A loading method based on laser radar

Abstract

The application relates to a laser radar-based loading method, which comprises the following steps: S1, when a container approaches a lifting platform, a transverse conveying frame is controlled to move to a discharging end of a transverse conveying mechanism, and the inside of the container is scanned by a laser radar; S2, the position of a goods pallet is scanned by the laser radar, and goods are received; S3, the goods pallet is made to avoid a bottom protrusion of the container; S4, the goods on the transverse conveying mechanism are forked up by the forward movement of an intelligent trolley; S5, the intelligent trolley is controlled to move backward to a material arranging mechanism of the lifting platform, the material arranging mechanism is driven to clamp and arrange the goods, the shape of the goods is adapted to the middle protrusion and the high protrusion; S6, the transverse conveying frame of the transverse conveying mechanism is controlled to return to a feeding end of the transverse conveying mechanism; S7, the intelligent trolley is controlled to move linearly forward into the container, and the goods are placed down; and S8, steps S2-S7 are repeated until the goods are completely conveyed.

Description

Technical Field

[0001] The present invention relates to the field of vehicle loading methods, and in particular to a vehicle loading method based on laser radar. Background Art

[0002] A container, also known as a freight container, is a large container with a certain strength, rigidity, and specifications designed for turnover. Goods are placed inside the container and then transported to their destination. Currently, transporting and transferring goods into containers and loading them into trucks / containers typically involves manual loading or forklifts.

[0003] During the use of containers from loading, truck transportation to unloading, damage often occurs. For example, the container is overloaded, the load is unevenly distributed, the cargo is loosely tied or the padding is insufficient, or it collides with the outside, is exposed to high temperatures, etc., which will cause the container to deform. The most common deformation of the container is concave. In order to ensure the transportation efficiency of the container as much as possible, the width of the cargo is generally set to be slightly smaller than the width of the container. When the concave deformation occurs in the container, it will be difficult for the cargo to enter the container. The existing patent application with application number CN202210109414.2 and the name of a loading system and its control method, before the trolley enters the container, the structure of the loading system limits the forward direction of the trolley to the moving direction on the lifting platform. If the cargo on the trolley collides with the concave deformation of the container, it is necessary to adjust the driving direction of the trolley multiple times, resulting in a technical problem of low handling and loading efficiency.

[0004] The purpose of this invention is to design a loading method based on laser radar to solve the above problems in the prior art. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a vehicle loading method based on laser radar, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is:

[0007] A vehicle loading method based on laser radar, wherein the vehicle loading method is based on a vehicle loading system, and the vehicle loading system comprises:

[0008] Several conveyor tracks for conveying goods;

[0009] A transverse conveying mechanism, comprising a transverse conveyor and a transverse conveyor frame driven transversely by the transverse conveyor, wherein the transverse conveyor frame is U-shaped, and the opening of the transverse conveyor frame faces the discharge end of the transverse conveying mechanism, and the feed end of the transverse conveying mechanism is correspondingly arranged at the discharge end of the conveying track for receiving the goods transported by the conveying track;

[0010] A lifting platform can be raised and lowered and / or moved sideways, one end of the lifting platform extends above the transverse conveyor, and when the transverse conveyor frame moves to the discharge end of the transverse conveyor mechanism, one end of the lifting platform is located inside the opening of the transverse conveyor frame, and the discharge end of the lifting platform faces the corresponding container;

[0011] A laser radar, wherein the laser radar is arranged on the transverse conveyor frame;

[0012] An intelligent car capable of traveling forward and backward is arranged on the lifting platform;

[0013] A pair of material-forming mechanisms, wherein the material-forming mechanisms are relatively arranged at the middle position of the lifting platform;

[0014] The loading method comprises:

[0015] S1: When a container approaches the lifting platform, the lifting platform is controlled to rise to the same height as the container, the left and right positions of the lifting platform are controlled to dock with the container, the transverse conveyor frame is controlled to move to the discharge end of the transverse conveyor mechanism, and the interior of the container is scanned by a laser radar. The interior of the container includes the bottom protrusion, the middle protrusion, and the high protrusion of the container inner wall;

[0016] S2, transporting the goods to the feed end of the transverse conveying mechanism through the conveying track, scanning the position of the cargo pallet through the laser radar, and receiving the goods;

