection difference ΔX2, take the absolute value, and introduce the distance difference Y1 between the two distance detection devices to calculate the truck's deflection angle.

[0025] In some embodiments, the lifting mechanism is further provided with a pushing mechanism and a weighing mechanism, and the specific operation steps of S4 are as follows:

[0026] S41. After determining the loading height Z3 of the lifting mechanism, the pushing mechanism on the lifting mechanism pushes out the goods. The weighing mechanism is set at the bottom of the goods to sense the weight of the goods. The original weight is recorded as G1.

[0027] S42. Calculate the descent value ΔZ2 of the lifting mechanism, ΔZ2=Z2-Z1;

[0028] S43. Compare the descent value ΔZ2 of the lifting mechanism with the value G1 of the weighing mechanism to determine whether the unloading is normal.

[0029] In some embodiments, the lifting mechanism further includes forks for carrying goods. In step S43, when comparing the descent value ΔZ2 of the lifting mechanism with the value G1 of the weighing mechanism:

[0030] When the goods are not placed on the surface of the container, the weighing value G1 = the weight of the goods + the weight of the forks;

[0031] When goods are placed on the cargo surface, the weighing value G1 = the weight of the forks;

[0032] When the descent overshoots, the weighing value G1 is less than the fork weight. If the weighing value G1 = fork weight is not satisfied after the descent ΔZ2, the position is locked and an anomaly is reported.

[0033] In some embodiments, in step S24, the safety height difference ΔZ1 is used to ensure that when the goods are pushed out, the loading height Z3 is higher than the height of the cargo box plus the value of the forks bending downwards due to the weight of the goods. The specific calculation formula is as follows:

[0034] Z3=Z2+ΔZ1

[0035] Where Z3 is the loading height of the lifting mechanism, ΔZ1 is the safety height difference, and Z2 is the height of the lifting mechanism when the second large difference change occurs.

[0036] The present invention also provides an adaptive height side-loading automatic loading system, including an automatic loading device for side-loading trucks and a control system for receiving and processing data from various components of the automatic loading device. The automatic loading device includes:

[0037] The main body of the transport mechanism, which is used to move the goods to the side of the carriage;

[0038] A lifting mechanism is installed on the main body of the transport mechanism and is used to lift goods longitudinally along the Z-axis;

[0039] Distance detection devices are installed on the left and right sides of the lifting mechanism;

[0040] An ejection mechanism, located at the bottom of the lifting mechanism, is used to eject goods along the X-axis;

[0041] A weighing mechanism is installed between the lifting mechanism and the pushing mechanism to weigh the goods on the lifting mechanism.

[0042] In some embodiments, the lifting mechanism is provided with a Z-axis lifting detection device for recording the longitudinal movement distance of the lifting mechanism, and the data in the Z-axis lifting detection device is transmitted to the control system. The ejection mechanism is provided with an ejection distance detection device for recording the distance the ejection mechanism ejects the goods, and the data in the ejection distance detection device is transmitted to the control system.

[0043] In some embodiments, the lifting mechanism is further provided with forks for scooping up goods located on a plane, and the weighing mechanism weighs the forks and the goods located on the forks together.

[0044] By adopting the above technical solution, the beneficial effects of the present invention are:

[0045] This invention employs multiple sets of sensors to detect and calculate the position of the target truck bed, controlling the lifting and lowering of the equipment and providing feedback adjustments to achieve height self-adaptation of the loading equipment. Compared to the shortcomings of using cameras to capture the shape of the truck bed, which are easily affected by lighting conditions or resolution, the method of sensing the shape of the truck bed through sensors is more stable and lower in cost. It solves the stability problem of automatic loading equipment operation under different truck bed heights and widths caused by different truck models during the loading process. It also avoids the shortcomings of existing loading systems that are only suitable for one or a few types of truck models, reduces the requirements for vehicle shape, and improves the adaptability of automatic loading.

[0046] This invention also detects the tilt angle of trucks. Since the angle of each truck when it stops is not fixed, the automatic loading equipment cannot completely fit its side, thus creating an angle. During the continuous loading process, the goods located on the far side may partially extend beyond the truck bed. The goods are prone to tipping over and affect the closing of the guardrails on both sides of the truck bed. Therefore, the tilt angle calculation is set to reserve the area in the truck bed where goods cannot be placed and the space required to close the guardrails on both sides, so as to avoid the situation where the automatic loading equipment finds that the goods cannot be loaded after it has traveled to the side of the truck bed.

