Control method and device for loading and unloading, loading and unloading vehicle and related equipment

Abstract

The present disclosure provides a kind of control method, device, loading and unloading vehicle and related equipment of loading and unloading vehicle, it is related to loading and unloading technical field.The loading and unloading vehicle includes drive mechanism and the conveying mechanism connected with drive mechanism, conveying mechanism is used to convey the object to be loaded and unloaded, drive mechanism is used to drive the swing of conveying mechanism;The method comprises: receiving loading and unloading instruction, loading and unloading instruction contains: the loading and unloading position of object to be loaded and unloaded;According to the loading and unloading position, the drive mechanism is controlled to drive the swing of conveying mechanism to target position, the target position is the position that the loading and unloading vehicle can load and unload the object to be loaded and unloaded to the loading and unloading position.The present disclosure is accurately controlled to the position that drive mechanism drives conveying mechanism swings to, to facilitate loading and unloading operation to the object to be loaded and unloaded, reduces the labor intensity of loading and unloading personnel, greatly improves loading and unloading efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of loading and unloading technology, and in particular to a control method, device, loading and unloading vehicle, and related equipment for loading and unloading vehicles. Background Technology

[0002] Loading and unloading are crucial steps in cargo logistics. Currently, loading and unloading are mainly accomplished using telescopic conveyor systems (such as telescopic belt conveyors) in conjunction with manual labor. For example, the telescopic belt conveyor extends into the truck bed, and then workers manually move the goods onto it. However, due to the limitations of telescopic conveyor systems, they cannot reach suitable locations, especially the sides of the loading and unloading area. When loading and unloading goods on the sides, the time spent manually moving goods onto the telescopic conveyor is long, and the labor intensity is high.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] This disclosure provides a control method, device, loading and unloading vehicle, and related equipment for loading and unloading vehicles, which at least to some extent overcomes the problem of high labor intensity in manual loading and unloading of goods in related technologies.

[0005] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part by practice of this disclosure.

[0006] According to one aspect of this disclosure, a control method for a loading and unloading vehicle is provided. The loading and unloading vehicle includes: a drive mechanism and a conveying mechanism connected to the drive mechanism. The conveying mechanism is used to convey objects to be loaded or unloaded, and the drive mechanism is used to drive the conveying mechanism to swing. The method includes: receiving a loading and unloading instruction, the loading and unloading instruction including: the loading and unloading position of the objects to be loaded or unloaded; controlling the drive mechanism to drive the conveying mechanism to swing to a target position according to the loading and unloading position, the target position being a position where the loading and unloading vehicle can load and unload objects to be loaded or unloaded.

[0007] In some embodiments, the conveying mechanism is a retractable conveying mechanism, which includes: a retractable action execution component and a conveying component. The retractable action execution component is used to perform extension and / or retraction actions to change the position of the conveying component. Controlling the drive mechanism to drive the conveying mechanism to swing to a target position according to the loading and unloading position includes: monitoring whether the conveying component has reached the target position; if the conveying component has not reached the target position, controlling the retractable action execution component to perform extension and / or retraction actions according to the loading and unloading position to make the conveying component reach the target position.

[0008] In some embodiments, the method further includes: monitoring the operating status of the drive mechanism and / or the conveying mechanism; and when it is detected that one of the drive mechanism and the conveying mechanism is in an operating state, then prohibiting the other from being in an operating state.

[0009] In some embodiments, the loading and unloading vehicle further includes: a walking mechanism for driving the loading and unloading vehicle to move on the ground; the method provided in this embodiment further includes: measuring the distance between the loading and unloading vehicle and the loading and unloading area; when the distance between the loading and unloading vehicle and the loading and unloading area is greater than a first preset distance, driving the loading and unloading vehicle to move on the ground through the walking mechanism, so that the distance between the loading and unloading vehicle and the object to be loaded and unloaded is less than the first preset distance.

[0010] In some embodiments, the loading and unloading vehicle further includes a lifting mechanism for carrying loading and unloading personnel to perform lifting actions; the method provided in this embodiment further includes: measuring the difference between the height of the loading and unloading personnel and the height of the conveying mechanism; when the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is not within a second preset distance, the loading and unloading personnel are carried by the lifting mechanism to perform rising or falling actions so that the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is within the second preset distance.

[0011] According to another aspect of this disclosure, a control device is also provided for controlling a loading and unloading vehicle, the loading and unloading vehicle including a drive mechanism and a conveying mechanism. The device includes: an instruction receiving module for receiving loading and unloading instructions, the loading and unloading instructions including: the loading and unloading position of the object to be loaded and unloaded; and a drive control module for controlling the drive mechanism to drive the conveying mechanism to swing to a target position according to the loading and unloading position, the target position being within a first preset distance of the loading and unloading position.

[0012] According to another aspect of this disclosure, a loading and unloading vehicle is also provided, comprising: a conveying mechanism for conveying objects to be loaded and unloaded; a driving mechanism for driving the conveying mechanism to swing; and a control device for receiving loading and unloading instructions, the loading and unloading instructions including: the loading and unloading position of the objects to be loaded and unloaded; the control device is further configured to control the driving mechanism to drive the conveying mechanism to swing to a target position according to the loading and unloading position, the target position being a position where the loading and unloading vehicle can load and unload the objects to be loaded and unloaded.

[0013] In some embodiments, the loading and unloading vehicle further includes: a traveling mechanism for driving the loading and unloading vehicle to move on the ground; and a lifting mechanism for carrying loading and unloading personnel to achieve lifting and lowering actions.

[0014] According to another aspect of this disclosure, an electronic device is also provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the loading and unloading vehicle control method described in any of the preceding claims by executing the executable instructions.

[0015] According to another aspect of this disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the loading and unloading vehicle control method described in any of the preceding claims.

[0016] According to another aspect of this disclosure, a computer program product is also provided, including a computer program that, when executed by a processor, implements the loading and unloading vehicle control method described above.

[0017] The embodiments of this disclosure provide a control method, apparatus, loading and unloading vehicle, and related equipment. The loading and unloading vehicle includes a drive mechanism and a conveying mechanism connected to the drive mechanism. The conveying mechanism is used to transport objects to be loaded and unloaded. The drive mechanism is used to drive the conveying mechanism to swing. The control method provided in the embodiments of this disclosure receives a loading and unloading instruction containing the loading and unloading position of the objects to be loaded and unloaded, and controls the drive mechanism to drive the conveying mechanism to swing to a position close to the objects to be loaded and unloaded according to the loading and unloading position. By swinging the conveying mechanism, the embodiments of this disclosure make the distance between the conveying mechanism on the loading and unloading vehicle and the loading and unloading position more accurate, so as to facilitate the loading and unloading operation of the objects to be loaded and unloaded, reduce the labor intensity of loading and unloading personnel, and greatly improve the loading and unloading efficiency.

