A transfer elevator

Abstract

This invention relates to the field of lifting platform technology, specifically to a transfer lifting platform. The invention includes: a frame; a moving unit capable of moving the frame; a lifting unit capable of raising and lowering the frame; a docking platform for docking with a docking area; a fine-tuning unit for fine-tuning the horizontal angle and / or lateral position of the docking platform; and a control unit. Through the cooperation of the fine-tuning unit and the control unit, this invention can automatically detect the position and angle of the docking platform, and then adjust the docking platform to achieve docking, thereby improving the accuracy and efficiency of docking.

Description

Technical Field

[0001] This invention relates to the field of elevator technology, and more specifically to a transfer elevator. Background Technology

[0002] When the lifting platform rises to a high height, the limited line of sight makes it difficult to clearly determine whether the alignment is correct. In such cases, alignment is usually judged manually based on camera footage, and the height or horizontal position of the lifting platform is adjusted accordingly. This often requires operators to make multiple adjustments based on experience, significantly reducing efficiency. During docking, operators also need to adjust the horizontal position of the docking platform, increasing the complexity of the task, especially in confined spaces or close to the docking area, potentially leading to collisions with surrounding objects. Furthermore, if the lifting platform is higher than the docking area, bumps will occur during material unloading, typically more noticeable when the height exceeds 5 cm, potentially causing material displacement or damage. If the lifting platform is lower than the docking area, unloading or lowering the trolley will be difficult for operators, and they may even be unable to push it up.

[0003] Utility model application CN202222641798.0 discloses a conveyor lift in the field of conveyor lifting technology. It includes a fixed base, a guide rail plate fixedly connected to the top left side of the fixed base, and a power box fixedly connected to the top right side of the fixed base. A transmission column is rotatably connected to the bottom right side of the inner cavity of the power box and extends to the outside of the power box. A telescopic column is threadedly connected to the outer wall of the transmission column. A first fixed frame is fixedly connected to the top of the telescopic column. The lifting body is rotatably connected between the front and rear side walls of the inner cavity of the first fixed frame. A second fixed frame is rotatably connected to the left side of the front and rear side walls of the lifting body. This conveyor lift has a reasonable structural design, allowing the horizontal angle of the lifting body to change, facilitating workers to freely adjust the height of the conveyor lift according to actual lifting height requirements, thereby greatly improving the applicability of the conveyor lift.

[0004] However, this patent requires manual adjustment of the elevator's height, making the operation quite complex, and it can only handle adjustments within the visible range.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Summary of the Invention

[0006] The purpose of this invention is to provide a transfer elevator that can effectively solve the above-mentioned technical problems.

[0007] To achieve the objectives of this invention, the following technical solution is adopted:

[0008] A transfer lift includes: a frame, a moving unit capable of moving the frame, and a lifting unit capable of raising and lowering the frame; a docking platform for docking with a docking area, a fine-tuning unit for fine-tuning the horizontal angle and / or lateral position of the docking platform, and a control unit; the fine-tuning unit includes: a servo motor capable of rotating the docking platform, and a sliding assembly capable of simultaneously driving the docking platform and the servo motor to slide; the docking platform consists of a traveling plate fixedly installed on the top of the frame, conveyor plates symmetrically installed on both sides of the traveling plate, a plurality of rollers fixed to the bottom of the conveyor plates, and a dual-axis motor driving the conveyor plates and the plurality of rollers; a safety door is installed on the top of the docking platform, and when the dual-axis motor is started, it drives the conveyor plates to move and simultaneously drives the rollers to rotate, and the conveyor plates drive the safety door to open.

[0009] Furthermore, the sliding assembly consists of a left frame assembly and a right frame assembly symmetrically installed on the left and right sides of the servo motor; the left frame assembly includes: a left frame, two long guide rails fixedly installed on the left frame, two sliders 1 respectively installed on the two long guide rails, a short guide rail fixedly connected between the slider 1 of one long guide rail and the slider 1 of the other long guide rail, a slider 2 slidably installed on the short guide rail, a rotating block rotatably installed on the top of the slider 2, and the rotating block fixedly connected to the walking plate.

