Bagged material on-line direct truck loading compatible with in-truck pallet loading

Abstract

The application discloses a kind of bagged material online direct loading and in-car pallet loading compatible loading method, using the detection mode of 3D holder, whether the car of transport vehicle is judged inside there is pallet;If the car of transport vehicle is not placed pallet, then using online direct loading mode, 3D holder detection device detects the coordinates of each vertex in the car of transport vehicle;If the car of transport vehicle is placed pallet, then using online pallet loading mode, 3D holder detection device detects the coordinates of pallet relative to the car of transport vehicle;Loading system carries out the planning of device stacking type.Patent claim: 1. A bagged material online direct loading and in-car pallet loading compatible loading method, comprising the steps that whether the car of transport vehicle is judged inside there is pallet using the detection mode of 3D holder;If the car of transport vehicle is not placed pallet, then using online direct loading mode, 3D holder detection device detects the coordinates of each vertex in the car of transport vehicle;If the car of transport vehicle is placed pallet, then using online pallet loading mode, 3D holder detection device detects the coordinates of pallet relative to the car of transport vehicle;Loading system carries out the planning of device stacking type.

Description

Technical Field

[0001] This invention belongs to the technical field of loading, unloading, and transporting bagged materials. More specifically, this invention relates to a loading method that is compatible with both online direct loading and pallet loading of bagged materials into vehicles. Background Technology

[0002] Currently, the following two methods are mainly used for loading bagged materials into vehicles in this field:

[0003] 1. Loading is done manually or by machine directly into the cargo compartment;

[0004] 2. The pallets are stacked into five layers by machine and then loaded onto the truck by forklift.

[0005] With changing market demands, palletized loading has begun to be adopted for bagged materials, reducing unloading costs by 10 yuan / ton. This method also offers higher unloading efficiency, shorter loading and unloading cycles, and better market acceptance. Therefore, palletized loading is the future trend for bagged material transportation.

[0006] Currently, the main method for pallet loading is:

[0007] The vehicles carrying pallets come with empty pallets of national standard size. After the forklifts unload the empty pallets, they are placed in the empty pallet loading area. They are first stacked manually or by machine. After stacking, the forklifts pick up the pallets and load them onto the vehicles. The pallets need to be transported repeatedly. The factory area needs to be equipped with forklifts and related forklift operators.

[0008] The loading system described above has low compatibility; dedicated equipment can only load directly onto vehicles and cannot stack pallets. Robots can load directly onto vehicles or onto pallets, but cannot stack pallets directly on the vehicle; forklifts are required to move the pallets.

[0009] In summary, the existing technology has the following problems and shortcomings:

[0010] 1. Pallets need to be unloaded from the vehicle first, then stacked, and then loaded back onto the vehicle, resulting in repeated pallet handling and high transportation costs.

[0011] 2. Pallet palletizing requires specialized palletizing equipment, which increases equipment costs.

[0012] 3. Repeated handling of pallets leads to wear and tear and significant losses.

[0013] 4. The market's loading system has limited functionality and cannot achieve compatibility and universality between online direct loading and online direct pallet palletizing.

[0014] Using the keywords "bagged materials; pallets; loading", a search was conducted on relevant existing publicly available technical documents, yielding the following results:

[0015] 1. Chinese patent document: "Integrated equipment for automatic loading and palletizing of bagged materials", patent (application) number: 202322456497.5, the technical solution described therein is:

[0016] "An integrated device for automatic loading and palletizing of bagged materials includes a first conveying mechanism, a gripping roller conveyor for receiving bagged materials from the first conveying mechanism, a movable railcart, a pallet mounted on the railcart, and a gripping device for gripping the bagged materials located on the gripping roller conveyor and transferring the gripped bagged materials to a truck or pallet, wherein the truck and the railcart are located on opposite sides of the gripping device."

[0017] The technical effects described are:

[0018] "By rationally setting up loading and palletizing stations, we can achieve dual-purpose operation of one machine, which can reduce site occupation and equipment investment."

[0019] 2. Chinese patent document: "Bagged Material Loading System and Method", Patent (Application) No.: 201310289503.0, the technical solution described therein is:

[0020] "The bagged material loading system includes: a conveying and shaping device for transporting goods to the work area and adjusting the posture of the goods; a sensing and measuring device installed on the top or side of the work area for collecting image data of the truck bed located in the work area; a central control device for calculating the actual position of the truck bed based on the detected image data, comparing the actual position with a preset reference position to obtain a deviation value, and then calculating the actual stacking path based on the deviation value and a preset stacking path; and an industrial robot for loading the goods in the work area into the truck bed located in the work area according to the actual stacking path; the central control device is connected to the conveying and shaping device, the sensing and measuring device, and the industrial robot via control / data cables."