[0018] 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. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0020] Figure 1 This diagram illustrates a loading and unloading vehicle structure according to an embodiment of the present disclosure;

[0021] Figure 2 This diagram illustrates an application system architecture according to an embodiment of the present disclosure.

[0022] Figure 3 This diagram illustrates a control method for loading and unloading vehicles according to an embodiment of the present disclosure.

[0023] Figure 4 This diagram illustrates a control method for loading and unloading vehicles according to another embodiment of the present disclosure.

[0024] Figure 5 This diagram illustrates a control method for loading and unloading vehicles according to another embodiment of the present disclosure.

[0025] Figure 6 This diagram illustrates a safety interlock of a walking mechanism according to an embodiment of the present disclosure;

[0026] Figure 7 This diagram illustrates a safety interlock of a lifting mechanism according to an embodiment of the present disclosure.

[0027] Figure 8 This diagram illustrates a safety interlock of a conveying mechanism according to an embodiment of the present disclosure;

[0028] Figure 9 This diagram illustrates a safety interlock of a drive mechanism according to an embodiment of the present disclosure.

[0029] Figure 10 This diagram illustrates a control method for loading and unloading vehicles according to another embodiment of the present disclosure.

[0030] Figure 11 This diagram illustrates a control method for loading and unloading vehicles according to another embodiment of the present disclosure.

[0031] Figure 12 This diagram illustrates an example flowchart of a loading and unloading vehicle control method according to an embodiment of the present disclosure.

[0032] Figure 13 This diagram illustrates the main logic of an example of a loading and unloading vehicle control method according to an embodiment of the present disclosure.

[0033] Figure 14 This diagram illustrates a control device according to an embodiment of the present disclosure;

[0034] Figure 15 This diagram illustrates a structural block diagram of an electronic device according to an embodiment of the present disclosure.

[0035] Figure 16 A schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure is shown. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0037] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0038] To facilitate understanding, before introducing the embodiments of this disclosure, the following explanations are provided for several terms involved in the embodiments of this disclosure:

[0039] The specific implementation methods of the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0040] Figure 1 A simplified schematic diagram of an exemplary loading and unloading vehicle structure is shown, illustrating an application of a control method for a loading and unloading vehicle according to embodiments of this disclosure. For example... Figure 1 As shown, the loading and unloading vehicle provided in this embodiment includes: a drive mechanism 101, a conveying mechanism 102, and a control device 103; wherein, the drive mechanism 101 is used to drive the conveying mechanism 102 to swing, and the specific driving action can be to perform an extension and / or contraction action, and the drive mechanism 101 drives the conveying mechanism 102 to swing by performing an extension and / or contraction action; the conveying mechanism 102 is used to transport objects to be loaded and unloaded; the control device 103 is used to receive loading and unloading instructions, which include: the loading and unloading position of the objects to be loaded and unloaded, and controlling the drive mechanism 101 to drive the conveying mechanism 102 to swing to the target position according to the loading and unloading position, the target position being the position where the loading and unloading vehicle can load and unload the objects to be loaded and unloaded.

[0041] In some embodiments of this disclosure, the loading and unloading vehicle further includes: a walking mechanism for driving the loading and unloading vehicle to move on the ground; and a lifting mechanism for carrying loading and unloading personnel to achieve lifting and lowering actions.

[0042] Figure 2 A schematic diagram of an exemplary application system architecture is shown, illustrating an application of the control method for loading and unloading vehicles according to embodiments of this disclosure. For example... Figure 2 As shown, the system architecture may include terminal device 201, network 202, and server 203.

[0043] Network 202 is a medium used to provide a communication link between terminal device 201 and server 203, and can be a wired network or a wireless network.

[0044] Optionally, the aforementioned wireless or wired networks use standard communication technologies and / or protocols. The network is typically the Internet, but can also be any network, including but not limited to Local Area Networks (LANs), Metropolitan Area Networks (MANs), Wide Area Networks (WANs), mobile, wired or wireless networks, private networks, or any combination of virtual private networks. In some embodiments, technologies and / or formats including Hyper Text Markup Language (HTML), Extensible Markup Language (XML), etc., are used to represent data exchanged over the network. Furthermore, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Networks (VPNs), and Internet Protocol Security (IPSec) can be used to encrypt all or some links. In other embodiments, custom and / or dedicated data communication technologies can be used to replace or supplement the aforementioned data communication technologies.

[0045] Terminal device 201 can be various electronic devices, including but not limited to smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, wearable devices, augmented reality devices, virtual reality devices, etc.

[0046] Optionally, the client of the application installed on different terminal devices 201 may be the same, or the client of the same type of application based on different operating systems. Depending on the terminal platform, the specific form of the application client may also be different; for example, the application client may be a mobile client, a PC client, etc.

[0047] Server 203 can be a server that provides various services, such as a backend management server that supports the device operated by the user using terminal device 201. The backend management server can analyze and process received requests and other data, and feed the processing results back to the terminal device.

[0048] Optionally, the server can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0049] Under the above system architecture, this disclosure provides a control method for loading and unloading vehicles, which can be executed by any electronic device with computing power.

[0050] In some embodiments, the vehicle loading and unloading control method provided in this disclosure can be executed by the terminal device of the above-described system architecture; in other embodiments, the vehicle loading and unloading control method provided in this disclosure can be executed by the server in the above-described system architecture; in still other embodiments, the vehicle loading and unloading control method provided in this disclosure can be implemented by the terminal device and the server in the above-described system architecture through interaction.

[0051] Figure 3 This invention discloses a flowchart of a control method for loading and unloading vehicles according to an embodiment of the present invention. Figure 3 As shown, the control method for loading and unloading vehicles provided in this embodiment includes the following steps:

[0052] S302, receive loading and unloading instructions, which include: the loading and unloading location of the object to be loaded or unloaded.

[0053] It should be noted that the loading and unloading vehicle controlled by the control method provided in this embodiment can be any type of loading and unloading vehicle with a drive mechanism and a conveying mechanism. A loading and unloading vehicle is a special vehicle used for loading and unloading, typically designed with a drive mechanism and a conveying mechanism. The drive mechanism is used to drive the conveying mechanism to swing, ultimately causing the conveying mechanism to swing and adjust its position. Specifically, the drive mechanism can be driven by energy sources such as an electric motor, hydraulic system, or pneumatic system, enabling the conveying mechanism to perform the required swinging motion. The drive mechanism can generate force by controlling the rotation of the electric motor, controlling the operation of the hydraulic system, or the pneumatic system, thereby causing the conveying mechanism to swing accordingly. Depending on the specific design and functional requirements, the drive mechanism can adopt different working principles and mechanical structures.