[0010] Furthermore, a longitudinal guide rail is installed and fixed between the left frame assembly and the right frame assembly, a slider three is slidably installed on the longitudinal guide rail, a servo motor one is fixedly installed on the slider three, and a limiting block that can adjust the angle between the left frame assembly and the right frame assembly is fixedly installed on the output shaft of the servo motor one.

[0011] Furthermore, the control unit includes: an image acquisition unit that acquires images of the docking platform in real time; an image processing unit that performs noise reduction on the acquired images and edge enhancement on the images; and an image analysis unit; the edge enhancement includes: performing a convolution operation on the acquired images to obtain enhanced edge information; the image analysis unit extracts the edge information and extracts preset information of the docking platform; the preset information includes: the specific shape, color, and position information of the docking platform.

[0012] Furthermore, the extraction of the edge information includes: extracting the edge line that is closest to the docking area among the edge information; the closest includes at least: the closest in angle or distance, that is: the edge line that is closest in distance or has the smallest included angle to the edge line of the docking area;

[0013] Calculate the angle of the edge line, and calculate the adjustment value based on the angle;

[0014] Adjust the horizontal position and / or angle of the docking platform according to the adjustment value.

[0015] Furthermore, one endpoint of the docking area of ​​the docking platform is preset as the origin, and the edge of the docking area is the x-axis; the coordinates (x1, y1) and (x2, y2) of the two endpoints of the edge of the docking area are defined, and the slope m is calculated based on the coordinates, that is:

[0016] A threshold range for the slope m is set. If the slope m is greater than the set threshold, the angle φ of the docking platform is adjusted according to the slope m.

[0017] The angle φ of the docking platform can be calculated by the slope m, that is: φ=arctan(m);

[0018] The number of revolutions of the servo motor in either forward or reverse direction is controlled according to the adjustment angle φ.

[0019] Let N be the number of revolutions of the servo motor; φ be the adjustment angle of the docking platform; θ be the rotation angle of the docking platform corresponding to one revolution of the servo motor; k be the adjustment factor, representing the actual impact of one revolution of the servo motor on the lifting platform angle; and e be the error factor, representing the existing systematic error. Then:

[0020] Furthermore, position acquisition units are symmetrically installed at the two ends of the docking area. When the angle φ of the docking platform is adjusted, secondary verification is performed through the position acquisition units.

[0021] Let P1 be the position information between the docking area and the area to be docked measured by the position acquisition unit at one end, and P2 be the position information between the docking area and the area to be docked measured by the position acquisition unit at the other end. Calculate the position difference P = P1 - P2; define the threshold range of P as YZ.

[0022] If P=0, then the docking area is not in contact with the area to be docked, or the docking area is parallel to the area to be docked.

[0023] If P≤YZ, then no further adjustment is needed;

[0024] If P > YZ, then adjustments are needed;

[0025] When P=0, verify whether P1 is 0; if P1=0, the image analysis unit verifies the alignment of the image; if it is not 0, then stop.

[0026] Furthermore, the image acquisition unit is a camera, and the camera is communicatively connected to a terminal device with a touch screen. The terminal device is used to display the images captured by the camera in real time.

[0027] The touchscreen is used to receive a user's touch on the image, detect the contact corresponding to the image, and then display the touched location in a first manner;

[0028] Divide the area into several regions that are continuous with the touched position, and display the regions in a second manner;

[0029] If the touchscreen detects a touch outside the area, the first method of displaying the location of the previous touch is canceled, and the second method of displaying the area is canceled.

[0030] If the touchscreen detects continuous touches in the area, or detects an acknowledgment signal for the area, the fine-tuning unit controls the docking platform to dock with the area.

[0031] Furthermore, the first method displays the image using color-changing technology; the second method displays the image using border lines.

