Automatic alignment device for straddle carrier

Abstract

The present invention provides an automatic alignment device for a straddle carrier, which relates to the field of vehicle control technology, and comprises: a reflector, a plurality of reflective photoelectric switches; the plurality of reflective photoelectric switches are installed at the head of the straddle carrier at a first installation height and at equal intervals; the reflector is installed at the tail of a container at a second installation height; the first installation height is the same as the second installation height, and the spacing between the plurality of reflective photoelectric switches is less than the width of the reflector. The present invention can accurately detect the relative position between the straddle carrier and the container or container truck through the array signal formed by the plurality of reflective photoelectric switches on the reflector, ensure that the straddle carrier can be aligned with the target position with high precision, reduce the time for the straddle carrier to align with the container or container truck, and improve the operation efficiency and overall logistics efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle control, and in particular to an automatic alignment device for a straddle carrier. Background Art

[0002] In the field of modern logistics and transportation, straddle carriers are an important tool for transshipment between containers and trucks. Their operating efficiency and safety are directly related to the smoothness and cost of the entire logistics chain. Especially in places such as container terminals, storage centers and large logistics parks, straddle carriers need to frequently complete container loading, unloading and transshipment tasks in narrow spaces.

[0003] However, due to the complex and ever-changing operating environment, straddle carriers often face challenges such as limited left and right space and obstructed vision when driving into containers or trucks. A slight carelessness may lead to a collision accident, which not only affects operating efficiency but also may cause equipment damage and casualties.

[0004] Therefore, an automatic alignment device for a straddle carrier is proposed. Summary of the invention

[0005] The present specification provides an automatic alignment device for a straddle carrier, which can accurately detect the relative position between the straddle carrier and a container or a container truck through array signals formed by a plurality of reflective photoelectric switches on a reflective plate, thereby ensuring that the straddle carrier can be aligned with a target position with high precision, reducing the time for the straddle carrier to align with the container or the container truck, and improving the operation efficiency and the overall logistics efficiency.

[0006] This specification provides an automatic alignment device for a straddle carrier, comprising: a reflective plate, a plurality of reflective photoelectric switches;

[0007] A plurality of the reflective photoelectric switches are installed at a first installation height and at equal intervals on the head of the straddle carrier; the reflective plate is installed at a second installation height on the tail of the container; the first installation height is the same as the second installation height, and the spacing between the plurality of the reflective photoelectric switches is less than the width of the reflective plate.

[0008] Optional, automated calibration process including:

[0009] Determining whether a plurality of the reflective photoelectric switches can illuminate the reflective plate;

[0010] When a plurality of the reflective photoelectric switches are irradiated onto the reflective plate, the straddle carrier is automatically aligned successfully.

[0011] Optionally, the determining whether the plurality of reflective photoelectric switches can irradiate the reflective plate includes: determining whether there is signal feedback when the plurality of reflective photoelectric switches irradiate the reflective plate.

[0012] Optional, including:

[0013] When a plurality of the reflective photoelectric switches irradiate the reflective plate without any signal feedback, the straddle carrier automatic alignment fails.

[0014] Optionally, the determining whether there is signal feedback when a plurality of the reflective photoelectric switches irradiate the reflective plate includes:

[0015] Obtaining a deviation range when the straddle carrier drives to the front of the container through automatic navigation and a detection range of the reflective photoelectric switch; the detection range of the reflective photoelectric switch is the product of the number of the reflective photoelectric switches and the spacing between the reflective photoelectric switches;

[0016] It is determined whether the deviation range is smaller than the detection range of the reflective photoelectric switch.

[0017] Optionally, the number of the reflective photoelectric switches is 8.

[0018] Optionally, the method includes: the array signals formed by the plurality of reflective photoelectric switches on the reflective plate include a first array signal, a second array signal, and a third array signal;

[0019] When the straddle carrier forms the first array signal during its travel, adjusting the straddle carrier to turn left by a first preset angle so as to move closer to the direction of the second array signal;

[0020] When the third array signal is formed during the travel of the straddle carrier, the straddle carrier is adjusted to turn left by a second preset angle so as to approach the direction of the second array signal.

[0021] Optionally, also include:

[0022] When the second array signal is formed during the travel of the straddle carrier, there is no need to adjust the straddle carrier.

