Automatic alignment system, method and storage medium for loading and unloading cargo on trucks

Abstract

The invention discloses an automatic alignment system and method for loading and unloading goods on a truck, and a storage medium. The system comprises a distance measuring sensor and a reflector. The distance measuring sensor comprises a first sensor, a second sensor, a third sensor, and a fourth sensor. The first sensor is arranged on the upper side of a truck compartment, the second sensor is arranged on the lower side of a loading and unloading platform, the third sensor is arranged on the side of the truck compartment, and the fourth sensor is arranged on the loading and unloading platform. The first sensor and the second sensor are used to measure and calculate the gap between the loading and unloading platform and the truck compartment in a vertical direction, so as to adjust the loading and unloading platform in a vertical direction, and then align the loading and unloading platform with the truck compartment in the vertical direction. The third sensor and the fourth sensor are used to measure and calculate the gap between the loading and unloading platform and the truck compartment in a horizontal direction, so as to adjust the loading and unloading platform in a first direction, and then align the loading and unloading platform with the truck compartment in the first direction.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to an automatic alignment system, method and storage medium for loading and unloading goods on a truck. Background Art

[0002] At present, when a truck stops to load or unload goods, it usually relies on transition bridges, signal light truck guide devices, safety guardrails, etc. to guide parking. Due to the difference in car models, it is impossible to fully connect with the loading and unloading system. Currently, the loading and unloading system is usually adjusted manually to align with the car, and the alignment is judged by human eyes. Therefore, the accuracy is poor and the efficiency is low.

[0003] At present, although there are reports on using image recognition systems to analyze and judge the relative positions of carriages and loading and unloading platforms, this will greatly increase the installation and use costs. In the prior art, there are also methods of using sensors to measure the position of loading and unloading platforms and continuously adjust the platform position, but this method often has special requirements for the location of the sensor and is inconvenient to install. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a system, method and storage medium for automatic alignment of cargo loading and unloading on a truck, by using a first sensor and a second sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the vertical direction, thereby adjusting the loading and unloading platform in the vertical direction, and then aligning the loading and unloading platform with the truck compartment in the vertical direction; by using a third sensor and a fourth sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the horizontal direction, thereby adjusting the loading and unloading platform in the first direction, and then aligning the loading and unloading platform with the truck compartment in the first direction, thereby improving the efficiency of aligning the truck compartment with the loading and unloading platform.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: an automatic alignment system for loading and unloading goods on a truck, which is applied to a loading and unloading platform to transport goods to a truck compartment, comprising:

[0006] The ranging sensor and the reflective plate include a first sensor, a second sensor, a third sensor and a fourth sensor. The first sensor is arranged obliquely above the truck compartment, the second sensor is arranged on the lower surface of the loading and unloading platform, the third sensor is arranged on the side of the truck compartment and does not contact the truck compartment, the reflective plate and the fourth sensor are arranged side by side along the first direction, and the reflective plate is arranged on the side of the loading and unloading platform close to the third sensor.

[0007] The system of this application has the following effects:

[0008] ① By setting the first sensor above the truck compartment, it is possible to match trucks of different specifications with the loading and unloading platform; by coordinating the first sensor with the second sensor arranged at the bottom of the loading and unloading platform, it is possible to measure the height difference between the loading and unloading platform and the truck compartment in different actual situations, without the need to set up complex facilities such as cameras and image analysis, with low cost, high reliability of results and easy installation.

[0009] ② This application sets a third sensor on the side of the car and a fourth sensor on the loading and unloading platform. It is easy to install and cleverly uses the reflective plate mechanism to easily and accurately determine the position deviation between the loading and unloading platform and the car in the left and right directions. It is easy to install and the judgment result is reliable.

[0010] ③ The present application uses the first sensor and the second sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the vertical direction, thereby adjusting the loading and unloading platform in the vertical direction, and then aligning the loading and unloading platform with the truck compartment in the vertical direction. There is no need for manual intervention to adjust the height of the truck compartment and the loading and unloading platform, saving manpower, and using sensors to measure and calculate based on the measurement results, which is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment and the loading and unloading platform; by using the third sensor and the fourth sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the horizontal direction, the loading and unloading platform is adjusted in the first direction, and then aligning the loading and unloading platform with the truck compartment in the first direction, improving the efficiency of aligning the truck compartment and the loading and unloading platform, there is no need for manual intervention to adjust the distance between the truck compartment and the loading and unloading platform in the first direction, saving manpower, and using sensors to measure and calculate based on the measurement results, which is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment and the loading and unloading platform, and improving the efficiency of aligning the truck compartment and the loading and unloading platform.

[0011] In some embodiments, the first sensor is disposed obliquely above a side of the truck compartment close to the loading and unloading platform via a gantry.