[0054] Conveying mechanisms typically consist of conveyor belts or rollers used to transport objects to be loaded and unloaded. These objects are generally goods, but can also be other physical items. Furthermore, the drive mechanism and conveying mechanism can work together to slide up and down and tilt to accommodate the loading and unloading needs. For example, the drive mechanism can use a hydraulic system, controlling the operation of hydraulic cylinders to achieve sliding and tilting movements. Hydraulic systems can provide significant thrust and load-bearing capacity, enabling the conveying mechanism to slide up and down and tilt smoothly. The drive mechanism can also employ a chain and rocker arm structure, controlling the movement of the chain and rocker arm to achieve sliding and tilting. Loading and unloading vehicles are widely used in logistics, warehousing, construction sites, and other fields, significantly improving handling efficiency and reducing the use of manpower and machinery.

[0055] Loading and unloading instructions can be any command that instructs a loading / unloading vehicle to perform loading or unloading operations. The instructions include descriptions or identification information of the objects to be loaded or unloaded, specifying their name, number, dimensions, weight, etc., for accurate identification. The instructions also include loading and unloading position information, where the loading and unloading position indicates the loading and / or unloading location. The loading position is the initial position where the object is removed from the loading position and loaded onto the loading / unloading vehicle, and the unloading position is the final position where the object is unloaded from the vehicle. Therefore, the loading / unloading vehicle provided in this embodiment can be used for both loading and unloading. It should be noted that loading and unloading instructions can be issued manually or controlled by an automated system.

[0056] S304, according to the loading and unloading position, the control drive mechanism drives the conveying mechanism to swing to the target position, the target position is the position where the loading and unloading vehicle can load and unload the object to be loaded and unloaded.

[0057] It should be noted that, based on the loading and unloading position, the conveying mechanism is driven to swing by controlling the drive mechanism, enabling the conveying mechanism to swing to the target position. That is, the target position refers to the specific location where the conveying mechanism will move. It should be understood that this target position is the location where the loading and unloading vehicle can load and unload the objects to be loaded and unloaded. During loading and unloading operations, the loading and unloading vehicle needs to control the drive mechanism to drive the conveying mechanism to perform a swinging motion. The position where the conveying mechanism swings to a location convenient for loading and unloading operations is the target position in this embodiment. For example, the target position can be a location where the conveying mechanism is at the same height as the object to be loaded and unloaded, and 10 centimeters away from the object. At this target position, loading and unloading personnel can more easily pick up and place the objects without moving their bodies, reducing labor intensity and improving work efficiency. It should also be noted that this target position is merely one exemplary case. The actual position of the target position can be set according to the actual loading and unloading space and requirements, ultimately enabling the loading and unloading vehicle to load and unload the objects to be loaded and unloaded.

[0058] Understandably, during the loading and unloading process, by controlling the drive mechanism, the loading and unloading vehicle can swing the conveyor to the target position, and then unload the object to be loaded or unloaded from the conveyor located in the target position and place it in the loading and unloading position, or take the object to be loaded or unloaded from the loading and unloading position and place it on the conveyor located in the target position. In this way, the loading and unloading vehicle can efficiently load and unload goods.

[0059] This embodiment of the disclosure, through controlling the drive mechanism, allows the loading and unloading vehicle to swing the conveyor mechanism to a target position. The object to be loaded or unloaded is then unloaded from the conveyor mechanism at the target position and placed into the loading / unloading position, or removed from the loading / unloading position and placed onto the conveyor mechanism at the target position. In this way, the loading and unloading vehicle can efficiently load and unload goods, ensuring smooth movement of the object during the process. Because the drive mechanism can drive the conveyor mechanism to swing, the loading and unloading vehicle's conveyor mechanism can swing to various positions, facilitating loading and unloading for personnel, reducing labor intensity, and improving work efficiency.

[0060] In some embodiments of this disclosure, the aforementioned drive mechanism can be mechanically configured to drive the conveying mechanism to swing through extension and / or retraction. Specifically, the drive mechanism includes: a first telescopic drive mechanism and a second telescopic drive mechanism; wherein, the first telescopic drive mechanism is used to drive the conveying mechanism to swing in the horizontal direction by performing extension and / or retraction to change the position of the conveying mechanism in the horizontal direction. The extension and retraction of the first conveying drive mechanism allows the loading and unloading vehicle to adjust the position of the conveying mechanism, enabling the conveying mechanism to accurately reach the position to be loaded and unloaded, and also facilitates handling operations in narrow spaces.

[0061] The second telescopic drive mechanism is used to drive the conveyor mechanism to swing vertically by performing extension and / or retraction actions, thereby changing the vertical position of the conveyor mechanism. The extension and retraction of the second telescopic drive mechanism allows the loading and unloading vehicle to adjust the height of the conveyor mechanism, enabling it to adapt to goods of different heights, thus allowing for more flexible loading and unloading operations.

[0062] Through the coordinated action of the first telescopic drive mechanism and the second telescopic drive mechanism, the conveying mechanism is oscillated, which increases the oscillation amplitude and accuracy of the conveying mechanism. This allows the loading and unloading vehicle to more accurately control the position and height of the conveying mechanism, thereby adapting to different loading and unloading scenarios and requirements, and improving work efficiency and quality.

[0063] In some embodiments of this disclosure, the conveying mechanism described above can be a telescopic conveying mechanism. It is understood that a telescopic conveying mechanism is a conveying mechanism with an adjustable length. The telescopic conveying mechanism consists of a telescopic actuator and a conveying component. The telescopic actuator is used to perform extension and / or retraction actions to change the length and position of the conveying component.

[0064] Scalable conveyor mechanisms can typically extend or retract as needed, making them flexible and adaptable to different working environments. The length of the conveyor component can be varied by adjusting the degree of extension and / or retraction of the telescopic actuator.

[0065] like Figure 4 As shown, controlling the drive mechanism to swing the conveyor mechanism to the target position according to the loading / unloading position also includes the following steps:

[0066] S402, monitor whether the conveying component has reached the target position;

[0067] S404 If the conveying component has not reached the target position, the retractable actuator is controlled to extend and / or retract according to the loading and unloading position so that the conveying component reaches the target position.

[0068] It should be noted that the conveying mechanism in this embodiment can be a telescopic conveying mechanism. When the drive mechanism is controlled, the loading / unloading vehicle can make the conveying mechanism swing to the target position. However, in some actual operations, due to various limitations, the conveying mechanism may not be able to swing precisely to the target position, resulting in a certain deviation from the target position. Alternatively, after the swinging operation, the conveying mechanism may have already exceeded the target position by a certain distance. In this case, since the conveying mechanism is telescopic, it can extend and / or retract as needed to enable the conveying component to reach the target position. If the conveying mechanism is near the target position but has not yet reached it, it may be necessary to extend the length of the conveying mechanism to allow the conveying component to reach the target position. Conversely, if the conveying mechanism has exceeded the target position by a certain distance, it may be necessary to retract the length of the conveying mechanism to return the conveying component to the target position.