[0017] S3, conveying the cargo to the discharge end of the transverse conveying mechanism by the transverse conveying frame, and making the cargo pallet avoid the bottom protrusion of the container if there is a bottom protrusion;

[0018] S4, controlling the smart trolley to move forward to a position of the lifting platform corresponding to the discharge end of the transverse conveying mechanism, and forking the cargo on the transverse conveying mechanism by moving the smart trolley forward;

[0019] S5, controlling the smart car to move backward to the material-forming mechanism of the lifting platform, and driving the material-forming mechanism to clamp and shape the cargo so that the shape of the cargo matches the middle protrusion and the high protrusion;

[0020] S6, controlling the transverse conveying frame of the transverse conveying mechanism to return to the feed end of the transverse conveying mechanism;

[0021] S7, controlling the smart car to move straight forward into the container, put down the cargo, and control the smart car to return to the lifting platform;

[0022] S8, repeat steps S2-S7 until all the goods are transported.

[0023] Furthermore, in step S2, scanning the position of the cargo pallet by using a laser radar includes:

[0024] Scan the left and right offset L of the cargo pallet at the discharge end of the conveyor track by using a laser radar to obtain the position of the cargo pallet at the discharge end of the conveyor track;

[0025] In step S3, making the cargo pallet avoid the bottom protrusion of the container includes:

[0026] Define the protrusion distance of the bottom protrusion as X, the distance required for the transverse conveyor frame to move from the center position of the conveyor track to the center position of the container as A, and control the moving distance of the transverse conveyor frame to be X+A+L so that the front of the cargo pallet avoids the bottom protrusion.

[0027] Furthermore, a driving member is provided on the bottom surface of the upper end of the transverse conveyor frame, and the driving member drives the laser radar to move forward and backward. When the laser radar is driven to the rear end of the transverse conveyor frame and the transverse conveyor frame moves to a position close to the conveying track, the laser radar can scan the cargo pallet on the conveying track. When the laser radar is driven to the front end of the transverse conveyor frame and the transverse conveyor frame moves to a position close to the lifting platform, the laser radar can scan the situation inside the container.

[0028] Furthermore, the material-forming mechanism includes a fixed frame, which is fixedly arranged at the middle position of the lifting platform. The fixed frame is provided with a plurality of material-forming plates in sequence from top to bottom, and the material-forming plates are driven by corresponding driving cylinders to extend toward the cargo;

[0029] The driving cylinder drives the whole material plate to extend and clamp the goods, so that the shape of the goods after being clamped avoids the middle protrusion or the high protrusion.

[0030] Furthermore, in step S5, driving the material shaping mechanism to clamp and shape the goods so that the shape of the goods matches the middle protrusion and the high protrusion includes:

[0031] According to the protrusion amount of the middle protrusion or the high protrusion, the extension amount of the corresponding driving cylinder is controlled to clamp the goods, so that the shape of the goods after being clamped avoids the middle protrusion or the high protrusion.

[0032] Furthermore, the extension amount of the driving cylinder controlling the corresponding position of the middle protrusion or the high protrusion is greater than the extension amount of the driving cylinder on the other side, so that the cargo is clamped to form a corresponding concave structure, avoiding the middle protrusion or the high protrusion.

[0033] Furthermore, the internal condition of the container includes the presence of foreign matter inside the container;

[0034] In step S1, after scanning the interior of the container with the LiDAR, the following steps are executed:

[0035] If there are foreign objects inside the container, the smart car is refused to enter the container and the loading method is stopped.

[0036] Furthermore, the lifting platform is provided with a guide plate, and limit wheels are provided on the left and right sides of the smart car. The cooperation between the guide plate and the limit wheels limits the driving direction of the smart car to forward and backward.

[0037] Therefore, the present invention provides the following effects and / or advantages:

[0038] The present invention uses a laser radar to scan the container interior and the cargo pallet, precisely controlling the pallet's position above the lifting mechanism. This allows the intelligent cart to fork the cargo and then enter the container truck in a straight line, avoiding raised areas within the container. Furthermore, the cargo is shaped to match the raised areas within the container, avoiding these areas. As a result, the intelligent cart only needs to move forward and backward in a straight line, reducing the time and complex judgment required for steering to avoid raised areas within the container, significantly improving loading efficiency.

