Quick docking control method, system, device and medium for pre-installed transport vehicle

Abstract

The present application relates to the field of automated control, and in particular to a method, system, device and medium for rapid docking control of a pre-loaded transfer vehicle. The method for rapid docking control of a pre-loaded transfer vehicle includes: monitoring whether there are products to be transferred on the upper surface of the bearing base; obtaining loading information of the products to be transferred; generating reference path information based on size information, quantity information and reference position information; generating loading instructions based on the reference path information, and sending the loading instructions to the driving end to control the driving end to grab a partition baffle, and control the partition baffle and the products to be transferred to move in the direction of the partition baffle closest to the loaded products on the bearing base, so that the loaded products are clamped between adjacent partition baffles to complete the loading of the products to be transferred, which can improve the convenience and efficiency of product loading for staff.

Description

Technical Field

[0001] The present application relates to the field of automated control, and in particular to a method, system, device and medium for quickly docking a pre-installed transport vehicle. Background Art

[0002] In life, many product packaging boxes are cylindrical or irregular in shape. When packaging product processing plants transport some products that are inconvenient to stack and are relatively easy to be damaged, they usually load the packaged products to be loaded into designated transfer molds for loading and transportation. After receiving the transfer molds, the third-party processing plants that use these packages open the molds, take out the products one by one and use them; the traditional loading method is that the staff manually places the products inside the supporting base, and several products are separated by partition baffles; the products are clamped between two adjacent partition baffles in turn, and then the partition baffles and the supporting base are limited and fixed; finally, the entire supporting base and the products on it are sealed with film to complete the packaging of a single transport product.

[0003] However, when the staff loads the products, they usually push the partition baffles and the products manually so that the adjacent partition baffles clamp the products placed in the middle, and then fix the partition baffles to the supporting base; however, when the staff manually operate the partition baffles, the size of the placement space is difficult to control. The staff usually only judges whether two adjacent partition baffles hold several products tightly based on their own experience, and frequently adjusts the position between the partition baffles based on their own experience, which makes it inconvenient for the staff to load the products onto the transfer vehicle. Summary of the invention

[0004] In order to improve the convenience and efficiency of product loading for workers, the present application provides a quick docking control method, system, device and medium for pre-loaded transfer vehicles.

[0005] In the first aspect, the present application provides a method for controlling the rapid docking of a pre-loaded transport vehicle, which adopts the following technical solution:

[0006] The pre-installed transfer carrier includes a bearing base and a plurality of partition baffles, wherein the plurality of partition baffles are detachably connected to the bearing base, and the partition baffles can slide back and forth along the length direction of the bearing base, and the partition baffles are vertically fixed to any end of the length direction of the bearing base; and further includes a driving end, wherein the driving end is used to control the moving path of the partition baffles;

[0007] The rapid docking control method of the pre-installed transport vehicle includes:

[0008] monitoring the upper surface of the carrying base for products to be transferred;

[0009] Obtaining loading information of the product to be transferred; the loading information includes size information, quantity information and reference position information of the product to be transferred, and the reference position information is the position information of the partition baffle on the supporting base that is closest to the product to be transferred;

[0010] generating reference path information based on the size information, the quantity information and the reference position information;

[0011] A loading instruction is generated based on the reference path information, and the loading instruction is sent to the driving end to control the driving end to grab one of the partition baffles and push the partition baffle and the product to be transferred toward the direction of the partition baffle closest to the loaded product on the supporting base, so that the loaded product is clamped between adjacent partition baffles to complete the loading of the product to be transferred.

[0012] By adopting the above technical scheme, when loading the product to be transferred, first fix the end at any end of the length direction of the supporting base, and when it is monitored that the product to be transferred is placed on the upper surface of the supporting base, take another partition baffle to push the product to be transferred to the partition baffle located at the end of the supporting base, so that the two partition baffles form a clamping tendency for the product to be transferred; finally, the partition baffle and the supporting base are limited and fixed to complete the loading of the product to be transferred; the position to which the partition baffle needs to be moved can be calculated according to the size information, quantity information and reference position information, and the reference path information is obtained; after receiving the loading instruction, the driving end can automatically grab the partition baffle according to the loading instruction, and control the partition baffle to move to the specified position in the direction close to the product to be transferred, so that the two adjacent partition baffles can have a better clamping effect on the product to be transferred, thereby improving the convenience of the staff when assembling the product to be transferred; the moving distance of the partition baffle can be automatically calculated by the computer, and the staff does not need to manually adjust the position of the partition baffle multiple times based on experience, which can improve the loading efficiency while improving the loading effect of the product to be transferred.