[0012] In this technical solution, an extension frame is provided on the gantry and extends along the second direction close to the loading and unloading platform. The first sensor is arranged at the top of the extension frame so that a distance is created between the first sensor and the entrance of the truck compartment so that the first sensor can detect the floor of the truck compartment through the entrance of the truck compartment.

[0013] In some embodiments, the fourth sensor is at the same height as the reflective plate, and the fourth sensor is disposed on the loading and unloading platform.

[0014] In this technical solution, the fourth sensor and the reflective plate are set at the same height, which is beneficial to reflecting the signal emitted by the fourth sensor through the reflective plate, thereby obtaining the distance between the reflective plate and the fourth sensor. The fourth sensor is set on the loading and unloading platform, which is beneficial to reflecting the horizontal position of the loading and unloading platform through the fourth sensor.

[0015] In some embodiments, the automatic alignment system for loading and unloading cargoes on a truck further includes a conveying section, which is connected to the loading and unloading platform and is disposed on a side of the loading and unloading platform away from the truck compartment.

[0016] In this technical solution, the conveying section is used to transport the goods to the loading and unloading platform after the truck compartment is aligned with the loading and unloading platform, and the loading and unloading platform loads the goods onto the truck compartment, or the conveying section transports the goods unloaded from the truck compartment to the loading and unloading platform, thereby saving human resources.

[0017] In some embodiments, the automatic alignment system for loading and unloading cargoes on a truck further includes a temporary storage section, which is connected to the conveying section and is disposed on a side of the conveying section away from the loading and unloading platform.

[0018] In this technical solution, the temporary storage section is used to temporarily load goods. When loading goods, the temporary storage section transports the goods to the transport section, and then the transport section transports the goods to the loading platform. When unloading goods, the temporary storage section receives the goods transported from the transport section to facilitate subsequent processing of the goods.

[0019] The present invention also provides a method for automatically aligning a truck for loading and unloading cargo, using the above-mentioned automatic alignment system for loading and unloading cargo on a truck, comprising:

[0020] Obtain a first optical path distance L1 between the first sensor and the floor of the truck compartment, obtain a first tilt angle A preset by the first sensor, and calculate a vertical distance between the floor of the truck compartment and the first sensor as a first vertical distance h1 according to the first optical path distance L1 and the first tilt angle A: h1=COS A*L1;

[0021] The vertical distance between the first sensor and the ground is obtained as the second vertical distance h2, and the height H1 of the truck compartment between the truck compartment floor and the ground is calculated according to the first vertical distance h1 and the second vertical distance h2: H1=h2-h1;

[0022] The vertical distance between the second sensor and the ground is obtained as the third vertical distance h3, and the vertical distance between the second sensor and the upper surface of the loading and unloading platform is obtained as the fourth vertical distance h4. According to the third vertical distance h3 and the fourth vertical distance h4, the platform height H2 between the loading and unloading platform and the ground is calculated: H2=h3+h4;

[0023] Calculate the platform lifting distance H3 based on the truck compartment height H1 and the platform height H2: H3=H1-H2.

[0024] In this method, the vertical distance between the truck bed and the sensor is calculated, which is beneficial to the subsequent calculation of the distance that the loading and unloading platform needs to adjust its movement in the vertical direction. The height of the truck bed between the truck bed and the ground is calculated, which is beneficial to the calculation of the platform height between the loading and unloading platform and the ground through the height of the truck bed, thereby calculating the platform lifting distance that the loading and unloading platform needs to move. There is no need for manual intervention to adjust the height of the truck bed and the loading and unloading platform, which saves manpower. In addition, the method of using sensors to measure and calculate based on the measurement results is beneficial to ensure the accuracy of the calculation results, thereby improving the height alignment of the truck bed and the loading and unloading platform.

[0025] In some embodiments, after calculating the platform lifting distance, the method further includes: the loading and unloading platform moves in a vertical direction according to the platform lifting distance H3.

[0026] In this method, the loading and unloading platform moves in a vertical direction, thereby adjusting the height of the loading and unloading platform so that the loading and unloading platform is aligned with the truck compartment in the vertical direction.

[0027] In some embodiments, the method for automatically aligning truck loading and unloading cargo further includes:

[0028] Obtain a second optical path distance L2 between the third sensor and the side wall of the truck compartment, obtain a second tilt angle B preset by the second sensor, and calculate a first horizontal distance r1 between the third sensor and the truck compartment along a first direction according to the second optical path distance L2 and the second tilt angle B: r1=COS B*L2;

[0029] Using the third sensor as a reference line along the second direction, obtain a second horizontal distance r2 between the center line of the truck compartment and the side wall of the truck compartment along the first direction, and obtain a first directrix distance R1 between the center line of the truck compartment and the reference line according to the first horizontal distance r1 and the second horizontal distance r2: R1=r1+r2;

[0030] Obtain a third horizontal distance r3 between the fourth sensor and the reflector, obtain a fourth horizontal distance r4 between the reflector and the reference line, and calculate a second directrix distance R2 between the fourth sensor and the reference line according to the third horizontal distance r3 and the fourth horizontal distance r4: R2=r3+r4;

[0031] The platform translation distance R3 is calculated according to the first alignment distance R1 and the second alignment distance R2: R3=R1-R2.