[0039] The present invention arranges a laser radar under the transverse conveyor frame, and a structure that allows the laser radar to move back and forth, so that the goods and containers can be scanned by a laser radar and given a sufficient coverage range, while maintaining the function of the transverse conveyor frame to transport the goods.

[0040] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0041] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0043] Figure 2 Schematic diagram of the lidar scanning results of the container.

[0044] Figure 3 It is a structural diagram of the transverse conveying mechanism.

[0045] Figure 4Schematic diagram of the working process of an embodiment of the present invention.

[0046] Figure 5 Schematic diagram of the internal deformation of the container.

[0047] Figure 6 Schematic diagram of the offset between the cargo pallet and the conveyor track.

[0048] Figure 7 This is a schematic diagram of the control system controlling the running distance of the transverse conveyor frame.

[0049] Figure 8 This is a structural diagram of the whole material mechanism.

[0050] Figure 9 This is a schematic diagram of the control system controlling the material shaping mechanism to shape the goods. DETAILED DESCRIPTION

[0051] In order to facilitate understanding by those skilled in the art, the present invention is now described in further detail with reference to the following examples:

[0052] refer to Figures 1-9 , a loading system based on laser radar, comprising:

[0053] A plurality of conveying tracks 1 for conveying goods;

[0054] The transverse conveying mechanism 2 includes a transverse conveyor 201 and a transverse conveyor frame 202 that is laterally driven by the transverse conveyor 201. The transverse conveyor frame 202 is U-shaped, and the opening of the transverse conveyor frame 202 faces the discharge end of the transverse conveying mechanism 2. The feed end of the transverse conveying mechanism 2 is correspondingly arranged at the discharge end of the conveying track 1, for receiving the goods transported by the conveying track 1. In this embodiment, the transverse conveyor 201 is a prior art and is used for transverse conveying. When the goods are placed in the transverse conveyor frame 202, the transverse conveyor 201 drives the transverse conveyor frame 202 to run from one end to the other end, thereby conveying the goods. At the same time, the conveying direction of the transverse conveyor 201 is perpendicular to the conveying direction of the conveying track 1. In some embodiments, the height of the conveying track 1 is flush with the upper end surface of the transverse conveyor frame 202, so that the goods on the conveying track 1 can be directly transported into the transverse conveying mechanism 2. In this embodiment, the transverse conveyor frame 202 is U-shaped, that is, the transverse conveyor frame 202 includes an opening, one of the transverse parts of the U-shape is connected to the transverse conveyor 201, and the other transverse part of the U-shape is arranged above the transverse conveyor 201. The gap is arranged between the two transverse parts of the U-shape, and the gap is used to make way for other subsequent components.

[0055] The lifting platform 3 can be raised and lowered and / or shifted sideways. One end of the lifting platform 3 extends to the top of the transverse conveyor 201. When the transverse conveyor frame 202 runs to the discharge end of the transverse conveyor mechanism 2, one end of the lifting platform 3 is located inside the opening of the transverse conveyor frame 202, and the discharge end of the lifting platform 3 faces the corresponding container. In this embodiment, the lifting platform 3 can be raised and lowered to match the height of the container, and can be shifted sideways to match the left and right positions of the container, so that the lifting platform 3 is docked into the container, so that the subsequent smart car 4 can drive into the container from the lifting platform 3.

[0056] Laser radar 6, the laser radar 6 is arranged on the transverse conveyor frame 202, and when the transverse conveyor frame 202 moves to a position close to the lifting platform 3, the laser radar 6 is used to scan the interior of the container. When the transverse conveyor frame 202 moves to a position close to the conveyor track 1, the laser radar 6 is used to scan the cargo pallet on the conveyor track 1;

[0057] An intelligent car 4, which can travel forward and backward, is arranged on the lifting platform;

[0058] A pair of material-forming mechanisms 5 are relatively arranged at the middle position of the lifting platform 3; the material-forming mechanisms 5 of this embodiment can shape the goods into a certain shape, which is suitable for goods such as cement and flour.