[0069] The retractable conveying mechanism in this embodiment of the present disclosure is characterized by its adaptability to different situations. The length of the conveying component is adjusted through extension and / or retraction actions to reach or return to the target position. By continuously monitoring the position of the conveying component and controlling the retractable actuator according to the requirements of the loading and unloading position, the conveying mechanism can more accurately reach the target position and complete the loading and unloading process.

[0070] In some embodiments of this disclosure, the loading and unloading control method provided by the embodiments of this disclosure is as follows: Figure 5 As shown, it also includes the following steps:

[0071] S502, monitors the operating status of the drive mechanism and / or conveying mechanism.

[0072] S504: When it is detected that either the drive mechanism or the conveying mechanism is in operation, the other is prohibited from being in operation.

[0073] It should be noted that the purpose of monitoring is to understand the real-time operation of the drive and conveying mechanisms, ensuring their proper functioning and preventing potential malfunctions or problems. When either the drive or conveying mechanism is detected to be operating, the other mechanism must be prohibited from operating. This is to avoid conflicts or interference between the drive and conveying mechanisms, ensuring they operate in the predetermined manner and sequence.

[0074] By implementing monitoring and disabling mechanisms to achieve safety interlocks, the drive and conveying mechanisms can be ensured to operate stably and in a coordinated manner during loading and unloading, improving safety and efficiency. This also helps reduce the risk of errors or damage to loading and unloading vehicles during operation.

[0075] In other embodiments of this disclosure, if the loading / unloading vehicle also includes a traveling mechanism and a lifting mechanism, the four mechanisms are interlocked for safety. This is achieved by monitoring the working status of the four mechanisms: the drive mechanism, the conveying mechanism, the traveling mechanism, and the lifting mechanism. When one of the four is in operation, the other three mechanisms are prohibited from operating. For specific details on the safety interlocking, please refer to [reference needed]. Figures 6-9 The diagram shows the implementation of the safety interlock.

[0076] Among them, such as Figure 6 As shown, the traveling mechanism is safety interlocked. When the lifting mechanism is activated, the traveling mechanism is not allowed to move forward or backward; when the conveying mechanism is activated, the traveling mechanism is not allowed to move forward or backward; when the drive mechanism is activated, the traveling mechanism is not allowed to move forward or backward.

[0077] Monitoring the operating status of the traveling mechanism can determine whether the traveling motor is running. The following conditions can be met to determine that the traveling motor is running:

[0078] 1. The walking motor has output when started;

[0079] 2. The thermal relay of the walking motor did not activate.

[0080] Furthermore, before loading and unloading operations begin, the safety interlock status of each mechanism can be checked. Specifically, in maintenance mode, it is monitored whether the conveying mechanism, drive mechanism, and lifting mechanism are in a stopped state. If the traveling mechanism's timeout protection is not activated, the traveling mechanism is allowed to operate, indicating that its safety interlock is functioning correctly. Maintenance mode is a special operating mode used to facilitate debugging and maintenance of each mechanism of the loading and unloading vehicle, to check whether the safety interlock status of each mechanism is normal. Similarly, as... Figure 7 As shown, the lifting mechanism is safety-interlocked. When the traveling mechanism is activated, the lifting mechanism is not allowed to rise or fall; when the conveying mechanism is activated, the lifting mechanism is not allowed to rise or fall; when the drive mechanism is activated, the lifting mechanism is not allowed to rise or fall. Figure 8 As shown, the conveyor mechanism is safety-interlocked. When the traveling mechanism is activated, the conveyor mechanism is not allowed to swing or transport; when the lifting mechanism is activated, the conveyor mechanism is not allowed to swing or transport; when the drive mechanism is activated, the conveyor mechanism is not allowed to transport. Figure 9 As shown, the drive mechanism is safety interlocked. When the traveling mechanism is in motion, the drive mechanism is not allowed to drive the conveyor mechanism to swing; when the lifting mechanism is in motion, the drive mechanism is not allowed to drive the conveyor mechanism to swing; when the conveyor mechanism is in motion, the drive mechanism is not allowed to drive the conveyor mechanism to swing.

[0081] In some embodiments of this disclosure, when the aforementioned conveying mechanism is a retractable conveying mechanism, the retractable conveying mechanism is in a safety interlock state when the other three mechanisms are in operation, prohibiting the execution of extension or retraction actions.

[0082] In some embodiments of this disclosure, the loading and unloading vehicle includes a traveling mechanism for driving the loading and unloading vehicle to move on the ground.

[0083] like Figure 10 As shown, the method provided in this embodiment further includes the following steps, which can be performed before the drive mechanism drives the conveying mechanism to swing to the target position according to the loading / unloading position:

[0084] S1002, Measure the distance between the loading / unloading vehicle and the loading / unloading area;

[0085] S1004, when the distance between the loading / unloading vehicle and the loading / unloading area is greater than the first preset distance, the loading / unloading vehicle is driven to move on the ground by the walking mechanism so that the distance between the loading / unloading vehicle and the object to be loaded / unloaded is less than the first preset distance.

[0086] It's important to clarify that a loading and unloading area refers to the entire area used for loading and unloading operations, which may include multiple loading and unloading locations. A loading and unloading location, on the other hand, is a specific designated location or point for loading and unloading goods. Therefore, a loading and unloading area can be understood as a holistic concept encompassing multiple loading and unloading locations, while a loading and unloading location is the specific target location in the loading and unloading operation. Taking the loading and unloading of a container by a truck as an example, the location of the container is the loading and unloading area. Inside the container, there are shelves of varying heights on both sides; the locations of the various goods displayed on these shelves are the loading and unloading locations.

[0087] To measure the distance between the loading / unloading vehicle and the loading / unloading area, a distance sensor can be installed on the traveling mechanism. This sensor assists the driver in precise positioning. When the distance between the loading / unloading vehicle and the loading / unloading area exceeds a first preset distance, the vehicle is moved to adjust the distance between itself and the object to be loaded / unloaded, making it less than the first preset distance. It should be noted that the first preset distance is a distance threshold set in advance during loading / unloading operations. The setting of the first preset distance can be determined based on specific operational needs and safety considerations. The first preset distance indicates the appropriate distance between the loading / unloading vehicle and the object to be loaded / unloaded; exceeding this distance may lead to ineffective loading / unloading operations or safety hazards. It is important to note that the first preset distance can be adjusted and modified according to actual conditions to ensure the safe and efficient operation of loading / unloading. Therefore, the first preset distance may vary depending on the specific loading / unloading scenario and requirements.