[0013] Optionally, after generating a loading instruction based on the reference path information and sending the loading instruction to the driving end to control the driving end to grab one of the partition baffles and push the partition baffle and the product to be transferred to move toward the partition baffle closest to the loaded product on the carrying base, so that the loaded product is clamped between adjacent partition baffles, the method further includes:

[0014] The loading status of the product to be transferred is verified, and when the loading status verification is passed, a completion instruction is issued to indicate that the loading of the product to be transferred is complete; the completion instruction is used to remind the unloading component used to unload the product to be transferred to perform the unloading action.

[0015] By adopting the above technical scheme, before executing the next loading action, the loading status of the product to be transferred this time is verified, and the position of the partition baffle is adjusted in time, so that the two adjacent partition baffles in this loading action have a better clamping effect on the product to be transferred; after adjusting the position of the current partition baffle, the unloading component executes the unloading action again to place a specified number of products to be transferred in batches on the upper surface of the supporting base, so that the transfer carrier can stably clamp the products unloaded each time, improve the stability between the transfer carrier and the product to be transferred, thereby reducing the possibility of the product to be transferred falling off from between the two partition baffles due to shaking during transportation.

[0016] Optionally, the loading status verification includes distance status verification and force status verification. After both the distance status verification and the force status verification are passed, the completion instruction is issued; the distance status verification is the verification of the distance status between adjacent partition baffles; the force status verification is the verification of the force status between the partition baffle and the product to be transferred.

[0017] By adopting the above technical solution, the specific items of loading status verification and the specific contents of the verification items are clarified.

[0018] Optionally, the verifying the loading status of the product to be transported includes:

[0019] Acquiring verification information, the verification information including the distance value between adjacent partition baffles and the force value between the partition baffle and the product to be transferred;

[0020] Comparing the distance value with a preset distance reference value; the preset distance reference value is obtained based on the size information and the quantity information of the product to be transferred;

[0021] If the difference between the distance value and the preset distance reference value is greater than a preset range, the distance status verification fails;

[0022] If the difference between the distance value and the preset distance reference value is less than a preset range, the distance status verification is passed;

[0023] Comparing the force value between the partition baffle and the product to be transferred with the preset force reference value;

[0024] If the difference between the force value between the partition baffle and the product to be transferred and the preset force reference value is greater than a preset range, the force state verification fails;

[0025] If the difference between the force value between the partition baffle and the product to be transferred and the preset force reference value is less than a preset range, the force state verification is passed.

[0026] By adopting the above technical solution, the specific method of verifying the loading status of the products to be transshipped is clarified.

[0027] Optionally, when any one of the distance state verification and the force state verification fails, the loading state verification fails;

[0028] When the loading status verification fails, generating adjustment information based on the verification information;

[0029] An adjustment instruction is generated based on the adjustment information, and the adjustment instruction is sent to the driving end to control the driving end to control the partition baffle to move to a specified position, so as to complete the adjustment of the clamping state of the two partition baffles on the product to be transferred.

[0030] By adopting the above technical solution, the driving end generates adjustment information based on the verification information, and generates adjustment instructions based on the adjustment information to automatically adjust the position of the current movable partition baffle, so that the two adjacent partition baffles can have a better clamping effect on the product to be transferred, thereby improving the convenience of the staff in adjusting the clamping state of the two partition baffles on the product to be transferred.

[0031] Optionally, it also includes:

[0032] Record the loading information of the bearing base; the loading information includes the product type, product size, product quantity and transportation destination information of the products loaded on the bearing base.

[0033] By adopting the above technical solution, the staff and the Party B processing plant can understand the relevant conditions of the products loaded on the supporting base through the loading situation information; recording the loading situation information can facilitate the staff to manage the relevant information of the products loaded on each supporting base.

[0034] Optionally, the bearing base is provided in plurality, and the plurality of bearing bases are used to load the product to be transferred; before recording the loading condition information of the bearing base, the method further includes:

[0035] Receiving identification information obtained by the staff for distinguishing the plurality of bearing bases from each other by marking the plurality of bearing bases;

[0036] After recording the loading condition information of the bearing base, the loading condition information is associated with the identification information of the bearing base and stored.

[0037] By adopting the above technical solution, the staff will mark and distinguish multiple carrying bases in advance and record the information used to distinguish each carrying base on the electronic tag, so as to facilitate the staff's identification; after the loading status information is associated with the identification information of the carrying base and stored, the staff can locate the relevant information of the product loaded on the carrying base according to the identification information, so as to facilitate the staff to manage the loading status information of each carrying base.

[0038] In the second aspect, the quick docking control system of the pre-installed transport vehicle provided by the present application adopts the following technical solution:

[0039] A quick docking control system for a pre-installed transport vehicle includes a control end, a monitoring end and a driving end that are communicatively connected to the control end.