[0047] 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.

[0048] 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.

[0049] 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

[0050] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0051] In the accompanying drawings, the same parts use the same reference numerals, and the drawings are schematic and not necessarily drawn to actual scale.

[0052] 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 one or more embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on such drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the overall process of side loading in some embodiments of the present invention;

[0054] Figure 2 This is a schematic diagram of the truck and coordinate axis direction in some embodiments of the present invention;

[0055] Figure 3 This is a schematic diagram of the lifting mechanism operation in some embodiments of the present invention;

[0056] Figure 4 This is a schematic diagram of the overall process of the automatic loading equipment and control system in some embodiments of the present invention;

[0057] Figure 5 This is a schematic diagram of the structure of an automated loading device in some embodiments of the present invention.

[0058] Key reference numerals in the attached drawings: 1. Transport mechanism body; 2. Lifting mechanism; 3. Distance detection device; 4. Pushing mechanism; 5. Weighing mechanism; 6. Forks. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0060] 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.

[0061] 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.

[0062] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Reference Figure 1-5 , Figure 1 This is a schematic diagram of the overall process of side loading in some embodiments of the present invention; Figure 2 This is a schematic diagram of the truck and coordinate axis direction in some embodiments of the present invention; Figure 3 This is a schematic diagram of the lifting mechanism operation in some embodiments of the present invention; Figure 4 This is a schematic diagram of the overall process of the automatic loading equipment and control system in some embodiments of the present invention; Figure 5 This is a schematic diagram of the structure of an automated loading device in some embodiments of the present invention.

[0064] According to some embodiments of the present invention, the present invention provides an adaptive height lateral automatic loading method, including...

[0065] S1. The control system is initialized, and the various mechanisms on the automatic loading equipment are reset to their origins, and the detection device is reset to its data.

[0066] S2. The automatic loading equipment moves to the side of the carriage, and after inspection, lifts the goods to a suitable position;

[0067] Among them, reference Figure 2 Define the directional coordinates: X is the direction the automatic loading equipment faces the car body, Y is the direction parallel to the vehicle, and Z is the direction along the height of the car body.

[0068] Reference Figure 5 The automatic loading equipment is equipped with a lifting mechanism 2, and distance detection devices 3 are installed on both the left and right sides of the lifting mechanism 2. In step S2, the difference in the distance detection device 3 is used to determine whether the goods have been lifted to the appropriate position.

[0069] The specific operating steps for S2 are as follows:

[0070] S21. The control system controls the lifting mechanism 2 to rise continuously, and the distance detection device 3 emits a beam of light to continuously detect the distance to the side of the carriage.

[0071] S22. The distance detection device 3 experiences its first significant change in value, indicating a difference between the side of the carriage and the carriage surface. The emitted beam suddenly lengthens, detecting a potential cargo storage space. At this point, the detection value stored in the distance detection device 3 is saved and recorded as X. 1-1 With X 1-2 Save the height of the lifting mechanism 2, and denote it as Z1;

[0072] The specific process of the first huge difference change is as follows: the detection element in the distance detection device 3 measures the distance to the side of the carriage by reflecting the light beam. The height of the carriage surface varies due to different vehicle models, but what is the same is that when the carriage is empty, the area above the carriage surface is empty. Therefore, as the height of the Z-axis gradually increases, the detection value changes from the solid part to the empty part, and the detection photoelectric value changes from the solid value to the penetrating value. At this time, the detection distance value produces a huge difference change.

[0073] S23. The control system controls the lifting mechanism 2 to continuously move downwards, precisely searching for the position where the first large difference change occurred in step S22. The distance detection device 3 emits a beam of light until the second large difference change occurs, at which point the position of the car surface can be determined. At this time, the detection value in the distance detection device 3 is saved again and recorded as X. 2-1 With X 2-2 Save the height of the lifting mechanism 2, and denote it as Z2;

[0074] In step S22, under the influence of the moving speed of the lifting mechanism 2 and the reaction time of the detection equipment, when the difference change is detected, the lifting mechanism 2 may have exceeded the required height for unloading. Therefore, the lifting mechanism 2 is controlled to slowly descend to accurately find the position of the car body. When the car body is detected, the detection value is converted from the empty part to the solid part, and the detection photoelectric value is converted from the penetration value to the solid value. At this time, the detection distance value produces a second huge difference change.

