A box truck hoisting identification method

Abstract

This invention discloses a method for identifying and loading cargo onto box trucks. Using the automatic crane arm as the origin, a circumferential identification range is defined by the lifting radius. A visual recognition module scans the identification range circumferentially to obtain feature markers and then determines the target's location. The feature markers include two positioning identifiers: a first positioning identifier and a second positioning identifier. When the truck is stationary and undergoing loading and unloading, the control module uses the visual recognition module to generate an unloading process list and a loading process list. First, the cargo boxes are unloaded sequentially from the loading platform according to the unloading process list. Then, the cargo boxes outside the truck are sequentially lifted onto the loading platform according to the loading process list. This invention, through the use of positioning identifiers, enables automated loading and unloading of cargo boxes on trucks with automatic crane arms in existing road and warehouse scenarios by affixing sticker-like positioning identifiers at specific locations, thus achieving road transport logistics at a low cost.

Description

Technical Field

[0001] This invention belongs to the field of logistics and transportation technology, and specifically relates to a method for identifying the hoisting of box trucks. Background Technology

[0002] Modern trucks are used to transport heavy goods, and loading and unloading are done by external cranes. The load on the truck only moves vertically, so the truck itself only needs to consider load-bearing capacity. However, with technological advancements, to improve convenience and multi-functionality, trucks with automated loading and unloading systems have begun to be used. By incorporating specialized lifting structures into the existing truck structure, the truck can load and unload goods itself and transport them to their destination, thereby reducing operating costs.

[0003] Trucks equipped with mechanical cranes need to frequently remove or load cargo boxes, so the cargo box itself needs to have good detachable connection characteristics and suspension stability, so that it can be easily grabbed, connected and lifted, and can form a limiting connection with the frame itself when lowered. Therefore, the top and bottom of the cargo box have corresponding connectors to connect with the corresponding structures.

[0004] Conventional suspended cargo boxes, similar in design to existing container structures, possess universal structural features, can be stacked, and offer high lifting stability. However, to ensure this stability, these container structures typically have a significant weight. In contrast, trucks equipped with mechanical cranes do not inherently possess high load-bearing capacity, especially the cargo box structure itself. To be lifted by the relatively small-capacity mechanical crane, the weight requirement is substantial, which container structures cannot meet. Furthermore, while these trucks are widely used in urban logistics, loading and unloading operations are usually performed manually, necessitating human intervention. With the maturation of autonomous driving technologies and standards, and the continuous advancement of AI technology, most vehicles in cities or designated areas will adopt autonomous driving, particularly for logistics vehicles with fixed routes, where autonomous driving will be the first to improve logistics management efficiency and stability. Therefore, developing a low-cost lifting recognition technology is currently essential to achieving autonomous driving and automated loading and unloading. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a method for identifying the loading and unloading of box trucks. It is mainly aimed at existing freight vehicles with automatic cranes and provides an automatic identification method for loading and unloading, enabling them to achieve relatively stable automatic loading and unloading functions with lower setup costs.

[0006] The technical solution adopted in this invention is as follows:

[0007] In a first aspect, this invention discloses a method for identifying the lifting operation of a box truck. The box truck is equipped with an automatic crane arm, which includes a cargo platform and several cargo boxes that are limited on the cargo platform. The automatic crane arm has a connecting mechanism for connecting the cargo boxes. The truck or the automatic crane arm has a control module and a vision recognition module. The cargo boxes are lifted through a detachable connection between the connecting mechanism and the cargo boxes. The vision recognition module assists the automatic crane arm in loading / unloading the cargo boxes. The identification method is as follows:

[0008] Using the automatic crane arm as the origin, a circumferential recognition range is determined by the lifting radius. The vision recognition module performs a circumferential scan of the recognition range to obtain feature markers and then determines the location of the target. The feature markers include two types: a first positioning mark set on the cargo box and a second positioning mark set at the cargo box placement position.

[0009] When the truck is stationary and loading / unloading is in progress, the control module performs at least one circumferential scan using the visual recognition module to obtain the first and second positioning identifiers within the recognition range. Then, it scans and determines the first and second positioning identifiers on the cargo platform. The positions of the cargo boxes on the cargo platform with the first positioning identifier are paired with the positions of the cargo boxes with the second positioning identifiers within the recognition range to form an unloading process list. Then, the positions of the cargo boxes with the first positioning identifiers within the recognition range are paired with the positions of the cargo boxes with the second positioning identifiers on the cargo platform to form a loading process list. The cargo boxes on the cargo platform are unloaded sequentially according to the unloading process list, and then the cargo boxes outside the truck are hoisted onto the cargo platform sequentially according to the loading process list.