[0032] In this method, calculating the first horizontal distance is beneficial to the subsequent calculation of the first directrix distance, and the baseline is beneficial as a reference line to facilitate the calculation of the first directrix distance and the second directrix distance. By using the first directrix distance and the second directrix distance to calculate the platform translation distance that the loading platform needs to translate in the first direction, there is no need for manual intervention to adjust the distance between the truck body and the loading and unloading platform in the first direction, which saves manpower. In addition, the method of using sensors to measure and calculate based on the measurement results is beneficial to ensuring the accuracy of the calculation results, thereby improving the neatness of the truck body and the loading and unloading platform in the first direction.

[0033] In some implementations, after calculating the platform translation distance, the method further includes: the loading and unloading platform moving along the first direction according to the platform translation distance R3.

[0034] In this method, the loading and unloading platform moves along a first direction, thereby adjusting the horizontal position of the loading and unloading platform so that the loading and unloading platform is aligned with the truck compartment in the first direction.

[0035] The present invention also provides a storage medium, characterized in that a computer program is stored in the storage medium, and the computer program is used to implement the above method when it is executed.

[0036] The beneficial effects of the present invention are that by using the first sensor and the second sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the vertical direction, the loading and unloading platform is adjusted in the vertical direction, and then the loading and unloading platform is aligned with the truck compartment in the vertical direction, and there is no need for manual intervention to adjust the height of the truck compartment and the loading and unloading platform, which saves manpower, and the method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment and the loading and unloading platform; by using the third sensor and the fourth sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the horizontal direction, the loading and unloading platform is adjusted in the first direction, and then the loading and unloading platform is aligned with the truck compartment in the first direction, and there is no need for manual intervention to adjust the distance between the truck compartment and the loading and unloading platform in the first direction, which saves manpower, and the method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the alignment of the truck compartment and the loading and unloading platform in the first direction, and improving the efficiency of aligning the truck compartment with the loading and unloading platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the misaligned structure of the automatic alignment system for loading and unloading goods on a truck according to an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the alignment structure of an automatic alignment system for loading and unloading goods on a truck according to an embodiment of the present invention;

[0039] Figure 3It is a schematic flow chart of a vertical alignment method of a method for automatically aligning cargoes for loading and unloading trucks according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a vertical alignment structure of an automatic alignment method for loading and unloading cargo on a truck according to an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a horizontal alignment method flow chart of an automatic alignment method for loading and unloading goods on a truck according to an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of the horizontal alignment structure of a method for automatically aligning cargo loading and unloading on a truck according to an embodiment of the present invention;

[0043] In the figure: 1, loading and unloading platform; 2, truck compartment; 21, truck compartment floor; 22, center line; 31, first sensor; 32, second sensor; 33, third sensor; 34, fourth sensor; 5, reflector; 6, conveying section; 7, temporary storage section; 8, reference line; 9, ground; x, first direction; y, second direction. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0045] Combined with Figure 1 , Attachment Figure 2 , Attachment Figure 4 and attached Figure 6 As shown, the present invention provides an automatic alignment system for loading and unloading goods on a truck, which is applied to a loading and unloading platform 1 to transport goods to a truck compartment 2, and comprises:

[0046] The ranging sensor and the reflector 5, the ranging sensor includes a first sensor 31, a second sensor 32, a third sensor 33, and a fourth sensor 34. The first sensor 31 is arranged at an angle above the truck compartment 2. For example, a door-shaped bracket is arranged. The bracket is flush with the end of the loading and unloading platform 1 close to the truck compartment 2. The first sensor 31 is arranged on the bracket. The first sensor 31 is arranged at the top of the bracket. An extension frame extending in a second direction close to the loading and unloading platform 1 is arranged on the bracket. The first sensor is arranged at the top of the extension frame, so that the first sensor 31 is at a distance from the entrance of the truck compartment 2, so that the first sensor 31 can detect the truck compartment floor 21 through the entrance of the truck compartment 2. The second sensor 32 is arranged on the lower side of the loading and unloading platform 1. The second sensor 32 can be arranged on the lower surface of the loading and unloading platform 1, which is conducive to reducing the installation components of the second sensor 32. Therefore, the present application can meet the matching needs of trucks of different specifications and the loading and unloading platform 1 by setting the first sensor 31 above the truck compartment 2; at the same time, a second sensor 32 is set at the bottom of the loading and unloading platform 1. Only by simply setting two sensors, it is possible to measure the height difference between the loading and unloading platform 1 and the truck compartment 2 in different actual situations. There is no need to set up complex facilities such as cameras and image analysis. The cost is low, the results are highly reliable, and the installation is easy.