[0023] In the present invention, the relative position between the straddle carrier and the container or container truck can be accurately detected by the array signals formed by a plurality of reflective photoelectric switches on the reflective plate, so as to ensure that the straddle carrier can be aligned with the target position with high precision. The device can judge the deviation of the straddle carrier in real time according to the signal feedback received by the photoelectric switch, and dynamically adjust its driving direction and angle to quickly correct the deviation and realize automatic alignment. By identifying different array signals (such as the first array signal, the second array signal, and the third array signal), the system can grasp the deviation of the straddle carrier in more detail, and take precise adjustment measures accordingly to improve the alignment accuracy and efficiency. The device can automatically calibrate and judge whether the photoelectric switch can be irradiated on the reflective plate, so as to adapt to different working environments and conditions. At the same time, by presetting different adjustment angles (such as the first preset angle and the second preset angle), the system can flexibly respond to different deviation situations. During the automatic alignment process, the device can monitor the position and state of the straddle carrier in real time, and issue an alarm or take measures such as emergency braking when necessary to ensure the driving safety of the straddle carrier. In addition, through precise control and adjustment, the risk of collision and accidents caused by human operation errors can be reduced. The structure of reflective photoelectric switches and reflective plates is relatively simple, and they are easy to install and maintain. At the same time, the system has a self-diagnosis function that can promptly detect and report potential faults and problems, making it easy for maintenance personnel to quickly handle them. The application of automatic alignment devices can significantly reduce the time it takes for straddle carriers to align containers or trucks, improving operational efficiency and overall logistics efficiency. In addition, by reducing manual intervention and error rates, operating costs can be reduced and customer satisfaction can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 Schematic diagram of the positional relationship between the reflective photoelectric switch of the straddle carrier and the reflective plate of the container;

[0026] Figure 2 This is a schematic diagram of the position relationship between the straddle carrier and the container when the straddle carrier is positioned to the left;

[0027] Figure 3 This is a schematic diagram of the position relationship between the straddle carrier and the container when the straddle carrier is positioned to the right. DETAILED DESCRIPTION

[0028] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0029] The following is combined with Figure 1-3 The exemplary embodiments of the present invention are described more fully. However, the exemplary embodiments can be implemented in various forms, and it should not be understood that the present invention is limited to the embodiments set forth herein. On the contrary, providing these exemplary embodiments can make the present invention more comprehensive and complete, and it is more convenient to fully convey the inventive concept to those skilled in the art. The same reference numerals in the figures represent the same or similar elements, components or parts, and thus their repeated description will be omitted.

[0030] Under the premise of being consistent with the technical concept of the present invention, the features, structures, characteristics or other details described in a specific embodiment do not exclude that they can be combined in one or more other embodiments in a suitable manner.

[0031] In the description of specific embodiments, the features, structures, characteristics or other details described in the present invention are intended to enable those skilled in the art to fully understand the embodiments. However, it does not exclude that those skilled in the art can practice the technical solutions of the present invention without one or more of the specific features, structures, characteristics or other details.

[0032] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0033] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0034] The term "and / or" or "and / or" includes all combinations of any one or more of the associated listed items.

[0035] like Figure 1 As shown, an automatic alignment device for a straddle carrier provided in an embodiment of this specification includes: a reflective plate, a plurality of reflective photoelectric switches;

[0036] A plurality of the reflective photoelectric switches are installed at equal intervals on the head of the straddle carrier at a first installation height; the reflector is installed at the tail of the container at a second installation height; the first installation height is the same as the second installation height, and the distance between a plurality of the reflective photoelectric switches is less than the width of the reflector.

[0037] In the specific embodiments of this specification, the reflective photoelectric switch, as a non-contact sensor, one of its core components is an infrared emitting tube. This emitting tube can emit infrared light waves directionally, and the wavelength range of these light waves is usually between 780 nanometers (nm) and 1 millimeter (mm). This wavelength band is selected because infrared light is outside the visible spectrum, will not interfere with the human eye, and can be effectively reflected or absorbed by many objects.

[0038] When the infrared light is emitted from the emitting tube and encounters the reflector installed at the target position (such as the tail of the container) or the object to be detected, it will act according to the law of reflection in physics. Part of the light will be reflected back from the surface of the reflector or the object according to the law that the angle of incidence is equal to the angle of reflection.