[0040] The control end is used to execute the above-mentioned quick docking control method of the pre-installed transport vehicle;

[0041] The monitoring end is used to monitor whether there is a product to be transferred on the upper surface of the bearing base;

[0042] The driving end includes a grabbing module and a driving module;

[0043] The grabbing module is used to grab the partition baffle;

[0044] The driving module is used to drive the partition baffle to reciprocate along the length direction of the supporting base.

[0045] By adopting the above technical scheme, the control end can execute the program of the quick docking control method of the pre-loaded transfer vehicle corresponding to the quick docking control system of the pre-loaded transfer vehicle; the monitoring end can monitor whether there are products to be transferred on the upper surface of the carrying base, and the driving end can control the moving path of the partition baffle; after receiving the loading instruction, the grabbing module can automatically respond to the loading instruction to grab the partition baffle, and the driving module can automatically respond to the loading instruction to drive the partition baffle to move along the length direction of the carrying base toward the adjacent partition baffle, so that the products to be transferred are clamped between the adjacent partition baffles, thereby improving the convenience of the staff in assembling the products to be transferred; the moving distance of the partition baffle can be automatically calculated by the computer, which can improve the loading efficiency while improving the loading effect of the products to be transferred.

[0046] In a third aspect, the computer device provided by the present application adopts the following technical solution:

[0047] A computer device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for controlling the rapid docking of the pre-installed transport vehicle is implemented.

[0048] By adopting the above technical solution, a computer device is provided that can execute the above-mentioned rapid docking control method of the pre-installed transfer vehicle.

[0049] In a fourth aspect, the computer-readable storage medium provided in the present application adopts the following technical solution:

[0050] A computer-readable storage medium storing a computer program; when the computer program is executed by a processor, the method for controlling the rapid docking of the pre-installed transfer vehicle is implemented.

[0051] In summary, this application includes the following beneficial technical effects:

[0052] When it is detected that the product to be transferred is placed on the upper surface of the carrying base, the position to which the partition baffle needs to be moved can be automatically calculated based on the acquired size information, quantity information and reference position information to obtain reference path information;

[0053] After receiving the loading instruction, the driving end can automatically grab the partition baffle according to the loading instruction, and control the partition baffle to move to the specified position in the direction close to the product to be transferred, so that the two adjacent partition baffles can have a better clamping effect on the product to be transferred, thereby improving the convenience of the staff in assembling the product to be transferred;

[0054] The moving distance of the partition baffle can be automatically calculated by the computer, and the staff does not need to manually adjust the position of the partition baffle multiple times based on experience, which can improve the loading efficiency and the loading effect of the products to be transferred. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the structure of a quick docking control system for a pre-installed transport vehicle in an embodiment of the present application;

[0056] Figure 2 This is a schematic diagram of a module of a quick docking control system of a pre-installed transport vehicle in an embodiment of the present application;

[0057] Figure 3 This is a flowchart of a quick docking control system for a pre-installed transport vehicle in one embodiment of the present application;

[0058] Figure 4 This is a flowchart of a quick docking control system for a pre-installed transport vehicle in another embodiment of the present application;

[0059] Figure 5 is a flowchart of verifying the loading status of products to be transported in another embodiment of the present application;

[0060] Figure 6 This is a flowchart of a quick docking control system for a pre-installed transport vehicle in another embodiment of the present application;

[0061] Figure 7 This is a module diagram of the computer device of the present application.

[0062] Figure numerals: 1. supporting base; 11. mounting groove; 2. partition baffle; 3. control end; 4. monitoring end; 5. driving end; 51. grabbing module; 52. driving module; 521. cylinder; 522. push plate; 6. rack; 61. mounting frame; 7. electronic tag; 81. processor; 82. memory. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in its context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items. The term "exemplary" means "used as an example, embodiment or illustrative", and any embodiment described as "exemplary" here does not need to be interpreted as being superior to or better than other embodiments. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as implying or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" can expressly or implicitly include one or more of these features, and in the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0065] The embodiments of the present application provide a method, system, device and medium for controlling the rapid docking of a pre-loaded transport vehicle.

[0066] Reference Figure 1The present application provides a pre-installed transfer carrier, including a load-bearing base 1 and a plurality of partition baffles 2, wherein the plurality of partition baffles 2 are detachably connected to the load-bearing base 1; the partition baffles 2 can slide back and forth along the length direction of the load-bearing base 1; during assembly, first fix the end portion at any end of the length direction of the load-bearing base 1, and place a plurality of products to be transferred on the upper surface of the load-bearing base 1; then take another partition baffle 2 to push the products to be transferred to the partition baffle 2 located at the end of the load-bearing base 1, so that the two partition baffles 2 form a clamping tendency for the products to be transferred; the products to be transferred between the two partition baffles 2 can be one or more, and this embodiment does not impose any restrictions; finally, the partition baffle 2 and the load-bearing base 1 are limited and fixed to complete the loading of the products to be transferred.