[0075] S24. Reserve a safe loading height difference ΔZ1, determine the loading height Z3 of the lifting mechanism 2, and prepare to load the goods;

[0076] In step S24, the safety height difference ΔZ1 is to ensure that when the goods are pushed out, the loading height Z3 is higher than the height of the cargo box plus the value of the forks bending downwards due to the weight of the goods. The specific calculation formula is as follows:

[0077] Z3=Z2+ΔZ1

[0078] Where Z3 is the loading height of lifting mechanism 2, ΔZ1 is the safety height difference, and Z2 is the height of lifting mechanism 2 when the second huge difference change occurs.

[0079] S3. Detect the truck's tilt angle and reserve areas where loading is not possible to avoid forklifts repeatedly driving to load goods;

[0080] In step S3, the skew angle of the truck is detected. The specific calculation method for the skew angle is as follows:

[0081] ΔX1=|X 1-1 -X 1-2 |

[0082] ΔX2=|X 2-1 -X 2-2 |

[0083] Tan(θ) = ΔX² / Y¹

[0084] Calculate the first detection difference ΔX1 and the second detection difference ΔX2, take the absolute value, and introduce the distance difference Y1 between the two distance detection devices 3 to calculate the truck's deflection angle;

[0085] Because the angle at which each truck stops varies, the automatic loading equipment cannot completely fit against its side, resulting in an angle. During the continuous loading process, the goods located on the far side may partially extend beyond the truck bed, making them prone to tipping over and affecting the closing of the guardrails on both sides of the truck bed. Therefore, a deflection angle calculation is set to reserve areas in the truck bed where goods cannot be placed and the space required to close the guardrails on both sides. This avoids the situation where the automatic loading equipment finds that the goods cannot be loaded after it has traveled to the side of the truck bed. Preferably, the distance between the edge of the goods and the edge of the truck bed is greater than 1 cm to ensure that the guardrails on both sides of the truck bed can be closed smoothly.

[0086] S4. The automatic loading equipment pushes the goods onto the truck bed and checks whether they are unloaded normally. After normal unloading, the goods are separated from the truck bed.

[0087] The lifting mechanism 2 is also equipped with a pushing mechanism 4 and a weighing mechanism 5. The specific operating steps of the S4 are as follows:

[0088] S41. After determining the loading height Z3 of the lifting mechanism 2, the pushing mechanism 4 on the lifting mechanism 2 pushes out the goods. The weighing mechanism 5 is set at the bottom of the goods to sense the weight of the goods. The original weight is recorded as G1.

[0089] S42. Calculate the descent value ΔZ2 of lifting mechanism 2, ΔZ2=Z2-Z1;

[0090] S43. Compare the drop value ΔZ2 of the lifting mechanism 2 with the value G1 of the weighing mechanism 5 to determine whether the unloading is normal.

[0091] The lifting mechanism 2 also includes forks 6 for carrying goods. In step S43, when comparing the descent value ΔZ2 of the lifting mechanism 2 with the value G1 of the weighing mechanism 5:

[0092] When the goods are not placed on the cargo surface, the weighing value G1 = the weight of the goods + the weight of the forks 6;

[0093] When the goods are placed on the cargo surface, the weighing value G1 = the weight of the forks 6;

[0094] If the descent is overshooted and the weighing value G1 is less than the weight of fork 6, and the weighing value G1 = the weight of fork 6 is not met when the descent has reached ΔZ2, the position will be locked and an abnormality will be reported to prevent overshooting or misplacement of goods.

[0095] S5. Repeat steps S2-S4 to continue the loading and unloading process until the load is full.

[0096] It should be understood that in the actual loading and unloading process, the cargo compartment is often stacked in multiple layers. At this time, the plane that produces a huge difference in the detection value detected by the distance detection device 3 is actually the surface of the top layer of cargo. The same applies to the adaptive height side automatic loading method of the present invention. Therefore, the cargo compartment surface described in this application is only for ease of understanding and does not mean that the cargo compartment surface is used as a reference for loading cargo throughout the entire loading process.