[0039] In addition, the reflective photoelectric switch also includes an infrared receiving tube, which is responsible for receiving the infrared light reflected from the reflector or the object. The receiving tube will convert the received change in light intensity into a corresponding electrical signal. This electrical signal is processed by internal circuits such as amplification, filtering, comparison, etc., and finally generates a binary output signal, which is used to represent the presence or absence of an object, position information, or motion state.

[0040] Optionally, the number of the reflective photoelectric switches is 8.

[0041] In the specific embodiments of this specification, 8 reflective photoelectric switches are installed at the left front of the straddle carrier. The maximum detection distance of each photoelectric switch is 9m, arranged in an array, and the installation spacing is L = 50mm. Its detection range is D = L×7 = 350mm. The numbers of the photoelectric switches from left to right are S1 - S8. The reflector is arranged at the left rear of the container. The length of the reflector is H = 60mm, the width is W = 60mm, and the installation height is the same as that of the photoelectric switch. When the photoelectric switches in the array irradiate the reflector, there will be a signal feedback. Since L < W, there will be 1 or 2 signal feedbacks in the normal state of the array. When there is no signal feedback, it indicates an abnormal state and the straddle carrier cannot be aligned.

[0042] Optionally, the automatic calibration process includes:

[0043] Determine whether a plurality of the reflective photoelectric switches can irradiate the reflector;

[0044] When a plurality of the reflective photoelectric switches are irradiated onto the reflective plate, the straddle carrier is automatically aligned successfully.

[0045] Optionally, the determining whether the plurality of reflective photoelectric switches can irradiate the reflective plate includes: determining whether there is signal feedback when the plurality of reflective photoelectric switches irradiate the reflective plate.

[0046] In the specific implementation of this specification, when the straddle carrier approaches a container or a container truck, a certain deviation range D1=300mm is allowed. This deviation range is set based on actual operation requirements and safety considerations to ensure that the straddle carrier can safely and effectively perform subsequent operations (such as loading, unloading, etc.) even if there is a slight positioning deviation.

[0047] The reflective photoelectric switch array on the left front of the straddle carrier is used to monitor the relative position to the container or truck in real time. Since the detection range D of the array (in this scenario, the photoelectric switch installation spacing L multiplied by a coefficient, but specifically D=L×7=350mm) is greater than the allowable deviation range D1=300mm, the array can effectively detect whether the straddle carrier is within the allowable deviation range.

[0048] When at least one photoelectric switch in the array receives the signal feedback from the reflector, the system considers that there is no error in the automatic navigation of the straddle carrier, that is, the current position of the straddle carrier is within the allowable deviation range and it can safely drive into the container or truck for subsequent operations.

[0049] If no photoelectric switch in the array receives a signal feedback, the system will determine that the straddle carrier has deviated from the predetermined position and exceeded the allowable deviation range D1. At this time, the system will trigger the corresponding abnormal handling mechanism, such as issuing an alarm, suspending driving, or guiding the straddle carrier to readjust its position.

[0050] Optional, including:

[0051] When a plurality of the reflective photoelectric switches irradiate the reflective plate without any signal feedback, the straddle carrier automatic alignment fails.

[0052] In the specific implementation of the present specification, when a plurality of reflective photoelectric switches illuminate the reflector without signal feedback, it is a signal indicating that the straddle carrier automatic alignment has failed. This situation may be caused by a variety of reasons, including but not limited to incorrect reflector position, photoelectric switch failure, contamination or obstruction of the reflector surface, obstacles in the light path, or mismatch of installation height and angle.

[0053] If alignment failure is detected, the system can perform further troubleshooting, such as checking that the photoelectric switches are working properly, that the reflector is in place and clean, and that there are no obstructions in the light path. The system should be able to alert or notify the operator of an automatic alignment failure and may provide an error code or fault description to help quickly locate the problem. In the event of an alignment failure, the system should be able to safely stop the movement of the straddle carrier to prevent a collision or other unexpected event.

[0054] Optionally, the determining whether there is signal feedback when a plurality of the reflective photoelectric switches irradiate the reflective plate includes:

[0055] Obtaining a deviation range when the straddle carrier drives to the front of the container through automatic navigation and a detection range of the reflective photoelectric switch; the detection range of the reflective photoelectric switch is the product of the number of the reflective photoelectric switches and the spacing between the reflective photoelectric switches;

[0056] It is determined whether the deviation range is smaller than the detection range of the reflective photoelectric switch.