[0088] Understandably, before the loading and unloading operation begins, the distance between the loading / unloading vehicle and the loading / unloading area is measured. If this distance is greater than a first preset distance, it indicates that the distance between the loading / unloading vehicle and the object to be loaded / unloaded is too far, and the loading / unloading operation may not be effective. To solve this problem, a traveling mechanism is used to drive the loading / unloading vehicle to move on the ground and move closer to the object to be loaded / unloaded. In this way, the distance between the loading / unloading vehicle and the object to be loaded / unloaded can be reduced until it is less than the first preset distance, ensuring that the distance between the loading / unloading vehicle and the object to be loaded / unloaded is kept within a small range so that subsequent loading and unloading operations can be carried out smoothly. The embodiments of this disclosure help improve the accuracy and efficiency of loading and unloading, ensuring that loading and unloading operations can be completed smoothly.

[0089] In some embodiments of this disclosure, the loading and unloading vehicle includes a lifting mechanism for transporting loading and unloading personnel to achieve lifting actions.

[0090] like Figure 11 As shown, the method provided in this embodiment further includes the following steps, which can be specifically performed after the drive mechanism drives the conveying mechanism to swing to the target position according to the loading / unloading position:

[0091] S1102, Measure the difference between the height of loading and unloading personnel and the height of the conveying mechanism;

[0092] S1104, when the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is not within the second preset distance, the lifting mechanism is used to carry the loading and unloading personnel to perform rising or falling actions so that the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is within the second preset distance.

[0093] It should be noted that the lifting mechanism is an auxiliary mechanism, assisting loading and unloading personnel in ascending and descending to reach the appropriate height for loading or unloading goods. Therefore, to achieve the appropriate height, the difference between the height of the loading and unloading personnel and the height of the conveyor mechanism is measured. Here, the height of the loading and unloading personnel refers to their height above the ground. The measurement standard can be set as the height from the top of the loading and unloading personnel's head to the ground, or the height from the loading and unloading personnel's eyes to the ground, or the height from the loading and unloading personnel's elbows to the ground. The specific measurement can be determined according to the situation, with the ultimate goal of ensuring that the loading and unloading personnel can easily take up or put down goods from the conveyor mechanism while standing on the lifting mechanism.

[0094] It's important to understand that the second preset distance can be interpreted as the range of differences between the appropriate height of the loading / unloading personnel and the height of the conveyor mechanism, i.e., the allowable range of differences. This range needs to be determined based on the specific application. When the height difference exceeds the second preset distance, loading / unloading personnel may experience discomfort, operational inconvenience, or safety hazards. To ensure that loading / unloading personnel can easily pick up or place goods while standing on the lifting mechanism, it is necessary to ensure that the height difference between the loading / unloading personnel and the conveyor mechanism is within the range of the second preset distance. The specific second preset distance can be determined based on actual application conditions and needs. When the height difference between the loading / unloading personnel and the conveyor mechanism is not within the range of the second preset distance, the lifting mechanism is used to move the loading / unloading personnel up or down to adjust their height, keeping the height difference between them and the conveyor mechanism within the second preset distance. Specifically, the difference between the height of the loading / unloading personnel and the height of the conveyor mechanism is first measured. This difference reflects the vertical distance between the loading / unloading personnel and the conveyor mechanism. Ensure that loading and unloading personnel are comfortable during loading and unloading operations within this range. If the measurement results show that the difference exceeds the range of the second preset distance, it indicates that the height difference between the loading and unloading personnel and the conveying mechanism is too large, which may cause safety hazards or operational inconvenience.

[0095] To address this issue, a lifting mechanism is used to raise or lower the loading and unloading personnel to adjust their height. By raising or lowering the personnel, the height difference between the personnel and the conveying mechanism is maintained within a second preset distance range, ensuring the smooth operation of the loading and unloading process. This embodiment ensures compatibility between the loading and unloading personnel and the conveying mechanism, thereby reducing operational risks and protecting the safety of the personnel. Such adjustments facilitate smooth loading and unloading operations and ensure that the height difference between the operators and the equipment meets requirements.

[0096] In addition, the lifting mechanism can be equipped with low-position sensors and high-position sensors to limit the lowest and highest positions that the lifting mechanism can reach; it is also equipped with mechanical buffer anti-collision to prevent collisions caused by the failure of the low-position sensors and high-position sensors.

[0097] In some embodiments of this disclosure, a departure sensor may also be configured on the conveying mechanism to detect whether the goods have left the conveyor. If no goods are detected for a long time, the conveying mechanism will automatically stop operating.

[0098] In some embodiments of this disclosure, an extension sensor and a retraction sensor may also be configured on the drive mechanism to limit the maximum extension position and the minimum retraction position that the drive mechanism can reach; at the same time, an electronic anti-collision device may also be configured to prevent collisions caused by the failure of the extension sensor and the retraction sensor.

[0099] In some embodiments, a distance sensor may also be configured at the front end of the conveying mechanism to detect the distance between the conveying mechanism and the goods, thereby avoiding collisions.

[0100] In some embodiments, when the conveying mechanism is a retractable conveying mechanism, the front end of the retractable conveying mechanism further includes an extension sensor and a retraction sensor to limit the maximum extension position and minimum retraction position that the retractable action actuator of the retractable conveying mechanism can reach; at the same time, the conveying component of the retractable conveying mechanism may also be equipped with an electronic anti-collision device to prevent collisions caused by the failure of the extension sensor and the retraction sensor.

[0101] In some embodiments of this disclosure, a loading and unloading vehicle equipped with control equipment, a drive mechanism, a conveying mechanism, a traveling mechanism, and a lifting mechanism will be used as an example to describe in detail the control method of the loading and unloading vehicle:

[0102] The control equipment controls the traveling mechanism of the loading / unloading vehicle to move to a preset distance L from the goods to be loaded / unloaded. Specifically, the traveling mechanism of the loading / unloading vehicle is equipped with a distance sensor to detect the distance between the vehicle and the goods to be loaded / unloaded and to assist in positioning. When the distance sensor on the traveling mechanism detects that the distance to the goods reaches the preset distance L, the control equipment controls the traveling mechanism to stop moving. The preset distance L is set to 10-60mm.

[0103] Based on the loading / unloading position of the goods, the control equipment controls the drive mechanism to swing the conveyor mechanism closer to the goods to be loaded / unloaded. Specifically, when the conveyor mechanism is a retractable conveyor mechanism, the loading / unloading position of the goods is determined, the swing of the conveyor mechanism is controlled, and the retractable action of the execution component is coordinated with the retractable action of the retractable conveyor mechanism to bring the conveying component closer to the goods to be loaded / unloaded.