[0097] The present invention also provides an adaptive height side-loading automatic loading system, including an automatic loading device for side-loading trucks and a control system for receiving and processing data from various components of the automatic loading device, as described above. Figure 5 The automated loading equipment includes:

[0098] The main body of the transport mechanism 1 is used to move the goods to the side of the carriage;

[0099] Lifting mechanism 2 is mounted on the main body 1 of the transport mechanism and is used to lift goods longitudinally along the Z-axis;

[0100] Distance detection device 3 is installed on the left and right sides of the lifting mechanism 2;

[0101] The ejection mechanism 4 is located at the bottom of the lifting mechanism 2 and is used to eject goods along the X-axis.

[0102] The weighing mechanism 5 is located between the lifting mechanism 2 and the pushing mechanism 4 to weigh the goods on the lifting mechanism 2.

[0103] The lifting mechanism 2 is equipped with a Z-axis lifting detection device to record the longitudinal movement distance of the lifting mechanism 2. The data in the Z-axis lifting detection device is transmitted to the control system. The ejection mechanism 4 is equipped with an ejection distance detection device 3 to record the distance the ejection mechanism 4 ejects the goods. The data in the ejection distance detection device 3 is transmitted to the control system.

[0104] The lifting mechanism 2 is also equipped with a fork 6, which is used to scoop up goods located on the plane. The weighing mechanism 5 weighs the fork 6 and the goods located on the fork 6 together.

[0105] The control system can be integrated into the automatic loading equipment or operate independently of it. The control system independent of the automatic loading equipment can be a mobile terminal or a PC terminal. Data can be transmitted to the mobile terminal or PC terminal via Bluetooth or other transmission methods, allowing for remote control and adapting to the needs of long-distance movement during actual loading and unloading processes.

[0106] It should be understood that the embodiments disclosed herein are not limited to the specific processing steps or materials disclosed herein, but should be extended to equivalent substitutions of such features as understood by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0107] The term "embodiment" in this specification refers to a specific feature or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention. Therefore, phrases or "embodiments" appearing in various places throughout the specification do not necessarily refer to the same embodiment.

[0108] Furthermore, the described features or characteristics can be incorporated into one or more embodiments in any other suitable manner. In the above description, specific details, such as thickness, quantity, etc., are provided to provide a comprehensive understanding of embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented without the aforementioned specific details or may be implemented using other methods, components, materials, etc.

Claims

1. A side loading method with adaptive height, characterized in that, The application relates to an automatic loading and unloading device for a vehicle, which comprises the following steps: S1, initializing the control system, controlling the mechanisms on the automatic loading and unloading device to reset the original point, and resetting the data of the detection device; S2, driving the automatic loading and unloading device to the side of the vehicle compartment, lifting the goods to a proper position after detection; S3, detecting the inclination angle of the vehicle, reserving an area where the goods cannot be loaded, and avoiding repeated driving of the forklift to load the goods; S4, pushing the goods to the compartment surface by the automatic loading and unloading device, detecting whether the goods are normally unloaded, and separating the device from the vehicle compartment after normal unloading; S5, repeating the steps S2-S4 to repeat the loading and unloading process until the vehicle is fully loaded; Wherein, the direction coordinates are defined, the direction of the automatic loading and unloading device facing the vehicle compartment is X, the direction along the vehicle is Y, and the direction along the height of the vehicle compartment is Z; The lifting mechanism is arranged on the automatic loading and unloading device, distance detection devices are arranged on the left and right sides of the lifting mechanism, and in the S2 step, whether the goods are lifted to a proper position is judged according to the difference value change of the distance detection devices; The specific operation steps of the S2 are as follows: S21, the control system controls the lifting mechanism to continuously ascend, the distance detection device emits a light beam, and the distance between the vehicle compartment side and the compartment surface is continuously detected; S22, the distance detection device appears a first great difference value change, that is, there is a difference between the vehicle compartment side and the compartment surface, the light beam is suddenly lengthened, the space for placing the goods is detected, and the data in the device is saved at this time; S23, the control system controls the lifting mechanism to continuously descend, and the position of the first great difference value change in the S22 step is accurately found downwards, the distance detection device emits a light beam, and when a second great difference value change appears, the position of the compartment surface can be determined, and the data in the device is saved again at this time; S24, a safe height difference Delta Z1 for placing the goods is reserved, the height Z3 for placing the goods of the lifting mechanism is determined, and the goods are prepared to be placed.