[0057] In the specific implementation of this specification, the deviation range refers to the maximum possible deviation distance between the actual position of the straddle carrier and the ideal position (i.e., directly in front of the container or truck) during the automatic navigation process. This deviation may be caused by many factors, such as the accuracy of the navigation system, ground conditions, wind speed, etc. The deviation range is usually a pre-set value used to evaluate whether the straddle carrier is close enough to the target position.

[0058] The detection range of a reflective photoelectric switch refers to the maximum distance or area where the photoelectric switch can effectively detect the reflector signal. In this scenario, since the photoelectric switches are installed at equal intervals and their detection range (in the direction perpendicular to the installation direction) can be approximately regarded as point-shaped (i.e., only the reflector in the direction it is facing is detected), the detection range of the entire array can be regarded as the accumulation of these point-shaped detection ranges in the horizontal direction.

[0059] If the deviation range is less than or equal to the detection range, it can be considered that the straddle carrier is close enough to the container or truck and its position deviation is within an acceptable range. Therefore, it can be determined that the straddle carrier is automatically aligned successfully.

[0060] If the deviation range is larger than the detection range, it means that the position deviation of the straddle carrier is too large and its driving direction and angle need to be further adjusted to more accurately align with the target position.

[0061] Optionally, the method includes: the array signals formed by the plurality of reflective photoelectric switches on the reflective plate include a first array signal, a second array signal, and a third array signal;

[0062] When the straddle carrier forms the first array signal during its travel, adjusting the straddle carrier to turn left by a first preset angle so as to move closer to the direction of the second array signal;

[0063] When the third array signal is formed during the travel of the straddle carrier, the straddle carrier is adjusted to turn left by a second preset angle so as to approach the direction of the second array signal.

[0064] In the specific implementation of this specification, Figure 2 and Figure 3 As shown in the figure, when the first array signal is formed: the system detects that the straddle carrier is in a leftward position, so the driving direction of the straddle carrier needs to be adjusted. Specifically, the straddle carrier should be adjusted to turn left by a first preset angle so that it can move closer to the direction of the second array signal (i.e., the ideal path). The size of the first preset angle depends on factors such as the current deviation degree of the straddle carrier, the driving speed, and the response speed of the system.

[0065] When the third array signal is formed: the system detects that the straddle carrier is off to the right and needs to adjust the driving direction as well. However, this time the straddle carrier should be adjusted to turn left by a second preset angle so that it can move closer to the direction of the second array signal. Note that although both are left turns, the second preset angle may be different from the first preset angle, depending on the specific direction and degree of deviation of the straddle carrier from the ideal path.

[0066] Optionally, also include:

[0067] When the second array signal is formed during the travel of the straddle carrier, there is no need to adjust the straddle carrier.

[0068] In a specific embodiment of the present specification, when the system forms a first array signal through a reflective photoelectric switch array, this indicates that the current position of the straddle carrier is to the left relative to the ideal path or target position (such as a container or a truck). In order to accurately and efficiently correct this deviation, the system calculates a first preset angle based on a series of parameters and instructs the straddle carrier to perform a left turn. The basis for determining this first preset angle includes but is not limited to:

[0069] Current deviation: This is the lateral distance between the straddle carrier’s current position and the ideal path. The greater the deviation, the greater the angle of adjustment that may be required.

[0070] Driving speed: Faster driving speeds may require a shallower steering angle to maintain stability and safety; conversely, slower speeds allow for quicker steering adjustments.

[0071] System response speed: This includes the processing speed of sensor data, the operation speed of the control algorithm, and the response speed of the straddle carrier actuator. Faster system response can support more precise steering adjustments.

[0072] In addition, the system may also consider the dynamic characteristics of the straddle carrier (such as inertia, wheelbase, etc.) and external environmental factors (such as wind direction, road conditions, etc.) to further optimize the adjustment strategy.

[0073] When the system detects the third array signal, it means that the straddle carrier is already on the right side of the ideal path. Although the adjustment direction is still left turn, the second preset angle required at this time may be different from the first preset angle, which mainly depends on the specific direction and degree of deviation of the straddle carrier from the ideal path. Specifically:

[0074] Deviation direction: Although both are deviations, left deviation and right deviation have different requirements for steering angles. The system needs to accurately determine the deviation direction and adjust the steering angle accordingly.

[0075] Deviation: The degree of deviation from the ideal path directly determines the angle of adjustment required. The greater the deviation, the greater the angle of adjustment required.