[0047] For example, see Appendix Figure 4 As shown, in the vertical direction, the first optical path distance L1 between the first sensor 31 and the truck compartment floor 21 is 60 cm, and the first tilt angle A set for the first sensor 31 is 60°. According to the first optical path distance L1 and the first tilt angle A, the vertical distance between the truck compartment floor 21 and the first sensor 31 is calculated as the first vertical distance h1: h1=COS A *L1. Substituting the first optical path distance L1 as 60 cm and the first tilt angle A as 60° for calculation, h1=60*0.5 is obtained, that is, h1=30 cm.

[0048] The vertical distance between the first sensor 31 and the ground 9 is the second vertical distance h2, which is 330 cm. The vertical distance between the first sensor 31 and the ground 9 is the height of the bracket. The height H1 of the truck compartment 2 between the truck compartment floor 21 and the ground 9 is calculated according to the first vertical distance h1 and the second vertical distance h2: H1=h2-h1. Substituting the first vertical distance h1 as 30 cm and the second vertical distance h2 as 330 cm, H1=330-30 is obtained, that is, H1=300 cm.

[0049] The vertical distance between the second sensor 32 and the ground 9 is the third vertical distance h3, which is 50 cm. The vertical distance between the second sensor 32 and the upper surface of the loading and unloading platform 1 is the fourth vertical distance h4, which is 30 cm. According to the third vertical distance h3 and the fourth vertical distance h4, the platform height H2 between the loading and unloading platform 1 and the ground 9 is calculated: H2=h3+h4. Substituting the third vertical distance h3 as 50 cm and the fourth vertical distance h4 as 30 cm, H2=50+30 is obtained, that is, H2=80 cm.

[0050] The platform lifting distance H3 is calculated according to the height H1 of the truck compartment 2 and the height H2 of the platform: H3=H1-H2. Substituting the height H1 of the truck compartment 2 as 300cm and the platform height H2 as 80cm, the platform lifting distance H3=300-80 is obtained, that is, H3=220cm. If H3 is a positive number, it means upward, and if H3 is a negative number, it means downward, the loading and unloading platform 1 needs to move upward 220cm.

[0051] The loading and unloading platform 1 is controlled to move 220 cm upward in the vertical direction, so that the loading and unloading platform 1 is aligned with the truck compartment 2 in the vertical direction.

[0052] In some embodiments, the third sensor 33 is arranged on the side of the truck compartment 2 and does not contact the truck compartment 2, for example, the third sensor 33 is arranged on the side support of the bracket. The fourth sensor 34 is arranged on the loading and unloading platform 1 and arranged side by side with the reflector 5 along the first direction x (that is, the reflector 5 and the fourth sensor 34 are at the same height), and the reflector 5 is arranged on the side of the loading and unloading platform 1 close to the third sensor 33. The vertical distance between the reflector 5 and the reference line 8 where the third sensor 33 is located along the x direction is known. By setting the reflector 5, the distance between the fourth sensor 34 and the reflector can be measured, and then, the vertical distance between the fourth sensor 34 and the reference line 8 along the x direction can be easily measured, and then the left and right movement distance of the loading and unloading platform 1 can be quickly determined. The present application is easy to install by setting a third sensor 33 on the side of the compartment 2 and a fourth sensor 34 on the loading and unloading platform 1, and the mechanism of the reflector 5 is cleverly used to easily and accurately determine the position deviation of the loading and unloading platform 1 and the compartment 2 in the left and right directions, and the determination result is reliable.

[0053] In other possible implementations, the fourth sensor 34 may also be directly disposed on the ground, thereby providing greater installation flexibility.

[0054] For example, see Appendix Figure 6As shown, in the first direction x, the second optical path distance L2 between the third sensor 33 and the side wall of the truck compartment 2 is 80 cm, and the second tilt angle B set by the second sensor 32 is 60°. The first horizontal distance r1 between the third sensor 33 and the truck compartment 2 along the first direction x is calculated according to the second optical path distance L2 and the second tilt angle B: r1=COS B *L2. Substituting the second optical path distance L2 as 80 cm and the second tilt angle B as 60°, the first horizontal distance r1=80*0.5 is obtained, that is, r1=40 cm;

[0055] The third sensor 33 is used as the reference line 8 along the second direction y, and the second horizontal distance r2 between the center line 22 of the truck compartment 2 and the side wall of the truck compartment 2 along the first direction x is obtained as 100 cm. The first directrix distance R1 between the center line 22 of the truck compartment 2 and the reference line 8 is obtained according to the first horizontal distance r1 and the second horizontal distance r2: R1=r1+r2. Substituting the first horizontal distance r1 as 40 cm and the second horizontal distance r2 as 100 cm, the first directrix distance R1 is obtained as: R1=100+40, i.e. 140 cm.