[0032] Furthermore, the touchscreen is also used to receive continuous contact from the user with the touchscreen, and movement in relation to the continuous contact;

[0033] Fit the path formed by the movement;

[0034] Display the region within the path in the second manner;

[0035] If continuous touch or confirmation signals are detected in the area, the fine-tuning unit controls the docking platform to dock with the area.

[0036] Compared with the prior art, the present invention has the following beneficial effects: the present invention, through the cooperation of the fine-tuning unit and the control unit, can automatically detect the position and angle of the platform to be docked, and then adjust the docking platform to achieve docking, which can improve the accuracy and efficiency of docking. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0038] Figure 1 This is an axonometric schematic diagram of a transfer elevator according to the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of a transfer elevator according to the present invention;

[0040] Figure 3 This is a schematic diagram of the docking platform structure of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the roller of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure below the docking platform of the present invention;

[0043] Figure 6 for Figure 5 A magnified view of part A in the middle;

[0044] Figure 7 This is a schematic diagram of the structure of the fine-tuning unit of the present invention;

[0045] Figure 8 This is an exploded view of the fine-tuning unit of the present invention;

[0046] Figure 9 This is a schematic diagram of the fine-tuning unit of the present invention;

[0047] Figure 10 This is a partial schematic diagram of the dual-axis motor of the present invention;

[0048] Figure 11 This is a front view of the safety door of the present invention;

[0049] Figure 12 for Figure 11 A magnified view of part B in the middle section;

[0050] Figure 13 This is a flowchart of the present invention.

[0051] In the diagram: 1. Frame; 2. Moving unit; 3. Lifting unit; 4. Docking platform; 5. Fine-tuning unit; 6. Control unit; 41. Walking plate; 42. Conveyor plate; 43. Roller; 44. Dual-axis motor; 441. Gear 1; 442. Chain; 431. Connecting block; 432. Belt; 45. Safety door; 451. Lock; 452. Inclined block; 453. Spring; 454. Telescopic block; 51. Servo motor 1; 52. Sliding assembly; 521. Left frame assembly; 522. Right frame assembly; 5211. Left frame; 5212. Long guide rail; 5213. Slider 1; 5214. Short guide rail; 5215. Slider 2; 5216. Rotating block; 5217. Longitudinal guide rail; 5218. Slider 3; 511. Limiting block; 5219. Driving component; 52191. Rack; 52192. Gear 2; 52193. Servo motor 2; 7. Camera; 8. Terminal equipment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0053] In the description of this invention, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. When a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intermediate component at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0054] like Figures 1 to 13 As shown, the present invention provides a transfer elevator, comprising: a frame 1, a moving unit 2 capable of moving the frame 1, a lifting unit 3 capable of lifting the frame 1; a docking platform 4 for docking with the docking area to be docked, a fine-tuning unit 5 for fine-tuning the horizontal angle and / or lateral position of the docking platform 4, and a control unit 6; in this embodiment, lateral refers to the left-right direction perpendicular to the forward direction of the frame 1.

[0055] The docking platform 4 consists of a horizontally arranged traveling plate 41 fixedly installed at the top center of the frame 1, conveying plates 42 symmetrically installed on both sides of the traveling plate 41, several rollers 43 fixed at the bottom of the conveying plate 42, and a dual-axis motor 44. The dual-axis motor 44 can drive the conveying plate 42 to move laterally and simultaneously drive the rollers 43 to rotate. The cross-section of the conveying plate 42 is trapezoidal, with the loading end and unloading end being inclined sides to facilitate loading and unloading.

[0056] The output shaft of the dual-axis motor 44 is fixedly connected to the rollers 43 on both sides, and a gear 441 is installed on the output shaft. There are two gears 441 on each side, which are coaxially connected to the rollers 43 at the starting and ending positions, respectively. The two gears 441 on the same side are connected by a chain 442. A connecting block 431 is provided on the side of the roller 43 on the same side near the gear 441. The connecting blocks 431 are connected by a belt 432 to avoid interference between the belt 432 and the conveyor plate 42. The speed ratio between the roller 43 and the conveyor plate 42 can be adjusted by adjusting the diameter ratio of the connecting block 431 and the gear 441. When the output shaft of the dual-axis motor 44 rotates, it drives the rollers 43 and the gears 441 to rotate at the same time, thereby driving the conveyor plate 42 to move laterally while driving the rollers 43 to rotate.