[0104] When the goods are at a high position, the control equipment controls the drive mechanism to drive the conveyor to swing upward by 25 degrees; when the goods are at a high position on the left (when handling goods on the left), the control equipment controls the drive mechanism to drive the conveyor to swing to the left by 10 degrees. The distance sensor at the front end of the conveyor is used to detect the signal, and the control equipment controls the drive mechanism to drive the conveyor to a suitable distance to approach the goods; when the goods are at a high position on the right (when handling goods on the right), the control equipment controls the drive mechanism to drive the conveyor to swing to the right by 10 degrees. The distance sensor at the front end of the conveyor is used to detect the signal, and the control equipment controls the drive mechanism to drive the conveyor to swing to a suitable distance to approach the goods.

[0105] When the goods are in the middle position, the conveyor is in a horizontal position. When moving goods on the left, the control device controls the drive mechanism to swing the conveyor 10 degrees to the left. The distance sensor at the front end of the conveyor is used to detect the signal, and the control device controls the drive mechanism to swing the conveyor to a suitable distance to approach the goods. When moving goods on the right, the control device controls the drive mechanism to swing the conveyor 10 degrees to the right. The distance sensor at the front end of the conveyor is used to detect the signal, and the control device controls the drive mechanism to swing the conveyor to a suitable distance to approach the goods.

[0106] When the goods are in a low position, the control device controls the drive mechanism to swing the conveyor downwards by 25 degrees. When the goods are in a low position on the left (when handling goods on the left), the control device controls the drive mechanism to swing the conveyor to the left by 10 degrees. The distance sensor at the front end of the conveyor is used to detect the signal, and the control device controls the drive mechanism to swing the conveyor to a suitable distance to approach the goods. When the goods are in a low position on the right (when handling goods on the right), the control device controls the drive mechanism to swing the conveyor to the right by 10 degrees. The distance sensor at the front end of the conveyor is used to detect the signal, and the control device controls the drive mechanism to swing the conveyor to a suitable distance to approach the goods.

[0107] When the conveying mechanism is a telescopic conveying mechanism, in order to get closer to the goods, after the control equipment controls the drive mechanism to drive the telescopic conveying mechanism to swing to a suitable position, the extension or retraction action of the telescopic conveying mechanism can be coordinated with the telescopic action of the telescopic conveying mechanism to make the conveying component of the telescopic conveying mechanism more accurately approach the goods to be loaded and unloaded, thereby facilitating the loading and unloading operations of loading and unloading personnel on the loading and unloading vehicle.

[0108] In addition, when the conveyor mechanism swings up and down, the lifting mechanism drives the foot platform to move accordingly. Low-position and high-position sensors are installed on the lifting mechanism to limit its lowest and highest achievable positions; mechanical buffers and anti-collision devices are also installed to prevent collisions caused by sensor malfunction. Extension and retraction sensors are installed on the retractable actuators of the telescopic conveyor mechanism to limit its maximum extension and minimum retraction positions; electronic anti-collision devices are also installed to prevent collisions caused by sensor malfunction.

[0109] During the loading and unloading process, the conveyor mechanism is controlled to operate, and the goods are transported to the next node via the conveyor mechanism. When the departure sensor on the conveyor mechanism detects that the goods have left the conveyor mechanism, the conveyor mechanism is controlled to stop operating. Here, the next node refers to the downstream equipment (such as a mobile telescopic roller conveyor connected to the conveyor mechanism) that transports the goods via the conveyor mechanism.

[0110] In some embodiments of this disclosure, Figure 12 A flowchart illustrating an example of a loading and unloading vehicle control method is shown. Figure 13 It shows Figure 12 The main logic of the process Figure 12 and Figure 13 Taking the loading and unloading of goods into a container by a loading and unloading vehicle as an example, this paper specifically explains the control method of this embodiment, how to control the loading and unloading vehicle to achieve loading and unloading of goods of different heights on both sides of the container, such as... Figure 12 As shown, the specific process is as follows:

[0111] 1. Loading and unloading vehicle in initial state: the traveling mechanism is in a stopped state, the lifting mechanism is in a low position, the conveying mechanism is in a horizontal position and is in a stopped state, and the drive mechanism is in a non-working state.

[0112] 2. When needed, send a "request to move forward" signal to the control equipment. After receiving the "request to move forward" signal, the control equipment starts the walking mechanism to move forward. After detecting that it has reached a certain distance in front of the container cargo, the walking mechanism stops moving forward.

[0113] 3. When it is necessary to move goods on the upper left, send a "position upper left" signal to the control equipment. After receiving the "position upper left" signal, the control equipment starts the drive mechanism to drive the conveyor to swing to the upper left position. At the same time, the lifting mechanism drives the foot platform to follow. When the conveyor is a telescopic conveyor, the telescopic action actuator extends and stops extending when it reaches the end.

[0114] 4. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0115] 5. When it is necessary to move goods in the middle and upper layers, send a "position middle and upper layer" signal to the control equipment. After receiving the "position middle and upper layer" signal, the control equipment starts the drive mechanism to drive the conveyor to swing to the middle and upper layer position. When the conveyor is a telescopic conveyor, the telescopic action actuator extends and stops extending when it reaches the end position.

[0116] 6. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0117] 7. When it is necessary to move goods on the upper right, send a "position upper right" signal to the control equipment. After receiving the "position upper right" signal, the control equipment starts the drive mechanism to drive the conveyor to swing to the upper right position. When the conveyor is a telescopic conveyor, the telescopic action actuator extends and stops extending when it reaches the correct position.

[0118] 8. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0119] 9. When it is necessary to move goods on the right middle layer, send a "position right middle layer" signal to the control equipment. After receiving the "position right middle layer" signal, the control equipment starts the drive mechanism to drive the conveyor mechanism to swing to the right middle layer position. At the same time, the lifting mechanism drives the foot platform to follow. When the conveyor mechanism is a telescopic conveyor mechanism, the telescopic action actuator extends. When it extends to the end, the telescopic action actuator stops extending.

[0120] 10. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0121] 11. When it is necessary to move goods in the middle layer, send a "position middle layer" signal to the control equipment. After receiving the "position middle layer" signal, the control equipment starts the drive mechanism to drive the conveyor mechanism to swing to the middle layer position. When the conveyor mechanism is a telescopic conveyor mechanism, the telescopic action actuator extends out. When it extends into place, the telescopic action actuator stops extending out.

[0122] 12. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0123] 13. When it is necessary to move goods on the left middle layer, send a "position left middle layer" signal to the control equipment. After receiving the "position left middle layer" signal, the control equipment starts the drive mechanism to drive the conveyor mechanism to swing to the left middle layer position. When the conveyor mechanism is a telescopic conveyor mechanism, the telescopic action execution part extends and stops extending when it reaches the end.

[0124] 14. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0125] 15. When it is necessary to move goods on the lower left, send a "position lower left" signal to the control equipment. After receiving the "position lower left" signal, the control equipment starts the drive mechanism to drive the conveyor to swing to the lower left position. At the same time, the lifting mechanism drives the foot platform to follow. When the conveyor is a telescopic conveyor, the telescopic action actuator extends and stops extending when it reaches the end.