2. The adaptive height side loading method of claim 1, wherein, In this S22 step, the detected values in the distance detecting device are saved, respectively as X 1-1 With X 1-2 , the height of the lifting mechanism is saved as Z1, in this S23 step, the detected values in the distance detecting device are saved, respectively as X 2-1 With X 2-2 , the height of the lifting mechanism is saved as Z2.

3. The adaptive height side loading method of claim 2, wherein, In the S3 step, the inclination angle of the vehicle is detected, and the specific inclination angle calculation method is as follows: ΔX1 = |X 1-1 - X 1-2 |; ΔX2 = |X 2-1 - X 2-2 |; Tan (theta) = Delta X2 / Y1; The first detection difference Delta X1 and the second detection difference Delta X2 are calculated, the absolute values are taken, the distance difference Y1 between the two distance detection devices is introduced, and the inclination angle of the vehicle is calculated.

4. The adaptive height side loading method of claim 3, wherein, The pushing mechanism and the weighing mechanism are further arranged on the lifting mechanism, and the specific operation steps of the S4 are as follows: S41, after the height Z3 for placing the goods of the lifting mechanism is determined, the pushing mechanism on the lifting mechanism pushes the goods, the bottom of the goods is provided with the weighing mechanism, the weight of the goods is sensed, and the original weight is recorded as G1; S42, the descending value Delta Z2 of the lifting mechanism is calculated, and Delta Z2=Z2-Z1; S43, the descending value Delta Z2 of the lifting mechanism and the weighing mechanism value G1 are compared to judge whether the goods are normally unloaded.

5. The adaptive height side loading method of claim 4, wherein, When the descending value Delta Z2 of the lifting mechanism and the weighing mechanism value G1 are compared in the S43 step: When the goods are not placed on the compartment surface, the weighing value G1=the weight of the goods+the weight of the fork; When the goods are placed on the compartment surface, the weighing value G1=the weight of the fork; When the descending overshoots, the weighing value G1 is smaller than the weight of the fork, the weighing value G1 does not satisfy the weight of the fork when the descending value Delta Z2 is reached, the position is locked, and an exception is reported.

6. The adaptive height side loading method of claim 5, wherein, In the S24 step, the safety height difference ΔZ1 is to ensure that the goods are pushed out, the goods height Z3 is higher than the value of the fork bending due to the weight of the goods. The specific calculation formula is as follows: Z3=Z2+ΔZ1; Wherein, Z3 is the height of the lifting mechanism, ΔZ1 is the safety height difference, Z2 is the height of the lifting mechanism when the second large difference change occurs.

7. A side loading system with adaptive height, performing the method according to any one of claims 1-6, characterized in that, The application relates to an automatic loading device for loading goods to the side of a truck and a control system for receiving and processing data of components in the automatic loading device. A transport mechanism body is arranged to drive the goods to the side of the truck. A lifting mechanism is arranged on the transport mechanism body and is used to lift the goods along the Z-axis longitudinally. Distance detection devices are arranged on the left and right sides of the lifting mechanism. A pushing mechanism is arranged at the bottom of the lifting mechanism and is used to push the goods along the X-axis. A weighing mechanism is arranged between the lifting mechanism and the pushing mechanism and is used to weigh the goods on the lifting mechanism.

8. The side loading system of claim 7, wherein, A Z-axis lifting detection device is arranged in the lifting mechanism and is used to record the longitudinal movement distance of the lifting mechanism. The data in the Z-axis lifting detection device is transmitted to the control system.

9. The self-leveling side loader system of claim 7, wherein, A pushing distance detection device is arranged in the pushing mechanism and is used to record the distance of the pushing mechanism pushing the goods. The data in the pushing distance detection device is transmitted to the control system. A fork is further arranged on the lifting mechanism and is used to shovel the goods on the plane. The weighing mechanism weighs the fork and the goods on the fork together.

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