[0057] During movement, the conveyor plate 42 moves the items placed on it laterally, facilitating unloading. When the length of the items does not exceed the length of the conveyor plate 42, the roller 43 provides additional support to ensure the conveyor plate 42 remains stable during movement, reducing bending or deflection and improving the stability of the entire system. Simultaneously, the rotation of the roller 43 reduces the resistance to the lateral movement of the conveyor plate 42, making the surfaces of the conveyor plate 42 and roller 43 easier to slide, resulting in smoother movement of the conveyor plate 42. The rotation of the roller 43 also distributes the load on the conveyor plate 42, helping to extend its service life. This design reduces maintenance costs. When the length of an item exceeds the length of the conveyor plate 42, a portion of the item moves laterally along the conveyor plate 42 via the drive of the conveyor plate 42, while the portion exceeding the length of the conveyor plate 42 moves laterally under the action of the roller 43. This design avoids the need for a longer conveyor plate 42, reduces the system's requirement for lateral space, helps save space, and also reduces the difficulty of unloading. The combination of the drive of the conveyor plate 42 and the lateral movement of the roller 43 enables this device to handle items of different lengths. Short items can be placed entirely on the conveyor plate 42, while long items can be moved laterally with the support of the roller 43.

[0058] A safety door 45 is rotatably mounted on the docking platform 4. A latch 451 is located at the bottom of the safety door 45, which locks the safety door 45 when it is closed. An inclined block 452 is fixedly connected to the latch 451. The bottom of the inclined block 452 is fixedly connected to a telescopic block 454, and a spring 453 is fixedly installed at the bottom of the inclined block 452, allowing it to move upwards, thereby moving the latch 451 upwards. The spring 453 can be installed inside the telescopic block 454 or on at least one side of the telescopic block 454. When the conveyor plate 42 moves towards the safety door 45, it presses down on the inclined block 452, causing the latch 451 to separate from the safety door 45. Then, the conveyor plate 42 pushes open the safety door 45 during its movement. When the conveyor plate 42 moves in the opposite direction and the safety door 45 is closed, the spring 453... The locking latch 451 locks the safety door 45. The safety door 45 is connected to the conveyor plate 42 by a spring or elastic rope, or by magnetic attraction. As long as the safety door 45 can automatically reset when the conveyor plate 42 moves back, it is sufficient. In this embodiment, the inclined block 452 is a hidden design, that is, the material or the operator cannot directly touch the inclined block 452 to unlock it, avoiding the situation of accidentally unlocking the safety door 45. The inclined block 452 can also be not hidden, depending on the needs. Generally, when unloading, the operator usually stands on the side away from the safety door 45 to be opened. Manually opening the door is too troublesome. This design unlocks and opens the safety door 45 at the same time as the conveyor plate 42 moves outward, which is very convenient and helps to improve the convenience of the operator and improve the overall efficiency of the system.

[0059] The rotation of the dual-axis motor 44 can not only drive the roller 43 to rotate, but also push the conveyor plate 42 to move left and right in the lateral direction. At the same time, it can unlock the safety door 45 when the conveyor plate 42 moves. Moreover, the conveyor plate 42 also opens the safety door 45 after unlocking it to facilitate material unloading. This can improve work efficiency, simplify the system structure, realize automated operation, and thus improve the efficiency of the production line. Moreover, the unloading process of the items can be completed automatically in just one simple step.

[0060] The fine-tuning unit 5 is located at the bottom of the docking platform 4 and is used to drive the docking platform 4 to rotate horizontally or move laterally. The fine-tuning unit 5 includes: a servo motor 51 that can drive the docking platform 4 to rotate, and a sliding component 52 located below the docking platform 4 and capable of driving the docking platform 4 to slide laterally. The sliding component 52 is composed of a left frame component 521 and a right frame component 522 symmetrically installed on the left and right sides of the servo motor 51. The symmetrical structure helps to balance the entire system and improve stability.