[0021] The technical effects described are:

[0022] "It has improved work efficiency, eliminated dust hazards, and enhanced safety."

[0023] However, the aforementioned existing publicly available technical documents and existing publicly available technical solutions have not been able to solve the problems and defects in the loading of bagged materials in the existing technology, such as "requiring repeated pallet handling, resulting in high transportation costs", "requiring dedicated palletizing equipment, increasing equipment investment", and "repeated pallet handling, leading to easy wear and tear and large losses". Summary of the Invention

[0024] This invention provides a loading method that is compatible with both online direct loading of bagged materials and in-vehicle pallet loading. The purpose is to enable bagged materials to be loaded directly online and palletized online, making the two functions well compatible and universal.

[0025] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0026] This invention provides a loading method compatible with both online direct loading and pallet loading of bagged materials, applicable to loading systems for bagged materials. The loading system includes a loading robot, a transport vehicle, and a system computer control unit. A portion of the transport vehicle's compartment contains pallets, while another portion does not. The loading method is as follows:

[0027] First, a 3D gimbal is used to detect whether there are pallets inside the transport vehicle's compartment.

[0028] If no pallets are placed in the cargo compartment of the transport vehicle, an online direct loading method is adopted. The 3D gimbal detection device detects the coordinates of each vertex in the cargo compartment of the transport vehicle; the loading system performs stacking pattern planning for device palletizing; the loading robot performs bagging of bagged materials in the cargo compartment of the transport vehicle.

[0029] If pallets are placed in the cargo compartment of the transport vehicle, an online pallet loading method is adopted, and a 3D gimbal detection device detects the coordinates of the pallets relative to the cargo compartment of the transport vehicle; the loading system performs palletization planning; and the loading robot packs the bagged materials on the pallets in the cargo compartment of the transport vehicle.

[0030] When a pallet is placed inside the cargo compartment of a transport vehicle, the system's computer control unit performs coordinate detection of the pallet within the cargo compartment to obtain the relative coordinates and tilt angle of the pallet relative to the vehicle in the X, Y, and Z directions.

[0031] The X direction is the front-to-back direction of the transport vehicle; the Y direction is the left-to-right direction of the transport vehicle; and the Z direction is the up-to-down direction of the transport vehicle.

[0032] The stacking planning software installed in the system's computer control unit calculates the coordinate values ​​for placing packages on each layer; based on the detection data, it can automatically call the online direct loading program or the online pallet loading program.

[0033] The loading robot uses two independently released grippers, and each gripper is used for palletizing by independently releasing a single package.

[0034] The loading method described above uses either a five-pack stack loading method or a five-pack stack pallet loading method. The five-pack stack is defined as follows: two adjacent stacks form a cycle, and in the next stack, two packages on one side are placed vertically and three packages on the other side are placed horizontally; the next stack is the opposite, with three packages on one side placed horizontally and two packages on the other side placed vertically.

[0035] The loading method is as follows: starting from the rear of the transport vehicle, the stacks are placed from the front to the rear, and then from the front to the rear, forming a zigzag stacking pattern; every two layers form one cycle.

[0036] When the transport vehicle enters the loading position, the loading system collects the transport vehicle information through the vehicle information collection unit. The transport vehicle information includes the license plate number, vehicle weight, load capacity, and vehicle body geometric dimensions, which serve as the basis for planning the stacking type of the bagged materials.

[0037] The system computer control unit communicates with the logistics control room via a wireless network; the system computer control unit reports loading progress information to the logistics control room and receives dispatch instructions from the logistics control room.

[0038] The loading progress information includes the number of transport vehicles and their license plate numbers that have been loaded within the planned period; the quantity of bagged materials that have been loaded, including the number of bags and their weight; and the stacking type of each transport vehicle.

[0039] The present invention adopts the above-mentioned technical solution, and the equipment has high compatibility and strong functions. It has both online direct loading and online pallet loading functions; empty pallets do not need to be unloaded and pallets do not need to be loaded onto the vehicle, so no forklift work is required during the loading process; it reduces the unloading of empty pallets, improves the utilization rate of pallets, and thus improves the transportation efficiency of bagged materials. Attached Figure Description

[0040] The following is a brief explanation of the contents shown in the attached figure and the markings therein:

[0041] Figure 1 This is a schematic diagram of the palletless loading structure in the transport vehicle of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of the transport vehicle of the present invention, which includes pallet loading.

[0043] Figure 3 This is a screenshot of the loading system of the present invention using transport vehicle information.