[0010] In conjunction with the first aspect, the present invention provides a first embodiment of the first aspect, wherein the positioning mark is a planar attachment structure with color and graphic distinction, and its surface has a reflective coating.

[0011] In conjunction with the first aspect, the present invention provides a second embodiment of the first aspect, wherein the cargo box has at least one flat top surface, and the cargo box has at least three first positioning marks on the flat surface of the top surface that are detachably connected to the connecting mechanism. In the loading process, the visual recognition module determines the spatial normal vector of the top surface of the cargo box from the first positioning marks on the ground and which has been positioned. Then, the reference plane angle of the connecting mechanism on the automatic boom is adjusted so that the reference plane is parallel to the top surface, and the automatic boom is moved to connect the connecting mechanism to the hooks while maintaining the parallel state.

[0012] In conjunction with the first aspect, the present invention provides a third embodiment of the first aspect, which further includes a truck parking area, a placement area defined around the parking area by a set identification range, a cargo box placement position within the placement area, and a second positioning mark set on the cargo box placement position; each time a truck enters the parking area, an automatic crane on the truck transfers the cargo box between the placement area and the loading platform, and before the truck enters the parking area, the number of cargo boxes in the cargo box placement position is determined according to the confirmed total number of cargo boxes to be transferred.

[0013] In conjunction with the third embodiment of the first aspect, the present invention provides a fourth embodiment of the first aspect, wherein the specific steps of the loading and unloading process are as follows:

[0014] First, after the truck enters the parking area and stops, the visual recognition module confirms the quantity and location of the cargo box placement positions with the second positioning mark and the cargo boxes with the first positioning mark in the placement area.

[0015] After confirmation, the control module generates an unloading process list and a loading process list. According to the unloading process list, the cargo boxes on the loading platform are placed in the empty cargo box placement positions. After unloading is completed, the cargo boxes on the ground are hoisted onto the loading platform in sequence according to the loading process list.

[0016] In conjunction with the fourth implementation of the first aspect, the present invention provides a fifth implementation of the first aspect: after confirming the number of cargo boxes and the controlled placement position of the cargo boxes, if the required number of unloading cargo boxes is greater than the current placement position of the cargo boxes, but the number of loading cargo boxes is less than the number of cargo boxes with the second positioning mark on the loading platform, then loading is carried out according to the loading process list, and unloading is carried out according to the unloading process after loading is completed.

[0017] In conjunction with the fourth implementation of the first aspect, the present invention provides a sixth implementation of the first aspect: after confirming the number of cargo boxes and the controlled placement position of the cargo boxes, if the required number of unloading cargo boxes is greater than the current placement position of the cargo boxes, and the number of loading cargo boxes is also greater than the number of second positioning marks on the loading platform, then an alternating loading and unloading list is formed, and loading and unloading are completed on the condition that the number of cargo boxes loaded or unloaded in a single operation does not exceed the number of second positioning marks in the corresponding area.

[0018] In conjunction with the first aspect, the present invention provides a seventh embodiment of the first aspect, wherein the visual recognition module is a binocular camera assembly installed on a truck.

[0019] The beneficial effects of this invention are as follows:

[0020] (1) The present invention, by setting up positioning marks, can enable trucks with automatic crane arms to automatically load and unload cargo boxes in existing road and warehouse scenarios by attaching sticker-type positioning marks at specific locations, thereby realizing road transport logistics with cargo boxes as the transfer object in a low-cost manner.

[0021] (2) The present invention distinguishes the relationship between vacant positions and cargo boxes by setting a first positioning mark and a second positioning mark, which makes it convenient for the control module to quickly determine the number of cargo boxes and control positions in the corresponding recognition area through the visual recognition module, and automatically generate a list and process plan according to the plan and the specific quantity. The loading and unloading of cargo boxes is carried out stably according to the process plan, and adjustments can be made according to the actual situation when the task plan does not correspond to the actual number of cargo boxes during the loading and unloading process.