[0067] In this embodiment, the bearing base 1 and the plurality of partition baffles 2 can be fixed in position by any one or more methods such as bolts, sliding buckles, joints or magnetic attraction, and this embodiment does not limit this;

[0068] In a preferred embodiment of the present application, the supporting base 1 and the partition baffle 2 are vertically fixed by magnetic attraction, and several partition baffles 2 are provided with electromagnets, and the supporting base 1 is made of ferromagnetic metal; when the partition baffle 2 is moved to a suitable position, the electromagnet is energized, and the electromagnet generates magnetic force after being energized, so that the partition baffle 2 and the supporting base 1 are attracted to each other, thereby completing the limiting fixation of the partition baffle 2 and the supporting base 1; limiting the supporting base 1 and multiple partition baffles 2 by magnetic attraction can reduce the possibility of damage to the supporting base 1 or the partition baffle 2 caused by components such as screws or buckles installed on the supporting base 1 or the partition baffle 2, thereby extending the service life of the pre-installed transfer carrier.

[0069] In another preferred implementation manner of the present embodiment, a mounting groove 11 is provided on the upper surface of the supporting base 1, and the extension direction of the mounting groove 11 is consistent with the length direction of the supporting base 1; the partition baffle 2 can slide back and forth along the extension direction of the mounting groove 11; when installing the partition baffle 2, part of the side wall of the partition baffle 2 can be buckled into the mounting groove 11, which can facilitate the alignment of the partition baffle 2 and the supporting base 1; at the same time, the interior of the mounting groove 11 can limit the moving direction of the product to be transferred, which can reduce the possibility of the product to be transferred sliding off the side wall in the length direction of the supporting base 1, thereby improving the safety of the product to be transferred during loading and transportation.

[0070] Reference Figure 1 and Figure 2 , the present application provides a quick docking control system for a pre-installed transport vehicle, including a control terminal 3, a monitoring terminal 4 and a driving terminal 5, wherein the signal output terminal of the monitoring terminal 4 is communicatively connected to the signal input terminal of the control terminal 3, and the signal input terminal of the driving terminal 5 is communicatively connected to the signal output terminal of the control terminal 3;

[0071] The control end 3 can execute the program of the quick docking control method of the pre-loaded transfer vehicle corresponding to the quick docking control system of the pre-loaded transfer vehicle; the monitoring end 4 can monitor whether there is a product to be transferred on the upper surface of the supporting base 1, and the driving end 5 can control the moving path of the partition baffle 2.

[0072] Reference Figure 1 The quick docking control system of the pre-installed transfer vehicle also includes a frame 6, and the bearing base 1, the monitoring end 4 and the driving end 5 are all arranged on the frame 6; wherein, the bearing base 1 is arranged on the surface of the frame 6; one side of the frame 6 is also provided with a unloading component for unloading the products to be transferred, and the unloading component can perform the unloading action to place a specified number of products to be transferred in batches on the upper surface of the bearing base 1.

[0073] Reference Figure 1 and Figure 2 In some examples of the present embodiment, the monitoring end 4 includes a camera, a mounting bracket 61 is provided on the upper surface of the frame 6, the camera is fixed on the mounting bracket 61, and the image acquisition end of the camera is facing the upper surface of the supporting base 1. The camera can collect image information of the upper surface of the supporting base 1, so that the staff can judge whether there is any product to be transferred falling on the upper surface of the supporting base 1 according to the image collected by the camera.

[0074] Reference Figure 2 In the preferred implementation of this embodiment, the signal output end of the camera is communicatively connected to the information processing platform, and the signal output end of the information processing platform is communicatively connected to the signal input end of the control end 3; after the information processing platform receives the image information collected by the camera, it can automatically identify the content in the image information, and judge the number of products to be transferred placed on the supporting base 1 to obtain the identification result; then the information processing platform sends the identification result to the control end 3, so as to facilitate the automatic control of the driving end 5 by the control end 3.

[0075] Reference Figure 2 The driving end 5 includes a grabbing module 51 and a driving module 52, both of which are communicatively connected to the control end 3; the grabbing module 51 can grab the partition baffle 2, and the driving module 52 can drive the partition baffle 2 to reciprocate along the length direction of the supporting base 1.