[0061] The left frame assembly 521 includes: a left frame 5211; two long guide rails 5212 fixedly mounted on the left frame 5211; two sliders 5213 mounted on the two long guide rails 5212 respectively; a short guide rail 5214 fixedly connected between sliders 5213 of one long guide rail 5212 and sliders 5213 of the other long guide rail 5212; a slider 5215 slidably mounted on the short guide rail 5214; a rotating block 5216 rotatably mounted on the top of slider 5215; and the rotating block 5216 fixedly connected to the traveling plate. The length direction of the long guide rails 5212 is perpendicular to the forward direction of the frame 1, and the length direction of the short guide rails 5214 is perpendicular to the forward direction of the frame 1. The forward direction is parallel; the right frame assembly 522 and the left frame assembly 521 have the same structure and are symmetrically installed on both sides of the servo motor 51. The specific structure of the right frame assembly 522 will not be described in detail in this application. When the servo motor 51 rotates, the slider 5213 slides along the long guide rail 5212, the slider 5215 slides along the short guide rail 5214, and the rotating block 5216 rotates at the same time, thereby driving the left frame 5211 and the right frame to rotate synchronously, so that the angle can be adjusted. The device uses the design of the long guide rail 5212, the short guide rail 5214 and multiple sliders, which can realize complex motion trajectories, thereby improving the motion flexibility and adjustability of the system.

[0062] A longitudinal guide rail 5217 is also installed and fixed between the left frame 5211 and the right frame. A slider 3 5218 is slidably installed on the longitudinal guide rail 5217. A servo motor 1 51 is fixedly installed on the slider 3 5218, and a limit block 511 is fixedly installed on the output shaft of the servo motor 1 51. The limit block 511 is fixedly connected to the left frame 5211 and the right frame. At least one side of the servo motor 1 51 is provided with a driving component 5219 that can drive the left frame 5211 and the right frame to move laterally. The driving component 5219 can be: a linear servo motor, a telescopic cylinder, a servo push rod, or it can be driven by a chain or gear. Rack and pinion drive; taking rack and pinion drive as an example, the drive component 5219 includes: rack 52191 fixedly connected to the mounting base of servo motor 52193, gear 52192 meshing with rack 52191, and servo motor 52193 driving gear 52192 to rotate; the rack 52191 moves laterally by rotating servo motor 52193, and rack 52191 moves in the opposite direction when servo motor 52193 reverses, thereby driving the left frame 5211, right frame, and servo motor 51 to move laterally. The rack and pinion drive has low transmission cost and high precision.

[0063] By driving the servo motor 51, the left frame 5211, and the right frame synchronously through the drive component 5219, the docking platform 4 can be adjusted to any horizontal position, and the angle of the docking platform 4 can be adjusted in any horizontal position. This allows the device to better adapt to different working scenarios, docking positions, and operational requirements, thereby improving the adaptability of the entire system. In conjunction with the automation control unit 6, the automatic adjustment of the docking platform 4 can be realized.

[0064] The control unit 6 includes: an image acquisition unit that acquires images of the docking platform 4 in real time; an image processing unit that performs noise reduction and edge enhancement on the acquired images; and an image analysis unit. Edge enhancement includes performing a convolution operation on the acquired images to obtain enhanced edge information.

[0065] Image analysis unit: Extracts edge information and extracts preset information of docking platform 4; preset information includes: specific shape, color and position information of docking platform 4;

[0066] Extracting edge information includes: extracting the edge line that is closest to the docking area. The closest edge line includes at least the edge line with the closest angle or distance, that is: the edge line with the shortest distance or the smallest angle with the edge line of the docking area.

[0067] Calculate the angle of the edge line, and then calculate the adjustment value based on that angle.

[0068] Adjust the docking platform angle 4 according to the adjustment value.