[0126] 16. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0127] 17. When it is necessary to move goods in the middle and lower layers, send a "position middle and lower layers" signal to the control equipment. After receiving the "position middle and lower layers" signal, the control equipment starts the drive mechanism to drive the conveyor mechanism to swing to the middle and lower layer position. When the conveyor mechanism is a telescopic conveyor mechanism, the telescopic action actuator extends out. When it extends into place, the telescopic action actuator stops extending.

[0128] 18. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the conveyor components and send them out of the container via the conveyor mechanism until the goods handling is complete.

[0129] 19. When it is necessary to move goods on the lower right, send a "position lower right" signal to the control equipment. After receiving the "position lower right" signal, the control equipment starts the drive mechanism to drive the conveyor mechanism to swing to the lower right position. When the conveyor mechanism is a telescopic conveyor mechanism, the telescopic action actuator extends and stops extending when it reaches the correct position.

[0130] 20. Start the conveyor mechanism to transport the goods in the direction of exiting the container. Move the goods onto the telescopic mechanism, and then send them out of the container via the conveyor mechanism until the goods handling is complete.

[0131] 21. Repeat steps 1-20 to move the goods until all the goods inside the container have been moved.

[0132] 22. After the cargo handling is completed, the loading and unloading vehicle returns to its initial state, exits the container, and reaches a safe position, thus ending the entire process.

[0133] It is understandable that the signals received by the control equipment, such as "positioning upper left layer", "positioning upper middle layer", "positioning upper right layer", "positioning middle right layer", "positioning middle middle layer", "positioning middle left layer", "positioning lower left layer", "positioning lower middle layer", and "positioning lower right layer", are various specific loading and unloading instructions. These loading and unloading instructions contain specific loading and unloading positions. The control equipment starts the drive mechanism according to the loading and unloading instructions to drive the conveyor mechanism to swing to the corresponding target position.

[0134] Based on the same inventive concept, this disclosure also provides a control device, as described in the following embodiments. Since the principle by which this device solves the problem is similar to that of the method embodiments described above, the implementation of this device embodiment can refer to the implementation of the method embodiments described above, and repeated details will not be repeated.

[0135] Figure 14 A schematic diagram of a control device according to an embodiment of this disclosure is shown, such as... Figure 14 As shown, the device includes:

[0136] The instruction receiving module 1401 is used to receive loading and unloading instructions, which include the loading and unloading position of the object to be loaded or unloaded.

[0137] The drive control module 1402 is used to control the drive mechanism to drive the conveyor mechanism to swing to the target position according to the loading and unloading position. The target position is the position where the loading and unloading vehicle can load and unload the object to be loaded and unloaded.

[0138] In some embodiments of this disclosure, when the conveying mechanism is a retractable conveying mechanism, the drive control module 1402 is further configured to monitor whether the conveying component has reached the target position; if the conveying component has not reached the target position, the retractable action execution component is controlled to perform extension and / or retraction actions according to the loading and unloading position so that the conveying component reaches the target position.

[0139] In some embodiments of this disclosure, the control device further includes a safety interlock module for monitoring the working status of the drive mechanism and / or the conveying mechanism; when it is detected that one of the drive mechanism and the conveying mechanism is in a working state, the other is prohibited from being in a working state.

[0140] In some embodiments of this disclosure, the control device further includes a walking mechanism control module for measuring the distance between the loading / unloading vehicle and the loading / unloading area; when the distance between the loading / unloading vehicle and the loading / unloading area is greater than a first preset distance, the driving mechanism is used to move the loading / unloading vehicle on the ground so that the distance between the loading / unloading vehicle and the object to be loaded / unloaded is less than the first preset distance.

[0141] In some embodiments of this disclosure, the control device further includes a lifting mechanism control module for measuring the difference between the height of the loading and unloading personnel and the height of the conveying mechanism; when the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is not within a first preset distance, the lifting mechanism is used to carry the loading and unloading personnel to perform rising or falling actions so that the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is within the first preset distance.

[0142] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above method embodiments. It should also be noted that the above modules, as part of an apparatus, can be executed in a computer system such as a set of computer-executable instructions.

[0143] Those skilled in the art will understand that various aspects of this disclosure can be implemented as systems, methods, or program products. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as “circuit,” “module,” or “system.”

[0144] The following reference Figure 15 To describe an electronic device 1500 according to such an embodiment of the present disclosure. Figure 15 The electronic device 1500 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0145] like Figure 15 As shown, the electronic device 1500 is manifested in the form of a general-purpose computing device. The components of the electronic device 1500 may include, but are not limited to: at least one processing unit 1510, at least one storage unit 1520, and a bus 1530 connecting different system components (including storage unit 1520 and processing unit 1510).

[0146] The storage unit stores program code that can be executed by the processing unit 1510, causing the processing unit 1510 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 1510 can perform the following steps of the above method embodiment: receiving a loading / unloading instruction, which includes: the loading / unloading position of the object to be loaded / unloaded; controlling the drive mechanism to drive the conveyor mechanism to swing to a target position according to the loading / unloading position, the target position being a position where the loading / unloading vehicle can load / unload the object to be loaded / unloaded.

[0147] Storage unit 1520 may include readable media in the form of volatile storage units, such as random access memory (RAM) 15201 and / or cache memory 15202, and may further include read-only memory (ROM) 15203.

[0148] Storage unit 1520 may also include a program / utility 15204 having a set (at least one) program module 15205, such program module 15205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0149] Bus 1530 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0150] Electronic device 1500 can also communicate with one or more external devices 1540 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 1500, and / or any device that enables electronic device 1500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 1550. Furthermore, electronic device 1500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 1560. As shown, network adapter 1560 communicates with other modules of electronic device 1500 via bus 1530. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0151] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0152] In particular, according to embodiments of this disclosure, the process described above with reference to the flowchart can be implemented as a computer program product, which includes a computer program that, when executed by a processor, implements the above-described control method for loading and unloading vehicles.

[0153] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. Figure 16 This illustration shows a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure, such as... Figure 16 As shown, the computer-readable storage medium 1600 stores a program product capable of implementing the methods described above. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0154] More specific examples of computer-readable storage media in this disclosure may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0155] In this disclosure, a computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device.