[0076] Reference Figure 1 and Figure 2In some examples of the present embodiment, the grabbing module 51 adopts an electric clamp, which is connected to a power supply; the electric clamp includes an open state and a closed state, and the electric clamp can clamp the partition baffle 2 in the closed state; the electric clamp is movably arranged on the mounting frame 61, and the electric clamp can pull the partition baffle 2 to move back and forth along the length direction, width direction and height direction of the supporting base 1 to realize the taking and placing of the partition baffle 2; in other examples of the present embodiment, other tools can also be used to automatically clamp the partition baffle 2, as long as the tools can realize the function of grabbing the partition baffle 2 and pulling the partition baffle 2 to move, and the present embodiment does not impose any restrictions.

[0077] Reference Figure 1 In some examples of the present embodiment, the driving module 52 includes a cylinder 521 and a push plate 522, the base of the cylinder 521 is installed on one side of the upper surface of the frame 6, and the output end of the cylinder 521 is arranged at the end of the supporting base 1 away from the end where the partition baffle 2 is fixed, the push plate 522 is fixedly connected to the output end of the cylinder 521, and the output end of the cylinder 521 is consistent with the length direction of the supporting base 1; when the electric clamp places another partition baffle 2 on the surface of the supporting flat base, the side of the other partition baffle 2 away from the product to be transferred can be abutted by the push plate 522; when the cylinder 521 is extended and retracted, it can drive the push plate 522 to reciprocate in the direction close to or away from the base of the cylinder 521, and the push plate 522 can push the partition baffle to move along the length direction of the supporting base 1 to realize automatic clamping of the product to be operated; in other examples of the present embodiment, other tools or objects can also be used to push the partition baffle 2, and this embodiment is not limited.

[0078] Reference Figure 1 In this embodiment, a plurality of bearing bases 1 are provided to facilitate the centralized transportation of the products to be transported by the staff; an electronic tag 7 is provided on the side wall of the bearing base 1, and the electronic tag 7 can record the loading information of the products to be transported on the bearing base 1. In this embodiment, the loading information includes the product type, product size, product quantity and transportation destination information of the products loaded on the bearing base 1;

[0079] The electronic tag 7 is communicatively connected to a data cloud platform, and the staff can edit the loading information of the product to be transferred by scanning the electronic tag 7. The data cloud platform saves the loading information of the carrying base 1. When Party B's processing plant receives the carrying base 1 and the product, it can view the relevant information of the product by scanning the electronic tag 7, thereby improving the work efficiency of Party B's processing plant.

[0080] In a preferred implementation of the present embodiment, the quick docking control system of the pre-installed transfer vehicle also includes a plurality of position sensors, and the plurality of position sensors are arranged one-to-one with the plurality of partition baffles 2; the position sensor is embedded in the interior of the partition baffle 2, and the position sensor can obtain the three-dimensional coordinates of the current position of the partition baffle 2, so that the staff can control and adjust the distance between two adjacent partition baffles 2 according to the coordinates collected by the position sensor, so that the two adjacent partition baffles 2 can have a better clamping effect on the product to be transferred, so as to facilitate the staff to assemble the product and the transfer vehicle.

[0081] Pressure sensors are embedded on both sides of the partition baffle 2. The pressure sensors can detect the force data between the product to be transferred and the partition baffle 2, and judge the clamping effect of the adjacent partition baffle 2 on the product to be transferred based on the force data, and adjust the position of the partition baffle 2, thereby reducing the possibility of the product to be transferred falling off from between the two partition baffles 2 and improving the stability between the transfer vehicle and the product to be transferred.

[0082] refer to Figure 3 Based on the same inventive concept, the present application also provides a quick docking control method for a pre-installed transport vehicle, comprising the following steps:

[0083] S100: Monitor the upper surface of the carrying base 1 to see if there are products to be transferred.

[0084] In this embodiment, a camera is used to monitor the situation on the upper surface of the supporting base 1. The camera collects images near the supporting base 1 with a period of time T, and sends the collected images to the information processing platform. The staff can set the image collection period according to the actual situation, and this embodiment does not impose any restrictions.

[0085] S200: Obtain loading information of the product to be transferred.

[0086] The loading information includes the size information, quantity information and reference position information of the product to be transferred. The reference position information is the position information of the partition baffle 2 on the supporting base 1 which is closest to the loaded product.

[0087] In this embodiment, the size information includes the length, width and height information of the product, as well as the shape information of the product; the size information of the product to be transported can be obtained through an input unit, for example, by receiving production demand information through keyboard input, touch screen input or audio input; the size information of the product to be transported can also be imported from an external device through wired communication such as a control line or by receiving a wireless signal, which is not limited in the embodiments of the present application.

[0088] In this embodiment, the quantity information is obtained by processing the image captured by the camera by the data processing platform; the data processing platform can perform feature recognition on the image captured by the camera, obtain the number of products to be transferred placed on the upper surface of the supporting base 1, and realize the acquisition of quantity information.