[0069] The origin of the coordinate system is set as one end of the docking area of ​​the pre-defined docking platform 4, the x-axis is set as the edge of the docking area, and the y-axis is set as the line perpendicular to the edge of the docking area. The coordinates of the two endpoints of the edge of the docking area to be docked are defined as (x1, y1) and (x2, y2).

[0070] Calculate the slope m based on the coordinates, that is:

[0071] Set a threshold range for the slope m. If the slope m is greater than the set threshold, adjust the angle φ of the docking platform 4 according to the slope m; if the slope m is within the threshold range, no adjustment is made.

[0072] The angle φ of docking platform 4 can be calculated by the slope m, that is: φ=arctan(m)(Formula 2);

[0073] The number of revolutions of the servo motor 51 in either forward or reverse direction is controlled by adjusting the angle φ.

[0074] Let N be the number of revolutions of servo motor 51; φ be the adjustment angle of docking platform 4; θ be the rotation angle of docking platform 4 corresponding to one revolution of servo motor 51; let adjustment factor k represent the actual impact of one revolution of servo motor 51 on the elevator angle; and let error factor e represent the existing systematic error. Then:

[0075] After adjusting the angle, update the current coordinates of the edge line of the docking area and calculate the adjustment value of the horizontal position; let the current coordinates be (x3, y3) and (x4, y4). Since the edge line of the docking area is parallel to the area to be docked after adjusting the angle, y3 = y4.

[0076] x-axis adjustment value tz For: x tz = (x3 + x4) ÷ 2;

[0077] The adjustment value in the y-axis direction is y3 or y4;

[0078] The adjustment value in the y-axis direction is the distance that the moving unit 2 moves forward and backward, and the adjustment value in the x-axis direction is the distance that the fine-tuning unit 5 moves laterally.

[0079] In addition, the height of different floors can be preset in the database. For example, the height of residential floors is usually between 2.5 meters and 3 meters, the height of office floors is usually between 2.7 meters and 3 meters, the height of hotel floors is usually between 2.7 meters and 3 meters, and the height of industrial building floors is usually above 3 meters. When the lifting unit 3 is lifting, the height can be adjusted to the correct position according to the preset information in the database or by manually entering the target information.

[0080] Set the z-axis, which is perpendicular to both the x-axis and y-axis, and represents the height direction. If the height is not adjusted to the correct position in one go, the z-axis direction can be adjusted, i.e., height adjustment. Let the current z-axis coordinate be z1, then the adjustment value of the z-axis direction is z1. If the docking platform 4 is lower than the docking platform 4, the adjustment value of the z-axis direction can be directly obtained in the coordinate system, and the height of the lifting unit 3 can be adjusted according to the adjustment value. If the docking platform 4 is higher than the docking platform 4, the height of the docking platform 4 can be lowered until the docking platform 4 can be detected before height adjustment, or the height can be manually adjusted according to the image.

[0081] Thus, the present invention first extracts the edge line closest to the docking area from the edge information, then adjusts the rotation angle of the docking platform 4, and then adjusts the front, back, left, right, up, and down positions of the docking platform 4. This enables automatic docking of the docking platform 4 and the platform to be docked 4, reducing the need for manual operation and improving the efficiency of the docking process. Moreover, through automated adjustment, errors introduced by human operation can be reduced, improving the accuracy of docking.

[0082] Position acquisition units are symmetrically installed at the two ends of the docking area. When the angle φ of the docking platform 4 is adjusted, secondary verification is performed through the position acquisition units. The position acquisition units can be either distance sensors or pressure sensors. The adjustment results of the image analysis unit are verified by the distance difference or pressure difference to ensure that the adjustment is in place.

[0083] Let P1 be the position information between the docking area and the area to be docked measured by the position acquisition unit at one end, and P2 be the position information between the docking area and the area to be docked measured by the position acquisition unit at the other end. Calculate the position difference P = P1 - P2; define the threshold range of P as YZ.

[0084] If P=0, then the docking area is not in contact with the area to be docked, or the docking area is parallel to the area to be docked.