[0044] The markings in the diagram are:

[0045] 1. Transport vehicles, 2. Bagged materials, 3. Pallets. Detailed Implementation

[0046] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0047] like Figure 1 , Figure 2 As shown, the present invention is a loading system compatible with online direct loading of bagged materials and loading with in-vehicle pallets, including a loading robot and a transport vehicle 1; a portion of the transport vehicle 1 has pallets 3 in its compartment, while the other portion does not have pallets.

[0048] To address the problems and shortcomings of existing technologies and achieve the compatible and universal purpose of enabling both online direct loading and online palletizing of bagged materials 2, the technical solution adopted by this invention is as follows: Figure 1 , Figure 2 As shown:

[0049] The present invention provides a loading method compatible with both online direct loading and in-vehicle pallet loading of bagged materials 2, applicable to loading systems for bagged materials; the loading method is as follows:

[0050] First, a 3D gimbal detection method is used to determine whether there is a pallet 3 in the compartment of transport vehicle 1;

[0051] If there is no pallet 3 in the compartment of transport vehicle 1, the online direct loading method is adopted. The 3D gimbal detection device detects the coordinates of each vertex in the compartment of transport vehicle 1; the loading system performs stacking pattern planning for device stacking; the loading robot stacks the bagged materials 2 in the compartment of transport vehicle 1.

[0052] If a pallet 3 is placed in the compartment of transport vehicle 1, an online pallet loading method is adopted. The 3D gimbal detection device detects the coordinates of the pallet 3 relative to the compartment of transport vehicle 1. The loading system performs palletization planning. The loading robot packs the bagged materials 2 onto the pallet 3 in the compartment of transport vehicle 1.

[0053] like Figure 1 , Figure 2 As shown, the present invention provides a loading system compatible with online direct loading of bagged materials and loading onto pallets inside the vehicle. The loading robot is equipped with a 3D gimbal detection device. If there is no pallet in the vehicle compartment, the 3D gimbal detection device detects the coordinates of each vertex inside the vehicle compartment. If there is a pallet 3 in the vehicle compartment, the 3D gimbal detection device detects the coordinates of each vertex of the pallet 3 and calculates the tilt angle of the pallet 3 relative to the vehicle compartment in each direction.

[0054] To achieve compatibility and versatility in both online loading and online palletizing of bagged materials 2, this loading system was developed. Its key technical measure is the use of a 3D gimbal detection device to determine whether there are pallets in the transport vehicle 1, and then adopting the appropriate palletizing method.

[0055] The beneficial effects of adopting the above technical solution are:

[0056] 1. The equipment has high compatibility and powerful functions, and can perform both online direct loading and online pallet loading.

[0057] 2. Empty pallets do not need to be unloaded, and pallets do not need to be filled before loading, so no forklift is needed during the loading process;

[0058] 3. It reduces the unloading of empty pallets, improves the utilization rate of pallet 3, and thus improves the transportation efficiency of bagged materials 2.

[0059] The loading system is equipped with a system computer control unit, which is equipped with bagged material stacking planning software.

[0060] The stacking planning software installed in the system's computer control unit calculates the coordinate values ​​for placing packages on each layer; based on the detection data, it can automatically call the online direct loading program or the online pallet loading program.

[0061] The 3D gimbal detection device employs a 3D laser scanner. Alternatively, the 3D gimbal detection device may be equipped with an infrared rangefinder.

[0062] A 3D laser scanner or infrared rangefinder can be used to obtain the coordinate position and dimensions of the carriage or pallet 3.

[0063] The loading robot uses two independently released grippers, and each gripper is used for palletizing by independently releasing a single package.

[0064] The gripper of the loading robot is controlled by the system computer control unit to perform linear motion in three coordinates and rotational motion in the horizontal plane.

[0065] The loading system is equipped with a vehicle information collection unit, which is equipped with a camera to photograph the license plate of the transport vehicle 1.

[0066] When a pallet 3 is placed inside the compartment of transport vehicle 1, the system computer control unit performs coordinate detection of the pallet 3 inside the compartment and obtains the relative coordinates and tilt angle of the pallet 3 relative to the vehicle in the X, Y, and Z directions.

[0067] The X direction is the front-to-back direction of the transport vehicle 1; the Y direction is the left-to-right direction of the transport vehicle 1; and the Z direction is the up-to-down direction of the transport vehicle 1.

[0068] The vehicle information collection unit is signal-connected to the system computer control unit, and the vehicle information collection unit sends the collected transport vehicle information to the system computer control unit.

[0069] The system's computer control unit collects and stores the technical parameter information of the transport vehicle; the technical parameter information of the transport vehicle includes the vehicle's tare weight, load capacity, and vehicle body geometric dimensions, which serve as the basis for the planning of its bagged material stacking.

[0070] The stacking planning software installed in the system's computer control unit calculates the coordinate values ​​for placing packages on each layer; based on the detection data, it can automatically call the online direct loading program or the online pallet loading program.