[0056] The third horizontal distance r3 between the fourth sensor 34 and the reflector 5 is 20 cm, and the fourth horizontal distance r4 between the reflector 5 and the reference line 8 is 30 cm. The second directrix distance R2 between the fourth sensor 34 and the reference line 8 is calculated according to the third horizontal distance r3 and the fourth horizontal distance r4: R2=r3+r4. Substituting the third horizontal distance r3 as 20 cm and the fourth horizontal distance r4 as 30 cm, the second directrix distance R2 is obtained as: R2=20+30, that is, R2=50 cm.

[0057] The platform translation distance R3 is calculated according to the first directrix distance R1 and the second directrix distance R2: R3=R1-R2. Substituting the first directrix distance R1 as 140cm and the second directrix distance R2 as 50cm, the platform translation distance R3 is: R3=140-50, that is, R3=90cm. If R3 is a positive number, it means moving to the left, and if R3 is a negative number, it means moving to the right, then the loading and unloading platform 1 needs to move 90cm to the left.

[0058] The loading and unloading platform 1 needs to be controlled to move 90 cm to the left along the first direction x, so that the loading and unloading platform 1 is aligned with the truck compartment 2 in the first direction x.

[0059] In some embodiments, the fourth sensor 34 is disposed at the center point of the loading and unloading platform 1 in the x direction, thereby ensuring that the loading and unloading platform 1 can move to completely coincide with the center line of the carriage 2 in the y direction. In other possible embodiments, the installation position of the fourth sensor 34 need not be strictly limited to the center point in the x direction, because the overall width of the loading and unloading platform 1 is much different from that of the carriage 2, and therefore, the moving distance of the loading and unloading platform 1 in the left and right directions determined by the above calculation method can still ensure that the loading and unloading platform 1 and the carriage 2 are smoothly docked, but this installation method makes the installation of the fourth sensor 34 easier.

[0060] The distance measuring sensor is used to measure the distance, so as to calculate the direction and distance that the loading and unloading platform 1 needs to move. By using the first sensor 31 and the second sensor 32 to measure and calculate the vertical difference between the loading and unloading platform 1 and the truck compartment 2, the loading and unloading platform 1 is adjusted in the vertical direction, and then the loading and unloading platform 1 and the truck compartment 2 are aligned in the vertical direction. There is no need for manual intervention to adjust the height of the truck compartment 2 and the loading and unloading platform 1, which saves manpower. In addition, the method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment 2 and the loading and unloading platform 1. By using the third sensor 3 3 and the fourth sensor 34 measure and calculate the gap between the loading and unloading platform 1 and the truck compartment 2 in the horizontal direction, so as to adjust the loading and unloading platform 1 in the first direction x, and then align the loading and unloading platform 1 with the truck compartment 2 in the first direction x, thereby improving the efficiency of aligning the truck compartment 2 with the loading and unloading platform 1, and no manual intervention is required to adjust the distance between the truck compartment 2 and the loading and unloading platform 1 in the first direction x, which saves manpower, and the method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the neatness of the truck compartment 2 and the loading and unloading platform 1 in the first direction x, and improving the efficiency of aligning the truck compartment 2 with the loading and unloading platform 1.

[0061] In some embodiments, the first sensor 31 is arranged through a gantry at an angle above the side of the truck compartment 2 close to the loading and unloading platform 1, and the gantry is provided with an extension frame extending along the second direction y close to the loading and unloading platform 1. The first sensor 31 is arranged at the top of the extension frame, so that the first sensor 31 is at a distance from the entrance of the truck compartment 2, so that the first sensor 31 can detect the truck compartment floor 21 through the entrance of the truck compartment 2.

[0062] In some embodiments, the fourth sensor 34 and the reflective plate 5 are at the same height, which is beneficial for reflecting the signal emitted by the fourth sensor 34 through the reflective plate 5, thereby obtaining the distance between the reflective plate 5 and the fourth sensor 34; the fourth sensor 34 is set on the loading and unloading platform 1, which is beneficial for reflecting the horizontal position of the loading and unloading platform 1 through the fourth sensor 34.

[0063] Continue to combine Figure 1 and attached Figure 2 As shown, in some embodiments, the automatic alignment system for loading and unloading cargoes on a truck further comprises a conveying section 6, which is connected to the loading and unloading platform 1, and is disposed on a side of the loading and unloading platform 1 away from the truck compartment 2. After the truck compartment 2 is aligned with the loading and unloading platform 1, the conveying section 6 is used to convey the cargo to the loading and unloading platform 1, and the loading and unloading platform 1 loads the cargo onto the truck compartment 2, or the conveying section 6 transports the cargo unloaded from the truck compartment 2 away from the loading and unloading platform 1, thereby greatly saving human resources.