[0089] The reference position information is collected by the position sensor. By acquiring the position coordinates of the position sensor in the partition baffle 2 installed on the supporting base 1, the three-dimensional coordinates of each partition baffle 2 can be obtained; the reference position information is obtained based on the three-dimensional coordinates collected by the position sensor of the partition baffle 2 closest to the product to be transferred.

[0090] S300: Generate reference path information based on size information, quantity information and reference position information.

[0091] Based on the size information and quantity information, the distance between the two partition baffles 2 used to fix the product to be transferred can be calculated, and then based on the reference position information, the position to which the partition baffle 2 located between the push plate 522 and the product to be transferred needs to be moved can be calculated, and then the distance that the push plate 522 needs to push the partition baffle 2 to move is obtained, and the reference path information is obtained; the driving module 52 is controlled by the calculated reference path information, so that the driving module 52 can accurately control the moving distance of the partition baffle 2 based on the actual situation of the product to be transferred, and then the partition baffle 2 and the supporting base 1 are limited and fixed.

[0092] S400: Generate a loading instruction based on the reference path information, and send the loading instruction to the driving end 5 to control the driving end 5 to grab a partition baffle 2 and push the partition baffle 2 and the product to be transferred to the direction of the partition baffle 2 closest to the loaded product on the supporting base 1, so that the loaded product is clamped between adjacent partition baffles 2 to complete the loading of the product to be transferred.

[0093] After generating the loading instruction based on the reference path information, the driving end 5 can automatically grab the partition baffle 2 according to the loading instruction, and control the partition baffle 2 to move to the specified position in the direction close to the product to be transferred, clamp the product to be transferred, and limit and fix the partition baffle 2 and the supporting base 1. Then, the assembly of the product to be transferred can be completed, thereby improving the convenience of the staff in assembling the product to be transferred.

[0094] Reference Figure 4 In another embodiment of the present application, a method for controlling the rapid docking of a pre-installed transport vehicle further includes:

[0095] S500: Verify the loading status of the product to be transferred. When the loading status verification is passed, issue a completion instruction indicating that the loading of the product to be transferred is completed.

[0096] Specifically, the loading status verification includes distance status verification and force status verification. In the present embodiment, when both the distance status verification and the force status verification are passed, a completion instruction is issued; the completion instruction is used to remind the unloading component to perform the unloading action, and the unloading component is used to unload the products to be transferred.

[0097] The distance state verification is the verification of the distance state between adjacent partition baffles 2; the force state verification is the verification of the force state between the partition baffle 2 and the product to be transferred; when both the distance state verification and the force state verification are passed, the distance between the two adjacent partition baffles 2 and the force state between the partition baffle 2 and the product to be transferred are in a suitable state, indicating that the two adjacent partition baffles 2 have a better clamping effect on the product to be transferred, thereby reducing the possibility of the product to be transferred falling off from between the two partition baffles 2 due to shaking during transportation, and improving the stability between the transfer vehicle and the product to be transferred.

[0098] Reference Figure 5 Specifically, the steps for verifying the loading status of the products to be transferred include:

[0099] S510: Obtain verification information.

[0100] Specifically, the verification information includes the distance value between adjacent partition baffles 2 and the force value between the partition baffle 2 and the product to be transferred.

[0101] In this embodiment, the distance value between adjacent dividing baffles 2 is calculated by collecting three-dimensional coordinates from position sensors arranged on adjacent dividing baffles 2, and the force value between the dividing baffle 2 and the product to be transferred is measured by a pressure sensor arranged between the dividing baffle 2 and the product to be transferred; those skilled in the art may also obtain the distance value between adjacent dividing baffles 2 and the force value between the dividing baffle 2 and the product to be transferred by other means; for example, using a length measuring tool to directly measure the distance value between adjacent dividing baffles 2, and using instruments such as a force gauge to measure the force value between the dividing baffle 2 and the product to be transferred, and this embodiment does not impose any restrictions.

[0102] S520: Compare the distance value with a preset distance reference value.

[0103] Specifically, the preset distance reference value is obtained based on the size information and quantity information of the product to be transferred;

[0104] If the difference between the distance value and the preset distance reference value is greater than the preset range, the distance status verification fails;

[0105] If the difference between the distance value and the preset distance reference value is less than the preset range, the distance status verification is passed.

[0106] S530: Compare the force value between the partition baffle 2 and the product to be transferred with a preset force reference value.

[0107] If the difference between the force value between the partition baffle 2 and the product to be transferred and the preset force reference value is greater than the preset range, the force state verification fails;

[0108] If the difference between the force value between the partition baffle 2 and the product to be transferred and the preset force reference value is less than the preset range, the force state verification is passed.

[0109] S540: After the distance status verification and the force status verification are both passed, a completion instruction is issued.