[0022] (3) By optimizing the setting of the positioning mark, the present invention can not only provide the visual recognition module with its corresponding spatial position, but also achieve posture detection by using multiple positioning marks, that is, determine the normal of the top surface with the hook, and then enable the connection mechanism of the automatic boom to connect after adjusting the posture. Detailed Implementation

[0023] The present invention will be further explained below with reference to specific embodiments.

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown herein can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments in this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0026] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships defined in the embodiments, or the orientation or positional relationships commonly used when the product is in use. These terms are used only for the convenience of describing this application and for 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 application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0028] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] Example 1:

[0030] This embodiment discloses a method for identifying and lifting cargo on a box truck with an automatic crane arm. The cargo box in this embodiment is mounted on the truck frame, which includes two parallel beams. It is used for short-distance transport of various materials, including specific items such as fresh produce, industrial products, and household goods. It can also be used for unspecified items, such as express delivery and logistics, involving loading and transferring cargo in boxes with fixed volumes. After unloading the cargo box at the corresponding location, the materials are removed, and the box is reloaded for transport to the next destination.

[0031] The cargo box has a square structure with an opening on its vertical side, through which a door is movably connected. The bottom of the cargo box has a fixed connector that can be detachably connected to the vehicle frame, and the top has a hook that can be detachably connected to an automatic crane arm. The box body has a frame structure and is covered with corrugated board or other metal partition structure for closure. In this embodiment, the cargo box is basically laid flat and cannot be stacked.

[0032] Meanwhile, the chassis is symmetrically divided into left and right sections along its centerline, with the same number of empty spaces in each section. These spaces are connected to cargo boxes via detachable connectors, which can be automatically locked / unlocked during loading and unloading. In this embodiment, the cargo platform is not limited to a fixed number of cargo boxes; the boxes can vary in size. For example, a larger cargo box, almost as wide as the chassis, can be located at the front of the platform. The rear can have the same number of smaller cargo boxes in both left and right sections, allowing for loading and unloading of goods according to different needs.

[0033] The automatic crane arm is positioned in the middle of the cargo platform and is secured by a special bottom support reinforcement structure, including uprights and crossbars. The uprights can rotate 360° around the cargo platform, while one end of the crossbar is hinged to the top of the crossbar and can be controlled to rotate within a certain angle range via a hydraulic cylinder. The other end of the crossbar can extend outwards, with the extension length exceeding the edge of the vehicle, making it convenient to lift cargo boxes located outside the vehicle body.

[0034] In this embodiment, in order to ensure the load-bearing requirements of the truck itself and the lifting requirements of the automatic crane arm, the automatic crane arm can only lift the cargo box located on the first layer outside the vehicle body. In order to reduce the lifting height of the automatic crane arm and increase stability, the height of the truck's cargo platform is relatively low, less than half of the overall height of the largest cargo box. Therefore, the automatic crane arm cannot cross over another cargo box from above when lifting one cargo box. When it reaches the highest lifting height, the height of the cargo box from the cargo platform is not much different from the height of one cargo box.

[0035] Specifically, the automated crane arm has a connecting mechanism for connecting to the cargo box. The truck or automated crane arm has a control module and a vision recognition module. The cargo box is lifted through a detachable connection between the connecting mechanism and the cargo box. The vision recognition module assists the automated crane arm in unloading / loading the cargo box. The recognition method is specifically as follows:

[0036] Using the automatic crane arm as the origin, a circumferential recognition range is determined by the lifting radius. The vision recognition module performs a circumferential scan of the recognition range to obtain feature markers and then determines the location of the target. The feature markers include two types: a first positioning mark set on the cargo box and a second positioning mark set at the cargo box placement position.

[0037] When the truck is stationary and loading / unloading is in progress, the control module performs at least one circumferential scan using the visual recognition module to obtain the first and second positioning identifiers within the recognition range. Then, it scans and determines the first and second positioning identifiers on the cargo platform. The positions of the cargo boxes on the cargo platform with the first positioning identifier are paired with the positions of the cargo boxes with the second positioning identifiers within the recognition range to form an unloading process list. Then, the positions of the cargo boxes with the first positioning identifiers within the recognition range are paired with the positions of the cargo boxes with the second positioning identifiers on the cargo platform to form a loading process list. The cargo boxes on the cargo platform are unloaded sequentially according to the unloading process list, and then the cargo boxes outside the truck are hoisted onto the cargo platform sequentially according to the loading process list.