[0059] A control system, which controls the transverse conveyor frame 202 to move to a corresponding position above the lifting platform 3 based on the internal conditions of the container and the position of the cargo pallet obtained by the laser radar 6, so that the cargo pallet avoids the deformation area at the bottom of the inner wall of the container, and controls the material shaping mechanism 5 to shape the corresponding cargo so that the shape of the cargo is adapted to the shape of the middle and high parts of the inner wall of the container.

[0060] In this embodiment, the conveying track 1, the transverse conveying mechanism 2, the lifting platform 3, the intelligent trolley 4, and the laser radar 6 can all be directly adopted from existing technologies. The legs of the lifting platform 3 can be provided with oil cylinders or air cylinders for driving the lifting platform up and down or sideways, so as to adapt to the height of the container, so that the intelligent trolley 4 can drive from the lifting platform into the container. The intelligent trolley 4 can be a forklift with an intelligent control system. The conveying track 1 can be a power transmission belt, and the goods run on the conveying track 1 through the cargo pallet. The transverse conveyor 201 is used for transverse transportation. When the goods are placed in the transverse conveyor frame 202, the transverse conveyor 201 drives the transverse conveyor frame 202 to run from one end to the other end, thereby transporting the goods. At the same time, the conveying direction of the transverse conveyor 201 is perpendicular to the conveying direction of the conveying track 1. The transverse conveyor frame 202 is U-shaped, that is, the transverse conveyor frame 202 includes an opening, one of the transverse parts of the U-shape is connected to the transverse conveyor 201, and the other transverse part of the U-shape is arranged above the transverse conveyor 201. The gap is arranged between the two transverse parts of the U-shape, and the gap is used to make way for other subsequent components.

[0061] When a container is damaged and concave, it may be difficult for cargo to pass through the concave part of the container. Therefore, this embodiment adds a laser radar 6, which moves with the transverse conveyor frame 202. The transverse conveyor frame 202 can move to the position corresponding to the container and the position corresponding to the conveyor track 1. The radar can scan and obtain the left and right position of the cargo on the conveyor track 1, and can also scan and obtain the internal conditions of the container.

[0062] In this embodiment, the loading method includes:

[0063] S1: When the container approaches the lifting platform 3, the lifting platform 3 is controlled to rise to the same height as the container. The left and right positions of the lifting platform 3 are controlled to dock with the container. The transverse conveyor frame 202 is controlled to move to the discharge end of the transverse conveyor mechanism 2. The interior of the container is scanned by the laser radar 6. The interior of the container includes the bottom protrusion 701, the middle protrusion 702, and the high protrusion 703 on the inner wall of the container.

[0064] S2, transporting the goods to the feeding end of the transverse conveying mechanism 2 through the conveying track 1, scanning the position of the cargo pallet through the laser radar 6, and receiving the goods;

[0065] S3, conveying the cargo to the discharge end of the transverse conveying mechanism 2 by the transverse conveying frame 202, and making the cargo pallet avoid the bottom protrusion 701 of the container if there is a bottom protrusion;

[0066] S4, controlling the smart car 4 to move forward to the position of the lifting platform 3 corresponding to the discharge end of the transverse conveying mechanism 2, and forking the cargo on the transverse conveying mechanism 2 by moving the smart car forward;

[0067] S5, controlling the smart car 4 to move back to the material-forming mechanism 5 of the lifting platform 3, and driving the material-forming mechanism 5 to clamp and shape the cargo so that the shape of the cargo matches the middle protrusion 702 and the high protrusion 703;

[0068] S6, controlling the transverse conveying frame 202 of the transverse conveying mechanism 2 to return to the feed end of the transverse conveying mechanism 2;

[0069] S7, control the smart car 4 to move straight forward into the container, put down the cargo, and control the smart car 4 to return to the lifting platform 3;

[0070] S8, repeat steps S2-S7 until all the goods are transported.

[0071] Furthermore, in step S2, scanning the position of the cargo pallet by the laser radar 6 includes:

[0072] The laser radar 6 is used to scan the left and right offset L of the cargo pallet reaching the discharge end of the conveying track 1, thereby obtaining the position of the cargo pallet at the discharge end of the conveying track 1;

[0073] In step S3, making the cargo pallet avoid the bottom protrusion 701 of the container includes:

[0074] Define the protrusion distance of the bottom protrusion as X, the distance required for the transverse conveyor frame 202 to move from the center position of the conveying track 1 to the center position of the container as A, and control the moving distance of the transverse conveyor frame 202 to be X+A+L, so that the front of the cargo pallet avoids the bottom protrusion.