[0076] In addition, the appearance of the third array signal may also mean that the straddle carrier has undergone multiple adjustments or failed to fully follow the predetermined path during the previous driving process. Therefore, when adjusting the second preset angle, the system may need to comprehensively consider the previous adjustment history, the current state of the straddle carrier, and the real-time information of the target position to ensure the effectiveness and accuracy of the adjustment strategy.

[0077] In the present invention, the relative position between the straddle carrier and the container or container truck can be accurately detected by the array signals formed by a plurality of reflective photoelectric switches on the reflective plate, so as to ensure that the straddle carrier can be aligned with the target position with high precision. The device can judge the deviation of the straddle carrier in real time according to the signal feedback received by the photoelectric switch, and dynamically adjust its driving direction and angle to quickly correct the deviation and realize automatic alignment. By identifying different array signals (such as the first array signal, the second array signal, and the third array signal), the system can grasp the deviation of the straddle carrier in more detail, and take precise adjustment measures accordingly to improve the alignment accuracy and efficiency. The device can automatically calibrate and judge whether the photoelectric switch can be irradiated on the reflective plate, so as to adapt to different working environments and conditions. At the same time, by presetting different adjustment angles (such as the first preset angle and the second preset angle), the system can flexibly respond to different deviation situations. During the automatic alignment process, the device can monitor the position and state of the straddle carrier in real time, and issue an alarm or take measures such as emergency braking when necessary to ensure the driving safety of the straddle carrier. In addition, through precise control and adjustment, the risk of collision and accidents caused by human operation errors can be reduced. The structure of reflective photoelectric switches and reflective plates is relatively simple, and they are easy to install and maintain. At the same time, the system has a self-diagnosis function that can promptly detect and report potential faults and problems, making it easy for maintenance personnel to quickly handle them. The application of automatic alignment devices can significantly reduce the time it takes for straddle carriers to align containers or trucks, improving operational efficiency and overall logistics efficiency. In addition, by reducing manual intervention and error rates, operating costs can be reduced and customer satisfaction can be improved.

[0078] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the present invention is not inherently related to any specific computer, virtual device or electronic device, and various general devices can also implement the present invention. The above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0079] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0080] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An automatic alignment device for a straddle carrier, characterized in that: include: Reflector plate, several reflective photoelectric switches; A plurality of the reflective photoelectric switches are installed at a first installation height and at equal intervals on the head of the straddle carrier; the reflective plate is installed at a second installation height on the tail of the container; the first installation height is the same as the second installation height, and the intervals between the plurality of the reflective photoelectric switches are smaller than the width of the reflective plate; The automatic calibration process includes: determining whether a plurality of the reflective photoelectric switches can illuminate the reflective plate; When a plurality of the reflective photoelectric switches are irradiated onto the reflective plate, the straddle carrier is automatically aligned successfully; The determining whether the plurality of reflective photoelectric switches can irradiate the reflective plate comprises: determining whether there is signal feedback when the plurality of reflective photoelectric switches irradiate the reflective plate; When a plurality of the reflective photoelectric switches illuminate the reflective plate and no signal feedback is provided, the straddle carrier fails to automatically align; The step of judging whether there is signal feedback when a plurality of the reflective photoelectric switches irradiate the reflective plate comprises: Obtaining a deviation range when the straddle carrier drives to the front of the container through automatic navigation and a detection range of the reflective photoelectric switch; the detection range of the reflective photoelectric switch is the product of the number of the reflective photoelectric switches and the spacing between the reflective photoelectric switches; It is determined whether the deviation range is smaller than the detection range of the reflective photoelectric switch.

2. The automatic alignment device for a straddle carrier according to claim 1, characterized in that: The number of the reflective photoelectric switches is 8.

3. The automatic alignment device for a straddle carrier according to claim 2, characterized in that: include: The array signals formed by the plurality of reflective photoelectric switches on the reflective plate include a first array signal, a second array signal, and a third array signal; When the straddle carrier forms the first array signal during its travel, adjusting the straddle carrier to turn left by a first preset angle so as to move closer to the direction of the second array signal; When the third array signal is formed during the travel of the straddle carrier, the straddle carrier is adjusted to turn left by a second preset angle so as to approach the direction of the second array signal.

4. The automatic alignment device for a straddle carrier according to claim 3, characterized in that: Also includes: When the second array signal is formed during the travel of the straddle carrier, there is no need to adjust the straddle carrier.

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