[0110] When any one of the distance status verification and the force status verification fails, the loading status verification fails; at this time, the staff needs to check the loading status of the partition baffle 2 and the product to be transferred to improve the effect of the transfer vehicle on the loading of the product to be transferred.

[0111] When the loading status verification fails, adjustment information is generated based on the verification information; in this embodiment, the adjustment information is characterized as: in order for two adjacent partition baffles 2 to effectively clamp the product to be transferred, the distance and direction in which the currently movable partition baffle 2 needs to move along the carrying base 1;

[0112] An adjustment instruction is generated based on the adjustment information, and the adjustment instruction is sent to the driving end 5 to control the driving end 5 to control the partition baffle 2 to move to a specified position, so as to complete the adjustment of the clamping state of the two partition baffles 2 on the product to be transferred.

[0113] Reference Figure 6 In another embodiment of the present application, a method for controlling the rapid docking of a pre-installed transport vehicle further includes:

[0114] S600: Recording the loading status information of the carrying base 1.

[0115] The loading condition information includes product type, product size, product quantity and transportation destination information of the products loaded on the supporting base 1 .

[0116] Recording the loading status information can facilitate the staff to manage the relevant information of the products loaded on each supporting base 1; the staff and the Party B processing plant can understand the relevant information of the products loaded on the supporting base 1 through the loading status information; in this embodiment, the loading status information is recorded in the form of an electronic tag 7, and when the Party B processing plant receives the supporting base 1 and the product, it can view the relevant information of the product by scanning the electronic tag 7, thereby improving the work efficiency of the Party B processing plant.

[0117] Since multiple carrying bases 1 are provided, all of the multiple carrying bases 1 are used to load the products to be transferred; as a preferred implementation manner of this embodiment, before recording the loading status information of the carrying base 1, it also includes receiving identification information obtained by the staff by marking the multiple carrying bases 1 respectively in order to distinguish the multiple carrying bases 1; the staff marks and distinguishes the multiple carrying bases 1 in advance and records the information used to distinguish each carrying base 1 on the electronic tag 7 for the convenience of identification by the staff.

[0118] After recording the loading status information of the supporting base 1, the loading status information is associated with the identification information of the supporting base 1 and stored. The staff can locate the relevant information of the product loaded on the supporting base 1 according to the identification information, so as to facilitate the staff to manage the loading status information of each supporting base 1.

[0119] In order to better execute the program of the above method, the embodiment of the present application also provides a computer device, such as Figure 7 As shown, the computer device includes a processor 81 and a memory 82 .

[0120] A computer device may be implemented in a variety of forms, including devices such as mobile phones, tablet computers, PDAs, laptop computers, and desktop computers.

[0121] The memory 82 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 82 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the method for quickly docking a pre-loaded transport vehicle provided in the above embodiment, etc.; the data storage area may store data involved in the method for quickly docking a pre-loaded transport vehicle provided in the above embodiment, etc.

[0122] The processor 81 may include one or more processing cores. The processor 81 executes various functions and processes data of the present application by running or executing instructions, programs, code sets or instruction sets stored in the memory 82, calling the data stored in the memory 82. The processor 81 may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller and a microprocessor. It is understandable that for different devices, the electronic device used to implement the above-mentioned processor function may also be other, and the embodiments of the present application are not specifically limited.

[0123] The present application provides a computer-readable storage medium, for example, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes. The computer-readable storage medium stores a computer program that can be loaded by a processor and execute the method for quickly docking a pre-loaded transport vehicle of the above embodiment.

[0124] An embodiment of the present application also provides a computer program product, which includes a computer program tangibly contained in a readable medium, wherein the computer program includes program code for executing a rapid docking control method for any pre-installed transfer vehicle in the embodiments of the present application. The computer program can be downloaded and installed over a network, and / or installed from a removable medium (such as a disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc.).