[0075] like Figure 5 As shown, the internal condition of the container includes the bottom protrusion 701 of the inner wall of the container, and the position of the cargo pallet includes the left and right offset L of the cargo pallet on the conveying track 1;

[0076] The control system controls the transverse conveyor frame 202 to move to a position above the lifting platform 3 based on the left and right offsets and the bottom protrusion 701 so that the front of the cargo pallet outline avoids the bottom protrusion.

[0077] The principle of making the front of the cargo pallet profile avoid the bottom protrusion is as follows:

[0078] Firstly, the width D of the supporting hole of the goods pallet is generally 30cm or above, while the width of the fork frame of the intelligent trolley is generally about 10-15cm, so the goods pallet has enough space to move left and right on the fork frame.

[0079] Then, the above-mentioned limit that the intelligent trolley 4 can only move forward and backward. Therefore, when the bottom protrusion 701 exists in the inner wall of the container, the goods and its pallet need to avoid the bottom protrusion 701, so that the goods can be sent into the container by the intelligent trolley 4. Therefore, the left and right offset L of the goods pallet to the discharge end of the conveying track 1 is scanned by the laser radar 6, so that the position of the goods pallet at the discharge end of the conveying track 1 can be obtained. For example Figure 6 As shown in the figure, assuming that the offset L of the center of the goods pallet to the center of the conveying track 1, when Figure 5 As shown in the figure, the protruding distance of the bottom protrusion 701 is X, and the distance A required for the transverse conveying frame 202 to move from the center position of the conveying track 1 to the center position of the container is preset, then the distance required for the movement of the transverse conveying frame 202 this time is A+X+L, at this time the front of the goods pallet can avoid the deformation of the bottom end of the container. At this time, the intelligent trolley 4 straightly forks the goods pallet and then straightly enters the container, so as to avoid the deformation area of the bottom end of the container and realize fast loading. Figure 7

[0080] Further, the bottom surface of the upper end of the transverse conveying frame 202 is provided with a driving member 601, the driving member 601 drives the laser radar 6 to move forward and backward, when the laser radar 6 is driven to the rear end of the transverse conveying frame 202 and the transverse conveying frame 202 moves to the position close to the conveying track 1, the laser radar 6 can scan the situation of the goods pallet on the conveying track 1, when the laser radar 6 is driven to the front end of the transverse conveying frame 202 and the transverse conveying frame 202 moves to the position close to the lifting platform 3, the laser radar 6 can scan the inside of the container.

[0081] In this embodiment, the driving direction of the driving member 601 is forward and backward, which can drive the laser radar 6 to move forward and backward. The driving member 601 can be a lead screw, a pneumatic cylinder, an electric cylinder or the like. Since the laser radar 6 needs to scan the container and the goods pallet, the laser radar 6 needs to move with the transverse conveying frame 202 to be able to scan all of them. However, the transverse conveying frame 202 may block part of the field of view of the laser radar 6, so the laser radar 6 is set to be movable forward and backward, so as to avoid the part of the field of view blocked by the transverse conveying frame 202 according to the scanning object, so that it can cover the scanning object.

[0082] ​The control system is used to control the driving member 601 to move the laser radar 6 forward after the container is docked to the lifting platform 3 so that the scanning field of view of the laser radar 6 covers the container;

[0083] The control system is used to control the driving member 601 to move the laser radar 6 backward after the goods reach the discharge end of the conveying track 1, so that the scanning field of view of the laser radar 6 covers the cargo pallet.

[0084] Further, refer to Figure 8 The material-forming mechanism 5 includes a fixed frame 501, which is fixedly arranged in the middle position of the lifting platform 3. The fixed frame 501 is provided with a plurality of material-forming plates 502 in sequence from top to bottom. The material-forming plates 502 are driven by corresponding driving cylinders 503 to extend toward the goods.

[0085] The driving cylinder 503 drives the whole material plate 502 to extend and clamp the goods, so that the shape of the goods after being clamped avoids the middle protrusion or the high protrusion.