[0064] Continue to combine Figure 1 and attached Figure 2 As shown, in some embodiments, the automatic alignment system for loading and unloading goods on a truck further includes a temporary storage section 7, which is connected to the conveying section 6. The temporary storage section 7 is arranged on a side of the conveying section 6 away from the loading and unloading platform 1. The temporary storage section 7 is used to temporarily load goods. When loading goods, the temporary storage section 7 transports the goods to the transport section, and then the transport section transports the goods to the loading platform. When unloading goods, the temporary storage section 7 receives the goods transported from the transport section to facilitate subsequent processing of the goods.

[0065] In some embodiments, the automatic alignment system for loading and unloading cargoes on a truck further comprises an operating box, which is communicatively connected to the loading and unloading platform 1, the temporary storage section 7, and the conveying section 6. The operating box is used to control the operation and stopping of the loading and unloading platform 1, the temporary storage section 7, and the conveying section 6, thereby controlling the loading and unloading of cargoes on the truck.

[0066] In some embodiments, the automatic alignment system for loading and unloading cargoes in trucks further comprises a signal tower light, which is communicatively connected to the conveying section 6, and is used to feedback the operating status of the conveying section 6, thereby facilitating the operator to obtain the operating status of the conveying section 6, and then to perform the corresponding next operation. For example, according to the status of the temporary storage section 7, it is determined whether the temporary storage 7 is in a loading or unloading state, so that corresponding processing can be performed at the temporary storage section 7 according to the working status of the temporary storage section 7: if the temporary storage section 7 is in a loading state, then the corresponding operation of loading cargoes is performed at the temporary storage section 7, thereby loading cargoes into the truck compartment; if the temporary storage section 7 is in an unloading state, then the cargoes above are unloaded at the temporary storage section 7 to prevent cargoes from piling up on the temporary storage section 7.

[0067] Combined with Figure 3 and attached Figure 4 As shown, the present invention also provides a method for automatically aligning a truck for loading and unloading cargo. The method adopts the above-mentioned automatic alignment system for loading and unloading cargo. The method includes a vertical alignment method and a horizontal alignment method. The vertical alignment method includes:

[0068] S101: Obtain a first optical path distance L1 between the first sensor and the floor of the truck compartment, obtain a first tilt angle A preset by the first sensor, and calculate a vertical distance between the floor of the truck compartment and the first sensor as a first vertical distance h1 based on the first optical path distance L1 and the first tilt angle A: h1=COS A *L1.

[0069] For example, the first optical path distance L1 is 60 cm, and the first inclination angle A is 60°, then the first vertical distance h1 is calculated as: h1=60*0.5, that is, h1=30 cm.

[0070] S102: Obtain the vertical distance between the first sensor and the ground as the second vertical distance h2, and calculate the height H1 of the truck compartment between the truck compartment floor and the ground according to the first vertical distance h1 and the second vertical distance h2: H1=h2-h1. If the method of directly setting the sensor on the truck compartment floor in the prior art is adopted, the loading and unloading platform may block the sensor, thereby affecting the detection of the height of the truck compartment; therefore, the requirements for the specific setting position of the sensor are relatively limited, and cannot meet the complex and changeable situations in practice (the relative position relationship between the truck compartment and the platform is relatively random and cannot be accurately predicted). However, in the present application, only a first sensor 31 is set on the upper side of the truck compartment, and it is ensured that the first sensor 31 will not be blocked by the loading and unloading platform 1, so as to easily realize the detection of the height position of the truck compartment, and accurately judge the moving height and direction of the loading and unloading platform 1. Therefore, the installation position and installation difficulty of the first sensor are required to be relatively low.

[0071] For example, the second vertical distance h2 is 330 cm, and the height H1 of the truck compartment is: H1=330-30, that is, H1=300 cm.

[0072] S103: Obtain the vertical distance between the second sensor and the ground as the third vertical distance h3, obtain the vertical distance between the second sensor and the upper surface of the loading and unloading platform as the fourth vertical distance h4, and calculate the platform height H2 between the loading and unloading platform and the ground based on the third vertical distance h3 and the fourth vertical distance h4: H2=h3+h4.

[0073] For example, the third vertical distance h3 is 50 cm, and the fourth vertical distance h4 is 30 cm, then the platform height H2 is: H2=50+30, that is, H2=80 cm.

[0074] S104: Calculate the platform lifting distance H3 according to the truck compartment height H1 and the platform height H2: H3=H1-H2.

[0075] For example, if the truck compartment height H1 is 300cm and the platform height H2 is 80cm, then the platform lifting distance H3=300-80, that is, H3=220cm. If H3 is a positive number, it means upward, and if H3 is a negative number, it means downward, the loading and unloading platform needs to move upward 220cm.