[0125] As described above, the above embodiments are only used to introduce the technical solution of the present application in detail, but the description of the above embodiments is only used to help understand the method and core idea of ​​the present application and should not be understood as limiting the present application. Any changes or substitutions that can be easily thought of by technicians in this technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling the rapid docking of a pre-loaded transport vehicle, characterized in that: The pre-installed transfer vehicle comprises a bearing base (1) and a plurality of partition baffles (2), wherein the plurality of partition baffles (2) are detachably connected to the bearing base (1), and the partition baffles (2) are capable of sliding back and forth along the length direction of the bearing base (1), and the partition baffles (2) are vertically fixed to any end of the length direction of the bearing base (1); and further comprises a driving end (5), wherein the driving end (5) is used to control the moving path of the partition baffles (2); The rapid docking control method of the pre-installed transport vehicle includes: Monitoring the upper surface of the carrying base (1) to see whether there is a product to be transferred; Obtaining loading information of the product to be transferred; the loading information includes size information, quantity information and reference position information of the product to be transferred, the reference position information being the position information of the partition baffle (2) on the carrying base (1) that is closest to the loaded product; generating reference path information based on the size information, the quantity information and the reference position information; Generate a loading instruction based on the reference path information, and send the loading instruction to the driving end (5) to control the driving end (5) to grab one of the partition baffles (2) and push the partition baffle (2) and the product to be transferred to move in the direction of the partition baffle (2) closest to the loaded product on the carrying base (1), so that the product to be transferred is clamped between adjacent partition baffles (2), so as to complete the loading of the product to be transferred; After generating a loading instruction based on the reference path information and sending the loading instruction to the driving end (5) to control the driving end (5) to grab one of the partition baffles (2) and push the partition baffle (2) and the product to be transferred to move in the direction of the partition baffle (2) closest to the loaded product on the carrying base (1), so that the loaded product is clamped between adjacent partition baffles (2), the method further comprises: The loading status of the product to be transferred is verified, and when the loading status verification is passed, a completion instruction is issued to indicate that the loading of the product to be transferred is complete; the completion instruction is used to remind the unloading component used to unload the product to be transferred to perform the unloading action.

2. The quick docking control method of the pre-loaded transport vehicle according to claim 1, characterized in that: The loading status verification includes distance status verification and force status verification. After both the distance status verification and the force status verification are passed, the completion instruction is issued; the distance status verification is the verification of the distance status between adjacent partition baffles (2); the force status verification is the verification of the force status between the partition baffles (2) and the product to be transferred.

3. The quick docking control method of the pre-loaded transport vehicle according to claim 2, characterized in that: The loading status verification of the product to be transported includes: Acquiring verification information, the verification information including the distance value between adjacent partition baffles (2) and the force value between the partition baffles (2) and the product to be transferred; Comparing the distance value with a preset distance reference value; the preset distance reference value is obtained based on the size information and the quantity information of the product to be transferred; If the difference between the distance value and the preset distance reference value is greater than a preset range, the distance status verification fails; If the difference between the distance value and the preset distance reference value is less than a preset range, the distance status verification is passed; Comparing the force value between the partition baffle (2) and the product to be transferred with a preset force reference value; If the difference between the force value between the partition baffle (2) and the product to be transferred and the preset force reference value is greater than a preset range, the force state verification fails; If the difference between the force value between the partition baffle (2) and the product to be transferred and the preset force reference value is less than a preset range, the force state verification is passed.

4. The quick docking control method of the pre-loaded transport vehicle according to claim 3, characterized in that: When any one of the distance state verification and the force state verification fails, the loading state verification fails; When the loading status verification fails, generating adjustment information based on the verification information; An adjustment instruction is generated based on the adjustment information, and the adjustment instruction is sent to the driving end (5) to control the driving end (5) to control the partition baffle (2) to move to a specified position, so as to complete the adjustment of the clamping state of the two partition baffles (2) on the product to be transferred.

5. The quick docking control method of the pre-loaded transport vehicle according to claim 1, characterized in that: Also includes: Recording the loading information of the bearing base (1); the loading information includes the product type, product size, product quantity and transportation destination information of the products loaded on the bearing base (1).

6. The quick docking control method of the pre-loaded transport vehicle according to claim 5, characterized in that: The bearing base (1) is provided in plurality, and each of the bearing bases (1) is used to load the product to be transported; Before recording the loading information of the bearing base (1), the method further comprises: The receiving staff marks the multiple bearing bases (1) to distinguish the multiple bearing bases (1) and obtains identification information; After recording the loading condition information of the carrying base (1), the loading condition information is stored in association with the identification information of the carrying base (1).

7. A quick docking control system for a pre-installed transport vehicle, characterized in that: It comprises a control end (3), and a monitoring end (4) and a driving end (5) which are communicatively connected to the control end (3). The control end (3) is used to execute the quick docking control method of the pre-installed transport vehicle according to any one of claims 1 to 6; The monitoring end (4) is used to monitor whether there is a product to be transferred on the upper surface of the carrying base (1); The driving end (5) comprises a grabbing module (51) and a driving module (52); The grabbing module (51) is used to grab the partition baffle (2); The driving module (52) is used to drive the partition baffle (2) to move back and forth along the length direction of the supporting base (1).

8. A computer device, characterized in that: It comprises a processor (81), a memory (82) and a communication bus, wherein the communication bus is used to realize a communication connection between the processor (81) and the memory (82), and the processor (81) is used to execute a computer program stored in the memory (82) to realize a rapid docking control method for a pre-loaded transport vehicle as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program; the computer program can be executed by a processor to implement the rapid docking control method for a pre-loaded transfer vehicle as described in any one of claims 1 to 6.

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