[0086] Furthermore, in step S5, driving the material shaping mechanism 5 to clamp and shape the goods so that the shape of the goods matches the middle protrusion 702 and the high protrusion 703 includes:

[0087] According to the protrusion amount of the middle protrusion 702 or the high protrusion 703 , the extension amount of the corresponding driving cylinder 502 is controlled to clamp the goods so that the shape of the goods after being clamped avoids the middle protrusion 702 or the high protrusion 703 .

[0088] According to the middle protrusion 702 or the high protrusion 703 , when the smart cart 4 moves between the material-straightening mechanisms 5 , the material-straightening mechanisms 5 are controlled to shape the middle and high parts of the corresponding goods.

[0089] Furthermore, the extension of the driving cylinder 502 that controls the corresponding position of the middle protrusion 702 or the high protrusion 703 is greater than the extension of the driving cylinder 502 on the other side, clamping the cargo to form a corresponding concave structure, avoiding the middle protrusion 702 or the high protrusion 703.

[0090] The working principle of this embodiment is as follows:

[0091] like Figure 9As shown, assuming there is a central protrusion 702 on the left side of the container's inner wall, the structure of the upper and lower monolithic plates 502 can be pushed out by the drive cylinders 503. In this case, the upper and lower monolithic plates 502 on the left and right sides extend to the same extent, with the left monolithic plate 502 extending farther than the right monolithic plate 502. This clamps the cargo into a structure with a rightward depression in the middle, avoiding the central protrusion 702. The principle of the high protrusion 703 on the left side of the container's inner wall is similar to the above. The remaining drive cylinders 502 can be equal, thereby shaping and positioning the cargo.

[0092] By shaping the cargo or controlling the position of the cargo pallet, the four smart carts can be kept in a forward and backward state for loading, thereby improving loading efficiency.

[0093] Furthermore, the internal condition of the container includes the presence of foreign matter inside the container;

[0094] In step S1, after scanning the interior of the container with the LiDAR, the following steps are executed:

[0095] If there are foreign objects inside the container, the intelligent vehicle 4 is refused to enter the container and the loading method is stopped.

[0096] Furthermore, the lifting platform 3 is provided with guide plates 301, and the smart cart 4 is provided with limit wheels 401 on its left and right sides. The cooperation between the guide plates 301 and the limit wheels 401 restricts the smart cart 4 to forward and backward travel. Due to the lifting and sideways movement of the lifting platform 3, the lifting platform 3 can be aligned with a container. In this case, the smart cart 4 only needs to move forward in a straight line to enter the container, reducing the time spent on aligning the smart cart 4 with the container. Therefore, in this embodiment, the cooperation between the guide plates 301 and the limit wheels 401 restricts the smart cart 4 to forward and backward travel.

[0097] For the contents not described in detail above, please refer to the prior art application number CN202210109414.2, entitled "A loading system and its control method", which will not be elaborated here.

[0098] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0099] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure One a process or multiple processes and / or boxes Figure One A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure One a process or multiple processes and / or boxes Figure One The function specified in one or more boxes.

[0101] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0102] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. A vehicle loading method based on laser radar, characterized by: The loading method is based on a loading system, which includes: Several conveyor tracks for conveying goods; A transverse conveying mechanism, comprising a transverse conveyor and a transverse conveyor frame driven transversely by the transverse conveyor, wherein the transverse conveyor frame is U-shaped, and the opening of the transverse conveyor frame faces the discharge end of the transverse conveying mechanism, and the feed end of the transverse conveying mechanism is correspondingly arranged at the discharge end of the conveying track for receiving the goods transported by the conveying track; A lifting platform can be raised and lowered and / or moved sideways, one end of the lifting platform extends above the transverse conveyor, and when the transverse conveyor frame moves to the discharge end of the transverse conveyor mechanism, one end of the lifting platform is located inside the opening of the transverse conveyor frame, and the discharge end of the lifting platform faces the corresponding container; A laser radar, wherein the laser radar is arranged on the transverse conveyor frame; An intelligent car capable of traveling forward and backward is arranged on the lifting platform; A pair of material-forming mechanisms, wherein the material-forming mechanisms are relatively arranged at the middle position of the lifting platform; The loading method comprises: S1: When a container approaches the lifting platform, the lifting platform is controlled to rise to the same height as the container, the left and right positions of the lifting platform are controlled to dock with the container, the transverse conveyor frame is controlled to move to the discharge end of the transverse conveyor mechanism, and the interior of the container is scanned by a laser radar. The interior of the container includes the bottom protrusion, the middle protrusion, and the high protrusion of the container inner wall; S2, transporting the goods to the feed end of the transverse conveying mechanism through the conveying track, scanning the position of the cargo pallet through the laser radar, and receiving the goods; S3, conveying the cargo to the discharge end of the transverse conveying mechanism by the transverse conveying frame, and making the cargo pallet avoid the bottom protrusion of the container if there is a bottom protrusion; S4, controlling the smart trolley to move forward to a position of the lifting platform corresponding to the discharge end of the transverse conveying mechanism, and forking the cargo on the transverse conveying mechanism by moving the smart trolley forward; S5, controlling the smart car to move backward to the material-forming mechanism of the lifting platform, and driving the material-forming mechanism to clamp and shape the cargo so that the shape of the cargo matches the middle protrusion and the high protrusion; S6, controlling the transverse conveying frame of the transverse conveying mechanism to return to the feed end of the transverse conveying mechanism; S7, controlling the smart car to move straight forward into the container, put down the cargo, and control the smart car to return to the lifting platform; S8, repeat steps S2-S7 until all the goods are transported.