[0076] Calculating the vertical distance between the truck compartment floor 21 and the sensor is beneficial for the subsequent calculation of the distance that the loading and unloading platform 1 needs to adjust its movement in the vertical direction. Calculating the height of the truck compartment 2 between the truck compartment floor 21 and the ground 9 is beneficial for calculating the platform height between the loading and unloading platform 1 and the ground 9 through the height of the truck compartment 2, thereby calculating the platform lifting distance that the loading and unloading platform 1 needs to move. There is no need for manual intervention to adjust the height of the truck compartment 2 and the loading and unloading platform 1, which saves manpower. In addition, the method of using sensors to measure and calculate based on the measurement results is beneficial to ensure the accuracy of the calculation results, thereby improving the height alignment of the truck compartment 2 and the loading and unloading platform 1.

[0077] Continue to combine Figure 3 and attached Figure 4 As shown, in some embodiments, after calculating the platform lifting distance, the method further includes: S105: the loading and unloading platform moves in a vertical direction according to the platform lifting distance H3.

[0078] The loading and unloading platform moves in the vertical direction, so as to adjust the height of the loading and unloading platform so that the loading and unloading platform is aligned with the truck compartment in the vertical direction. For example, when the platform lifting distance H3 is calculated to be 220 cm, H3 is upward when it is a positive number and downward when it is a negative number, the loading and unloading platform needs to be moved upward by 220 cm in the vertical direction so that the loading and unloading platform is aligned with the truck compartment in the vertical direction.

[0079] Continue to combine Figure 5 and attached Figure 6 As shown, in some embodiments, the horizontal alignment method of the automatic alignment method for loading and unloading cargo on a truck includes:

[0080] S201: Obtain a second optical path distance L2 between the third sensor and the side wall of the truck compartment, obtain a second tilt angle B preset by the second sensor, and calculate a first horizontal distance r1 between the third sensor and the truck compartment along a first direction according to the second optical path distance L2 and the second tilt angle B: r1=COS B *L2.

[0081] For example, the second optical path distance L2 is 80 cm, the second inclination angle B is 60°, and the first horizontal distance r1 is: r1=80*0.5, that is, r1=40 cm.

[0082] S202: Use the third sensor as a reference line along the second direction to obtain a second horizontal distance r2 between the center line of the truck compartment and the side wall of the truck compartment along the first direction, and obtain a first directrix distance R1 between the center line of the truck compartment and the reference line based on the first horizontal distance r1 and the second horizontal distance r2: R1=r1+r2.

[0083] For example, if the second horizontal distance r2 is 100 cm, then the first directrix distance R1 is: R1=100+40, that is, 140 cm.

[0084] S203: Obtain a third horizontal distance r3 between the fourth sensor and the reflector, obtain a fourth horizontal distance r4 between the reflector and the reference line, and calculate a second directrix distance R2 between the fourth sensor and the reference line according to the third horizontal distance r3 and the fourth horizontal distance r4: R2=r3+r4.

[0085] For example, the third horizontal distance r3 is 20 cm, the fourth horizontal distance r4 is 30 cm, and the second directrix distance R2 is: R2=20+30, that is, R2=50 cm.

[0086] S204: Calculate the platform translation distance R3 according to the first directrix distance R1 and the second directrix distance R2: R3=R1-R2.

[0087] For example, the first directrix distance R1 is 140 cm, the second directrix distance R2 is 50 cm, and the platform translation distance R3 is: R3=140-50, that is, R3=90 cm. If R3 is a positive number, it means moving to the left, and if R3 is a negative number, it means moving to the right, then the loading and unloading platform needs to move 90 cm to the left.

[0088] Calculating the first horizontal distance is beneficial to the subsequent calculation of the first directrix distance. The baseline 8 is beneficial as a reference line. The center line 22 is beneficial for aligning the loading and unloading platform 1 and the truck body 2 in the first direction x as a reference, which facilitates the calculation of the first directrix distance and the second directrix distance. By using the first directrix distance and the second directrix distance, the platform translation distance that the loading platform needs to translate in the first direction x is calculated. There is no need for manual intervention to adjust the distance between the truck body 2 and the loading and unloading platform 1 in the first direction x, which saves manpower. In addition, the method of using sensors to measure and calculate based on the measurement results is beneficial to ensuring the accuracy of the calculation results, thereby improving the alignment of the truck body 2 and the loading and unloading platform 1 in the first direction x.

[0089] Continue to combine Figure 5 and attached Figure 6As shown, in some embodiments, after calculating the platform translation distance, the following also includes: S205: the loading and unloading platform moves along the first direction according to the platform translation distance R3. For example, when the platform translation distance R3 is calculated to be 90 cm, R3 is a positive number for moving to the left and a negative number for moving to the right, the loading and unloading platform needs to move 90 cm to the left along the first direction, so that the loading and unloading platform is aligned with the truck compartment in the first direction.

[0090] The loading and unloading platform moves along a first direction, thereby adjusting a horizontal position of the loading and unloading platform so that the loading and unloading platform is aligned with the truck compartment in the first direction.