[0038] It should be noted that the connecting mechanism is a structure with a certain degree of freedom located at the end of the automatic boom crossbar. Since the cargo box will sway during the hoisting process, if a fixed connection method is used, the structure of the entire connecting mechanism and the connection between the automatic boom and the vehicle will require high structural strength. Therefore, the connecting mechanism with a degree of freedom can follow the cargo box within a certain space. For example, the connection can be achieved through ball cup and ball pin connection. During hoisting, the swing amplitude can be reduced by reducing the hoisting speed, and the cargo box can be kept vertical as much as possible by gravity during the hoisting process to avoid the material inside the cargo box tilting.

[0039] Furthermore, the positioning markers are planar adhesive structures with color and graphic distinctions, and their surfaces have a reflective coating. In this embodiment, the first positioning marker is a three-dimensional cross-shaped sticker with reflective coating, made of a polymer material with high wear resistance and weather resistance. The term "three-dimensional" refers to the presence of filler material, giving the cross-shaped marker a certain thickness that protrudes from the adhesive surface. The second positioning marker is a planar marker represented by a single character or other symbols, typically affixed to the surface of the cargo platform or the ground. Its size is larger than the first positioning marker, facilitating image capture and positioning by the visual recognition module.

[0040] In this embodiment, the visual recognition module is a binocular camera mounted on the automated crane arm. An additional binocular camera can be installed at a higher position on the truck. The truck-mounted binocular camera scans and identifies the number and spatial location of positioning markers within its recognition range, while a binocular camera located at the outer end of the automated crane arm's crossbar identifies the cargo box's placement posture at close range. The binocular camera can obtain pixel feature values ​​and depth information of the positioning markers based on real-time multi-frame images or video data. Based on the depth information of the feature values, the distance is determined, and the approximate location of the feature value in the scanned image is determined. Then, the automated crane arm is moved to the corresponding position for precise positioning.

[0041] Furthermore, the cargo box has at least one flat top surface, and the cargo box has at least three first positioning marks on the flat surface, which are detachably connected to the connecting mechanism. During the loading process, the visual recognition module determines the spatial normal vector of the top surface of the cargo box after it is positioned on the ground from the top. Then, the reference plane angle of the connecting mechanism on the automatic boom is adjusted so that the reference plane is parallel to the top surface. The automatic boom is then moved to connect the connecting mechanism to the hook while maintaining the parallel state.

[0042] One of the first positioning markers can determine its position information at close range through a visual recognition module set on the automatic boom, facilitating the alignment and connection of the connecting mechanism with the hook on the top of the cargo box during the hoisting process. The three first positioning markers can determine the relative distances of their three different positions using depth-of-field information from photographs taken on the same horizontal plane. Based on these three relative distances, the normal vector of the plane is determined. Then, by adjusting the raising or lowering of the automatic boom's crossbar, the rotation direction of the upright, and the rotation of its ends, spatial angle adjustments are made, allowing the connecting mechanism to achieve spatial alignment with the hook.

[0043] It should be noted that the connecting mechanism can be set with a physical reference plane, or it can have a virtual reference plane. The automatic boom has multiple sensors, including a gyroscope for detecting attitude and spatial position. The control module can obtain the location and attitude of the automatic boom in real time, and perform matching after determining the object position based on the vision recognition module.

[0044] Furthermore, a truck parking area is set up, and a placement area is defined around the parking area with a set identification range. Within the placement area, there are cargo box placement positions, and a second positioning mark is set on the cargo box placement position. Each time a truck enters the parking area, the automatic crane on the truck will transfer the cargo box between the placement area and the loading platform. Before the truck enters the parking area, the number of cargo boxes in the cargo box placement position is determined according to the confirmed total number of cargo boxes to be transferred.

[0045] In one embodiment, the specific steps of the loading and unloading process are as follows:

[0046] First, after the truck enters the parking area and stops, the visual recognition module confirms the quantity and location of the cargo box placement positions with the second positioning mark and the cargo boxes with the first positioning mark in the placement area.

[0047] After confirmation, the control module generates an unloading process list and a loading process list. According to the unloading process list, the cargo boxes on the loading platform are placed in the empty cargo box placement positions. After unloading is completed, the cargo boxes on the ground are hoisted onto the loading platform in sequence according to the loading process list.

[0048] In this process, after confirming the number of cargo boxes and the controlled placement of cargo boxes, if the required number of cargo boxes to be unloaded is greater than the current cargo box placement, but the number of cargo boxes to be loaded is less than the number of cargo boxes with the second positioning mark on the loading platform, then loading is carried out first according to the loading process list, and unloading is carried out according to the unloading process after loading is completed.