[0085] If P≤YZ, then no further adjustment is needed;

[0086] If P > YZ, then adjustments are needed;

[0087] When P=0, verify whether P1 is 0; if P1=0, the image analysis unit verifies the alignment of the image; if it is not 0, stop or perform horizontal position adjustment. For specific adjustment steps, refer to the steps above.

[0088] The camera 7 is connected to a terminal device 8 with a touch screen. The terminal device 8 is used to display the images captured by the camera 7 in real time. The terminal device 8 can be a handheld remote control, mobile phone, etc. with a touch screen.

[0089] The touchscreen is used to receive user touches on the image and detect the corresponding contact, and then display the location of the touch in a first manner; this feedback mechanism allows the user to intuitively perceive the impact of their operation on the image and make adjustments as needed to avoid errors in system recognition. The system can also store operation data for learning.

[0090] Divide the area into several regions that are continuous with the touched location, and display the regions in a second manner;

[0091] If the touchscreen detects a touch outside the designated area, the first method of displaying the location of the previous touch is canceled, and the second method of displaying the designated area is canceled.

[0092] If the touchscreen detects continuous touches in a region, or detects a region confirmation signal, the fine-tuning unit 5 controls the docking platform 4 to dock with that region.

[0093] The first display method is color-changing display, which means changing the color of the area to make it more obvious and easier to observe; the second display method is border display, which means displaying the boundary of the selected area with a specific color for easier observation.

[0094] The touchscreen is also used to receive continuous contact from the user and movement in relation to that contact. During the user's touch, the touchscreen continuously collects the user's touch data, including the coordinates of the touch point and the pressure. The system uses the presence and disappearance of the touch point, as well as the duration of the touch point, to detect in real time whether the user is maintaining continuous contact on the touchscreen. If continuous contact is detected, the system records the changes in the coordinates of the touch point over time, forming a movement path.

[0095] To fit this movement path, methods such as least squares fitting and spline curve fitting can be used to fit the user's movement path to better represent the selected area and improve the user experience.

[0096] Display the area within the movement path in a second way;

[0097] If continuous touch or confirmation signal is detected in the area, the fine-tuning unit 5 controls the docking platform 4 to dock with the area; for example, the user double-clicks to confirm, or clicks a virtual button on the touch screen to confirm.

[0098] When faced with a complex environment, if the system fails to correctly identify the docking platform 4, the location of the docking platform 4 can be manually selected, or the selected area can be adjusted, thereby avoiding misjudgment. This human-computer interaction method can make the system more flexible and adaptable, and at the same time provide a means to deal with complex situations. While human intervention is in place, user operations and feedback can also be recorded for system learning and optimization, thereby improving the system's level of automation.