[0071] The loading robot uses two independently released grippers, and each gripper is used for palletizing by independently releasing a single package.

[0072] The loading method described above uses either a five-pack stack loading method or a five-pack stack pallet loading method. The five-pack stack is defined as follows: two adjacent stacks form a cycle, and in the next stack, two packages on one side are placed vertically and three packages on the other side are placed horizontally; the next stack is the opposite, with three packages on one side placed horizontally and two packages on the other side placed vertically.

[0073] The loading method is as follows: starting from the rear of the transport vehicle 1, the layers are stacked from the front of the vehicle to the rear, forming a zigzag stacking pattern; every two layers form one cycle.

[0074] like Figure 3 As shown:

[0075] When the transport vehicle 1 enters the loading position, the loading system collects the transport vehicle information through the vehicle information collection unit. The transport vehicle information includes the license plate number, vehicle weight, load capacity, and vehicle body geometric dimensions, which serve as the basis for planning the stacking type of the bagged materials 2.

[0076] The system computer control unit communicates with the logistics control room via a wireless network; the system computer control unit reports loading progress information to the logistics control room and receives dispatch instructions from the logistics control room.

[0077] The loading progress information includes the number of transport vehicles 1 that have been loaded within the planned period and their license plate numbers; and the number of bagged materials 2 that have been loaded, including the number of bags and their weight.

[0078] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A loading method compatible with online direct loading of bagged materials and in-vehicle pallet loading, applied to a loading system for bagged materials (2); the loading system includes a loading robot, a transport vehicle (1) and a system computer control unit; a portion of the transport vehicle (1) has pallets (3) placed in its compartments, while the other portion of the compartments does not have pallets. Its features The loading method is as follows: First, the detection method of 3D gimbal is used to determine whether there is a pallet (3) in the compartment of the transport vehicle (1); If no pallet is placed in the compartment of the transport vehicle (1), the online direct loading method is adopted. The 3D gimbal detection device detects the coordinates of each vertex in the compartment of the transport vehicle; the loading system performs the stacking pattern planning of the device stacking; the loading robot performs the packing of bagged materials (2) in the compartment of the transport vehicle (1). If a pallet (3) is placed in the compartment of the transport vehicle (1), an online pallet loading method is adopted. The 3D gimbal detection device detects the coordinates of the pallet (3) relative to the compartment of the transport vehicle (1). The loading system performs palletization planning. The loading robot packs the bagged materials (2) on the pallet (3) in the compartment of the transport vehicle (1). When a pallet is placed in the compartment of the transport vehicle (1), the system computer control unit performs coordinate detection of the pallet (3) in the compartment and obtains the relative coordinates and tilt angle of the pallet (3) relative to the vehicle in the X, Y and Z directions. The X direction is the front-to-back direction of the transport vehicle (1); the Y direction is the left-to-right direction of the transport vehicle (1); and the Z direction is the up-to-down direction of the transport vehicle (1).

2. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 1, characterized in that: The stacking planning software installed in the system computer control unit calculates the placement coordinates of each layer; based on the detection data, it can automatically call the online direct loading program or the online pallet loading program.

3. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 1, characterized in that: The loading robot uses two independently released grippers, and each gripper is used for palletizing by independently releasing a single package.

4. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 1, characterized in that: The loading method described above uses either a five-pack stack loading method or a five-pack stack pallet loading method. The five-pack stack is defined as follows: two adjacent stacks form a cycle, and in the next stack, two packages on one side are placed vertically and three packages on the other side are placed horizontally; the next stack is the opposite, with three packages on one side placed horizontally and two packages on the other side placed vertically.

5. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 4, characterized in that: The loading method is as follows: starting from the rear of the transport vehicle (1), the stacks are placed from the front of the vehicle to the rear, and then from the front of the vehicle to the rear, forming a zigzag stacking pattern; every two layers of stacking form a cycle.

6. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 2, characterized in that: When the transport vehicle (1) enters the loading position, the loading system collects the information of the transport vehicle (1) through the vehicle information collection unit. The information of the transport vehicle (1) includes the license plate number, vehicle weight, load, and vehicle body geometric dimensions, which serve as the basis for planning the stacking of its bagged materials (2).

7. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 6, characterized in that: The system computer control unit communicates with the logistics control room via a wireless network; the system computer control unit reports loading progress information to the logistics control room and receives dispatch instructions from the logistics control room.

8. The loading method for bagged materials that is compatible with both online direct loading and in-vehicle pallet loading according to claim 7, characterized in that: The loading progress information includes the number of transport vehicles (1) that have been loaded within the planning period and their license plate numbers; the number of bagged materials (2) that have been loaded, including the number of bags and their weight; and the stacking type of each transport vehicle.

Images