2. The laser radar-based vehicle loading method according to claim 1, characterized in that: In step S2, scanning the position of the cargo pallet by using a laser radar includes: Scan the left and right offset L of the cargo pallet at the discharge end of the conveyor track by using a laser radar to obtain the position of the cargo pallet at the discharge end of the conveyor track; In step S3, making the cargo pallet avoid the bottom protrusion of the container includes: Define the protrusion distance of the bottom protrusion as X, the distance required for the transverse conveyor frame to move from the center position of the conveyor track to the center position of the container as A, and control the moving distance of the transverse conveyor frame to be X+A+L so that the front of the cargo pallet avoids the bottom protrusion.

3. The laser radar-based vehicle loading method according to claim 1, characterized in that: A driving member is provided on the bottom surface of the upper end of the transverse conveyor frame, and the driving member drives the laser radar to move forward and backward. When the laser radar is driven to the rear end of the transverse conveyor frame and the transverse conveyor frame moves to a position close to the conveying track, the laser radar can scan the cargo pallet on the conveying track. When the laser radar is driven to the front end of the transverse conveyor frame and the transverse conveyor frame moves to a position close to the lifting platform, the laser radar can scan the situation inside the container.

4. The laser radar-based vehicle loading method according to claim 1, characterized in that: The material-forming mechanism includes a fixed frame, which is fixedly arranged in the middle position of the lifting platform. The fixed frame is provided with a plurality of material-forming plates in sequence from top to bottom. The material-forming plates are driven by corresponding driving cylinders to extend toward the goods. The driving cylinder drives the whole material plate to extend and clamp the goods, so that the shape of the goods after being clamped avoids the middle protrusion or the high protrusion.

5. The laser radar-based vehicle loading method according to claim 4, characterized in that: In step S5, driving the material shaping mechanism to clamp and shape the goods so that the shape of the goods matches the middle protrusion and the high protrusion includes: According to the protrusion amount of the middle protrusion or the high protrusion, the extension amount of the corresponding driving cylinder is controlled to clamp the goods, so that the shape of the goods after being clamped avoids the middle protrusion or the high protrusion.

6. The laser radar-based vehicle loading method according to claim 5, characterized in that: The extension amount of the driving cylinder controlling the corresponding position of the middle protrusion or the high protrusion is greater than the extension amount of the driving cylinder on the other side, so that the cargo is clamped to form a corresponding concave structure and avoid the middle protrusion or the high protrusion.

7. The laser radar-based vehicle loading method according to claim 1, characterized in that: The internal condition of the container includes the presence of foreign matter inside the container; In step S1, after scanning the interior of the container with the LiDAR, the following steps are executed: If there are foreign objects inside the container, the smart car is refused to enter the container and the loading method is stopped.

8. The laser radar-based vehicle loading method according to claim 1, characterized in that: The lifting platform is provided with a guide plate, and limit wheels are provided on the left and right sides of the smart car. The cooperation between the guide plate and the limit wheels limits the driving direction of the smart car to forward and backward.

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