[0091] The present invention also provides a storage medium, characterized in that a computer program is stored in the storage medium, and the computer program is used to implement the above method when it is executed.

[0092] In summary, the present invention provides a system, method and storage medium for automatically aligning cargo loading and unloading on a truck. The system uses a first sensor and a second sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the vertical direction, thereby adjusting the loading and unloading platform in the vertical direction, and then aligning the loading and unloading platform with the truck compartment in the vertical direction. There is no need for manual intervention to adjust the height of the truck compartment and the loading and unloading platform, which saves manpower. The method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment and the loading and unloading platform. The system uses a third sensor and a fourth sensor to measure and calculate the gap between the loading and unloading platform and the truck compartment in the horizontal direction, thereby adjusting the loading and unloading platform in the first direction, and then aligning the loading and unloading platform with the truck compartment in the first direction. There is no need for manual intervention to adjust the distance between the truck compartment and the loading and unloading platform in the first direction, which saves manpower. The method of using sensors to measure and calculate based on the measurement results is conducive to ensuring the accuracy of the calculation results, thereby improving the height alignment of the truck compartment and the loading and unloading platform, and improving the efficiency of aligning the truck compartment with the loading and unloading platform.

[0093] The above implementation modes are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically aligning cargo for loading and unloading on a truck, which is applied to a loading and unloading platform for transporting cargo to a truck compartment, and is characterized in that: include: The distance measuring sensor and the reflective plate, the distance measuring sensor comprises a first sensor, a second sensor, a third sensor and a fourth sensor, the first sensor is arranged obliquely above the truck compartment, the second sensor is arranged on the lower surface of the loading and unloading platform, the third sensor is arranged on the side of the truck compartment and does not contact the truck compartment, the reflective plate and the fourth sensor are arranged side by side along the first direction, and the reflective plate is arranged on the side of the loading and unloading platform close to the third sensor; Obtain a first optical path distance L1 between the first sensor and the floor of the truck compartment, obtain a first tilt angle A preset by the first sensor, and calculate a first vertical distance h1 between the floor of the truck compartment and the first sensor: h1=COS A*L1; Obtain a second vertical distance h2 between the first sensor and the ground, and calculate a height H1 of the truck compartment between the truck compartment floor and the ground: H1=h2-h1; Obtain a third vertical distance h3 between the second sensor and the ground, obtain a fourth vertical distance h4 between the second sensor and the upper surface of the loading and unloading platform, and calculate a platform height H2 between the loading and unloading platform and the ground: H2=h3+h4; Calculate the platform lifting distance H3: H3=H1-H2; Obtain a second optical path distance L2 between the third sensor and the side wall of the truck compartment, obtain a second tilt angle B preset by the second sensor, and calculate a first horizontal distance r1 between the third sensor and the truck compartment along a first direction: r1=COS B*L2; Using the third sensor as a reference line along the second direction, obtaining a second horizontal distance r2 between the center line of the truck compartment and the side wall of the truck compartment along the first direction, and obtaining a first directrix distance R1 between the center line of the truck compartment and the reference line: R1=r1+r2; Obtain a third horizontal distance r3 between the fourth sensor and the reflector, obtain a fourth horizontal distance r4 between the reflector and the reference line, and calculate a second directrix distance R2 between the fourth sensor and the reference line: R2=r3+r4; Calculate the platform translation distance R3: R3=R1-R2.

2. The automatic alignment method for loading and unloading cargo on a truck according to claim 1, characterized in that: The first sensor is arranged at an oblique upper side of the truck compartment close to the loading and unloading platform through a gantry.

3. The automatic alignment method for loading and unloading cargo on a truck according to claim 1, characterized in that: The fourth sensor is at the same height as the reflector plate, and the fourth sensor is arranged on the loading and unloading platform.

4. The automatic alignment method for loading and unloading cargo on a truck according to claim 1, characterized in that: It also includes a conveying section, which is connected to the loading and unloading platform and is arranged on a side of the loading and unloading platform away from the truck compartment.

5. The automatic alignment method for loading and unloading cargo on a truck according to claim 4, characterized in that: It also includes a temporary storage section, which is connected to the conveying section and is arranged on a side of the conveying section away from the loading and unloading platform.

6. The automatic alignment method for loading and unloading cargo on a truck according to claim 1, characterized in that: After calculating the platform lifting distance, the method further includes: the loading and unloading platform moves in a vertical direction according to the platform lifting distance H3.

7. The automatic alignment method for loading and unloading cargo on a truck according to claim 1, characterized in that: After calculating the platform translation distance, the method further includes: the loading and unloading platform moves along a first direction according to the platform translation distance R3.

8. A storage medium, characterized in that: The storage medium stores a computer program, which is used to implement the method according to any one of claims 1 to 7 when executed.

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