[0099] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0100] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A transfer elevator, comprising: The frame, the moving unit that can move the frame, and the lifting unit that can raise and lower the frame; characterized in that it further includes: a docking platform that docks with the area to be docked, a fine-tuning unit for fine-tuning the horizontal angle and lateral position of the docking platform, and a control unit; The fine-tuning unit includes: a servo motor that can drive the docking platform to rotate, and a sliding component that can simultaneously drive the docking platform and the servo motor to slide. The sliding assembly consists of a left frame assembly and a right frame assembly symmetrically mounted on the left and right sides of the servo motor. The docking platform includes a walking board; The left frame assembly includes: a left frame, two long guide rails fixedly installed on the left frame, two sliders 1 installed on the two long guide rails respectively, a short guide rail fixedly connected between slider 1 of one long guide rail and slider 1 of the other long guide rail, slider 2 slidably installed on the short guide rail, a rotating block rotatably installed on the top of slider 2, and the rotating block fixedly connected to the traveling plate. A longitudinal guide rail is also installed and fixed between the left frame assembly and the right frame assembly. A slider three is slidably installed on the longitudinal guide rail. A servo motor one is fixedly installed on the slider three. A limit block that can adjust the angle between the left frame assembly and the right frame assembly is fixedly installed on the output shaft of the servo motor one. The control unit includes: an image acquisition unit that acquires images of the docking platform in real time; The origin of the coordinate system is set as one endpoint of the docking area of ​​the pre-defined docking platform, and the x-axis is set as the edge of the docking area. The coordinates of the two endpoints of the edge of the docking area are defined as (x1, y1) and (x2, y2). The slope m is calculated based on the coordinates, i.e.: ; Set a threshold range for the slope m. If the slope m is greater than the set threshold, adjust the angle Φ of the docking platform according to the slope m. The angle Φ of the docking platform can be calculated using the slope m, i.e.: Φ=arctan(m); The number of revolutions of the servo motor in either forward or reverse direction is controlled according to the angle Φ. Let N be the number of revolutions of the servo motor; Φ be the angle of the docking platform; θ be the rotation angle of the docking platform corresponding to one revolution of the servo motor; k be the adjustment factor, representing the actual impact of one revolution of the servo motor on the angle of the elevator; and e be the error factor, representing the existing systematic error. Then: ; Position acquisition units are symmetrically installed at the two ends of the docking area. When the angle Φ of the docking platform is adjusted, secondary verification is performed through the position acquisition units. Let P1 be the position information between the docking area and the area to be docked measured by the position acquisition unit at one end, and P2 be the position information between the docking area and the area to be docked measured by the position acquisition unit at the other end. Calculate the position difference P = P1 - P2; define the threshold range of P as YZ. If P=0, then the docking area is not in contact with the area to be docked, or the docking area is parallel to the area to be docked. If P≤YZ, then no further adjustment is needed; If P > YZ, then adjustments are needed; When P=0, verify whether P1 is 0; if P1=0, the image analysis unit verifies the alignment of the image; if it is not 0, stop.

2. A transfer elevator as claimed in claim 1, characterized in that, The control unit also includes an image processing unit and an image analysis unit for denoising the acquired image and enhancing its edges; the edge enhancement includes performing a convolution operation on the acquired image to obtain enhanced edge information; Image analysis unit: Extracts edge information and extracts preset information of the docking platform; preset information includes: specific shape, color and position information of the docking platform.

3. A transfer elevator as claimed in claim 2, characterized in that, Extracting edge information includes: extracting the edge line that is closest to the docking area; the closest must be the edge line with the closest angle or distance, that is: the edge line that is closest to the edge line of the docking area in terms of distance or the smallest included angle. Calculate the angle of the edge line, and then calculate the adjustment value based on the angle. Adjust the horizontal position and angle of the docking platform according to the adjustment values.

4. A transfer elevator as claimed in claim 3, characterized in that, The image acquisition unit is a camera, and the camera is connected to a terminal device with a touch screen. The terminal device is used to display the images captured by the camera in real time. The touchscreen is used to receive a user's touch on an image, detect the corresponding contact on the image, and then display the touched location in a first manner; Divide the area into several regions that are continuous with the touched location, and display the regions in a second manner; If the touchscreen detects a touch outside the designated area, the first method of displaying the location of the previous touch is canceled, and the second method of displaying the designated area is canceled. If the touchscreen detects continuous touches on a region, or detects a region confirmation signal, the fine-tuning unit controls the docking platform to dock with the region.

5. A transfer elevator as claimed in claim 4, characterized in that, The first display method uses color-changing display; the second display method uses border display.

6. A transfer elevator as claimed in claim 5, characterized in that, The touchscreen is also used to receive continuous contact and movement of the touchscreen by the user. Fit the path formed by the movement; Display the area within the path in a second manner; If continuous touch or confirmation signals are detected in the area, the fine-tuning unit controls the docking platform to dock with the area.

7. A transfer elevator as claimed in claim 1, characterized in that, The walking plate is fixedly installed on the top of the frame. The docking platform also includes conveyor plates symmetrically installed on both sides of the walking plate, several rollers fixed at the bottom of the conveyor plates, and a dual-axis motor that drives the conveyor plates and the rollers. The docking platform is equipped with a safety door at the top. When the dual-axis motor starts, it drives the conveyor plate to move and the rollers to rotate. At the same time, the conveyor plate opens the safety door.

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