[0049] After confirming the number of cargo containers and the controlled placement of cargo containers, if the required number of unloaded cargo containers is greater than the current placement of cargo containers, and the number of loaded cargo containers is also greater than the number of second positioning marks on the loading platform, an alternating loading and unloading list is formed. Loading and unloading are completed on the condition that the number of cargo containers loaded or unloaded in a single operation does not exceed the number of second positioning marks in the corresponding area.

[0050] This invention is not limited to the optional embodiments described above, and anyone can derive other various forms of products based on the inspiration of this invention. The specific embodiments described above should not be construed as limiting the scope of protection of this invention; the scope of protection of this invention should be determined by the claims, and the specification can be used to interpret the claims.

Claims

1. A method for identifying and lifting cargo boxes on a box truck, based on a box truck with an automatic crane arm, the box truck including a loading platform and several cargo boxes with limiting settings on the loading platform, the automatic crane arm having a connecting mechanism for connecting the cargo boxes, the truck or the automatic crane arm having a control module and a vision recognition module, the cargo boxes being lifted through a detachable connection between the connecting mechanism and the cargo boxes, and the vision recognition module assisting the automatic crane arm in unloading / loading cargo boxes, characterized in that: The specific identification method is as follows: Using the automatic crane arm as the origin, a circumferential recognition range is determined by the lifting radius. The vision recognition module performs a circumferential scan of the recognition range to obtain feature markers and then determines the location of the target. The feature markers include two types: a first positioning mark set on the cargo box and a second positioning mark set at the cargo box placement position. When the truck is stationary and loading / unloading is in progress, the control module performs at least one circumferential scan using the visual recognition module to obtain the first and second positioning marks within the recognition range. Then, it scans and determines the first and second positioning marks on the cargo platform. The positions of the cargo boxes with the first positioning marks on the cargo platform are matched with the positions of the cargo boxes with the second positioning marks within the recognition range to form an unloading process list. Then, the positions of the cargo boxes with the first positioning marks within the recognition range are matched with the positions of the cargo boxes with the second positioning marks on the cargo platform to form a loading process list. The cargo boxes on the cargo platform are unloaded sequentially according to the unloading process list, and then the cargo boxes outside the truck are hoisted onto the cargo platform sequentially according to the loading process list. It also has a truck parking area, and a placement area is defined around the parking area with a set recognition range. The cargo box placement position is set in the placement area, and a second positioning mark is set at the cargo box placement position. Each time a truck enters the parking area, the automatic crane on the truck will transfer the cargo box between the placement area and the loading platform. Before the truck enters the parking area, the number of cargo box placement positions is determined according to the confirmed total number of cargo boxes to be transferred. The specific steps for loading and unloading are as follows: First, after the truck enters the parking area and stops, the visual recognition module confirms the placement of the cargo boxes with the second positioning mark and the quantity and location of the cargo boxes with the first positioning mark within the placement area. After confirmation, the control module generates an unloading process list and a loading process list. According to the unloading process list, the cargo boxes on the loading platform are placed in the empty cargo box placement positions. After unloading is completed, the cargo boxes on the ground are hoisted onto the loading platform in sequence according to the loading process list. After confirming the number of cargo boxes and the placement of empty cargo boxes, if the number of cargo boxes to be unloaded is greater than the current cargo box placement, but the number of cargo boxes to be loaded is less than the number of cargo boxes with the second positioning mark on the loading platform, then loading will be carried out according to the loading process list first, and unloading will be carried out according to the unloading process after loading is completed. Alternatively, after confirming the number of containers and the controlled container placement location, if the required number of unloaded containers is greater than the current container placement location, and the number of loaded containers is also greater than the number of containers with second positioning marks on the loading platform, then an alternating loading and unloading list is formed, and loading and unloading are completed on the condition that the number of containers loaded or unloaded in a single operation does not exceed the number of second positioning marks in the corresponding area.

2. The method for identifying the lifting operation of a box truck according to claim 1, characterized in that: The positioning mark is a planar adhesive structure with color and graphic distinction, and its surface has a reflective coating.

3. The method for identifying the lifting operation of a box truck according to claim 1, characterized in that: The visual recognition module is a binocular camera assembly installed on the truck.