[0156] Optionally, the program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0157] In practical implementation, program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0158] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0159] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0160] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0161] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A control method for loading and unloading vehicles, characterized in that, The loading and unloading vehicle includes: a drive mechanism and a conveying mechanism, a traveling mechanism, and a lifting mechanism connected to the drive mechanism. The conveying mechanism is used to convey objects to be loaded and unloaded. The drive mechanism is used to drive the conveying mechanism to swing. The traveling mechanism is used to drive the loading and unloading vehicle to move on the ground. The lifting mechanism is used to transport loading and unloading personnel to achieve lifting and lowering actions. The method includes: Receive loading and unloading instructions, which include: the loading and unloading location of the object to be loaded and unloaded, and the description or identification information of the object to be loaded and unloaded; According to the loading and unloading position, the drive mechanism is controlled to drive the conveying mechanism to swing to the target position, where the target position is the position where the loading and unloading vehicle can load and unload the object to be loaded and unloaded; The monitoring system includes the working status of four mechanisms: the drive mechanism, the conveying mechanism, the walking mechanism, and the lifting mechanism. When one of the four mechanisms is in operation, the other three mechanisms are prohibited from operating. This monitoring and prohibition mechanism achieves safety interlocking to ensure that each mechanism can operate in a predetermined manner and sequence. The conveying mechanism is a telescopic conveying mechanism, which includes a telescopic action execution component and a conveying component. The telescopic action execution component is used to perform extension and / or retraction actions to change the position of the conveying component. Controlling the drive mechanism to drive the conveying mechanism to swing to the target position according to the loading and unloading position includes: monitoring whether the conveying component has reached the target position; if the conveying component has not reached the target position, controlling the retractable action execution component to perform extension and / or retraction actions according to the loading and unloading position, so that the conveying component reaches the target position; Before receiving the loading and unloading instructions, the safety interlock status of each mechanism is checked; when the maintenance mode is detected, it is monitored whether the conveying mechanism, the driving mechanism and the lifting mechanism are in a stopped state, and if the travel mechanism does not activate the timeout protection, the travel mechanism is allowed to work, and the safety interlock of the travel mechanism is considered to be normal.

2. The control method for loading and unloading vehicles according to claim 1, characterized in that, The method further includes: Measure the distance between the loading / unloading vehicle and the loading / unloading area; If the distance between the loading / unloading vehicle and the loading / unloading area is greater than a first preset distance, the loading / unloading vehicle is driven to move on the ground by the walking mechanism so that the distance between the loading / unloading vehicle and the object to be loaded / unloaded is less than the first preset distance.

3. The control method for loading and unloading vehicles according to claim 1, characterized in that, The method further includes: Measure the difference between the height of the loading / unloading personnel and the height of the conveying mechanism; If the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is not within a second preset distance, the lifting mechanism is used to carry the loading and unloading personnel to perform rising or falling actions so that the difference between the height of the loading and unloading personnel and the height of the conveying mechanism is within the second preset distance.

4. A control device, characterized in that, The control device is used to control the loading and unloading vehicle, which includes a drive mechanism, a conveying mechanism, a traveling mechanism, and a lifting mechanism. The conveying mechanism is used to convey objects to be loaded or unloaded. The drive mechanism is used to drive the conveying mechanism to swing. The traveling mechanism is used to drive the loading and unloading vehicle to move on the ground. The lifting mechanism is used to transport loading and unloading personnel to achieve lifting actions. The control device includes: The instruction receiving module is used to receive loading and unloading instructions, which include: the loading and unloading location of the object to be loaded and unloaded, and the description or identification information of the object to be loaded and unloaded; The drive control module is used to control the drive mechanism to drive the conveying mechanism to swing to the target position according to the loading and unloading position. The target position is the position where the loading and unloading vehicle can load and unload the object to be loaded and unloaded. The monitoring system includes the working status of four mechanisms: the drive mechanism, the conveying mechanism, the walking mechanism, and the lifting mechanism. When one of the four mechanisms is in operation, the other three mechanisms are prohibited from operating. This monitoring and prohibition mechanism achieves safety interlocking to ensure that each mechanism can operate in a predetermined manner and sequence. The conveying mechanism is a telescopic conveying mechanism, which includes a telescopic action execution component and a conveying component. The telescopic action execution component is used to perform extension and / or retraction actions to change the position of the conveying component. The drive control module is also used to monitor whether the conveying component has reached the target position; if the conveying component has not reached the target position, the module controls the retractable action execution component to perform extension and / or retraction actions according to the loading and unloading position, so that the conveying component reaches the target position. Before receiving the loading and unloading instructions, the safety interlock status of each mechanism is checked; when the maintenance mode is detected, it is monitored whether the conveying mechanism, the driving mechanism and the lifting mechanism are in a stopped state, and if the travel mechanism does not activate the timeout protection, the travel mechanism is allowed to work, and the safety interlock of the travel mechanism is considered to be normal.

5. A loading and unloading vehicle, characterized in that, include: Conveying mechanisms are used to transport objects to be loaded or unloaded. A drive mechanism is used to drive the conveying mechanism to swing. A walking mechanism is used to drive the loading and unloading vehicle to move on the ground; Lifting mechanisms are used to transport loading and unloading personnel to achieve lifting and lowering actions. A control device is used to receive a loading and unloading instruction and control the drive mechanism to drive the conveying mechanism to swing to a target position according to the loading and unloading position of the object to be loaded and unloaded contained in the loading and unloading instruction. The target position is a position where the loading and unloading vehicle can load and unload the object to be loaded and unloaded. The loading and unloading instruction includes: the loading and unloading position of the object to be loaded and unloaded, and the description or identification information of the object to be loaded and unloaded. The monitoring system includes the working status of four mechanisms: the drive mechanism, the conveying mechanism, the walking mechanism, and the lifting mechanism. When one of the four mechanisms is in operation, the other three mechanisms are prohibited from operating. This monitoring and prohibition mechanism achieves safety interlocking to ensure that each mechanism can operate in a predetermined manner and sequence. The conveying mechanism is a telescopic conveying mechanism, which includes a telescopic action execution component and a conveying component. The telescopic action execution component is used to perform extension and / or retraction actions to change the position of the conveying component. Monitor whether the conveying component has reached the target position; if the conveying component has not reached the target position, control the retractable actuator to perform extension and / or retraction actions according to the loading and unloading position, so that the conveying component reaches the target position; Before receiving the loading and unloading instructions, the safety interlock status of each mechanism is checked; when the maintenance mode is detected, it is monitored whether the conveying mechanism, the driving mechanism and the lifting mechanism are in a stopped state, and if the travel mechanism does not activate the timeout protection, the travel mechanism is allowed to work, and the safety interlock of the travel mechanism is considered to be normal.

6. The loading and unloading vehicle according to claim 5, characterized in that, The loading and unloading vehicle also includes: A walking mechanism is used to drive the loading and unloading vehicle to move on the ground; Lifting mechanisms are used to transport loading and unloading personnel to achieve lifting and lowering actions.

7. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the loading and unloading vehicle control method according to any one of claims 1 to 3 by executing the executable instructions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the loading and unloading vehicle control method according to any one of claims 1 to 3.

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