Intelligent loading and unloading system, control method of intelligent loading and unloading system and intelligent platform car

Abstract

The invention provides an intelligent loading and unloading system, a control method of the intelligent loading and unloading system and an intelligent platform car. The system comprises a loading and unloading platform used for loading and unloading goods; the carrying robot is used for carrying goods from the loading and unloading platform; and the intelligent platform truck comprises a lifting platform, the height of the lifting platform is adjustable, the carrying robot enters the interior of the compartment of the intelligent platform truck through the lifting platform, and the carrying robot carries goods between the loading and unloading platform and the interior of the compartment of the intelligent platform truck through the lifting platform. According to the scheme, the problem that in the prior art, loading and unloading efficiency is low is solved.

Description

Technical Field

[0001] The present application relates to the technical field of logistics loading and unloading, and in particular to an intelligent loading and unloading system, a control method for an intelligent loading and unloading system, a control device for an intelligent loading and unloading system, and an intelligent platform vehicle. Background Art

[0002] In the technical field related to intelligent storage of explosives, the use of handling robots to partially or completely replace manual unloading, warehousing or loading, so as to avoid the safety risks caused by manual misoperation and improve efficiency, has become a research hotspot in this field in recent years.

[0003] There is no coordination between the handling truck and the handling robot, that is, the handling robot can complete the handling work from the unloading platform to the warehouse, while the truck needs to transfer the explosives to the unloading platform. However, the actual problem is that the height of the unloading platform is not the same, and the height of the container doors of trucks of different specifications is also different. In other words, every time a truck comes, when it reverses to the unloading platform, the height of the container may not be on the same plane as the unloading platform. This makes it impossible for the handling robot to enter the truck at all, and it is necessary to manually carry the explosives to the unloading platform. The low degree of intelligence leads to low efficiency of loading and unloading operations. Summary of the invention

[0004] The main purpose of the present application is to provide an intelligent loading and unloading system, a control method for an intelligent loading and unloading system, a control device for an intelligent loading and unloading system, and an intelligent platform vehicle, so as to at least solve the problem of low efficiency of loading and unloading operations in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, an intelligent loading and unloading system is provided, including: a loading and unloading platform for loading and unloading goods; a handling robot for handling goods from the loading and unloading platform; and an intelligent platform vehicle, wherein the intelligent platform vehicle includes a lifting platform, the height of which is adjustable, and the handling robot enters the interior of the compartment of the intelligent platform vehicle through the lifting platform, and the handling robot handles goods between the loading and unloading platform and the interior of the compartment of the intelligent platform vehicle through the lifting platform.

[0006] Optionally, the intelligent platform vehicle further comprises: a proximity sensor, located on the lifting platform, and the proximity sensor is used to detect the distance between the lifting platform and the loading and unloading platform.

[0007] Optionally, the intelligent platform vehicle further comprises: an image acquisition device, located on the lifting platform, the image acquisition device being used at least to acquire an image of the rear end of the intelligent platform vehicle and / or an image of the loading and unloading platform.

[0008] Optionally, the intelligent platform vehicle further includes: a charging pile, located inside the compartment of the intelligent platform vehicle, and the charging pile is used to charge the transport robot.

[0009] According to another aspect of the present application, a control method for any one of the intelligent loading and unloading systems is provided, the method comprising: obtaining a first height of the loading and unloading platform; obtaining a second height of the lifting platform; adjusting the second height according to the first height until the height difference between the first height and the second height is less than a preset height difference, thereby obtaining a target second height of the lifting platform, wherein, when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0010] Optionally, the intelligent platform vehicle also includes a proximity sensor, which is located on the lifting platform, and is used to detect the distance between the lifting platform and the loading and unloading platform. Before adjusting the second height according to the first height until the height difference between the first height and the second height is less than a preset height difference and obtaining the target second height of the lifting platform, the method also includes: acquiring the distance between the lifting platform and the loading and unloading platform; and determining that the intelligent platform vehicle and the loading and unloading platform are successfully docked when the distance is less than a preset distance threshold.

[0011] Optionally, the intelligent platform vehicle further includes an image acquisition device, which is located on the lifting platform, and is used at least to acquire an image of the rear end of the intelligent platform vehicle and / or an image of the loading and unloading platform to obtain a second height of the lifting platform, including: acquiring an initial image of the lifting platform; preprocessing the initial image to obtain a target image, wherein the preprocessing includes one or more of denoising, image enhancement, resizing, grayscale, segmentation, and background removal; extracting contour information of the loading and unloading platform in the target image using a target algorithm, wherein the target algorithm is an edge detection algorithm and / or a shape detection algorithm; acquiring the height of the contour information relative to the ground to obtain the second height.

[0012] Optionally, the intelligent platform vehicle also includes a charging pile, which is located inside the vehicle compartment of the intelligent platform vehicle. The charging pile is used to charge the transport robot. After adjusting the second height according to the first height until the height difference between the first height and the second height is less than a preset height difference and the target second height of the lifting platform is obtained, the method also includes: obtaining a charging demand, wherein the charging demand is a demand for pre-charging of the transport robot; and controlling the discharge of the charging pile according to the charging demand so that the charging pile charges the transport robot.

[0013] According to another aspect of the present application, a control device for any one of the intelligent loading and unloading systems is provided, the device comprising: a first acquisition unit, used to acquire a first height of the loading and unloading platform; a second acquisition unit, used to acquire a second height of the lifting platform; an adjustment unit, used to adjust the second height according to the first height, until the height difference between the first height and the second height is less than a preset height difference, thereby obtaining a target second height of the lifting platform, wherein, when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0014] According to another aspect of the present application, an intelligent platform vehicle is provided, which includes the lifting platform and a vehicle-mounted control system, the lifting platform and the vehicle-mounted control system are communicatively connected, and the vehicle-mounted control system is used to execute any one of the control methods of the intelligent loading and unloading system.

[0015] By applying the technical solution of the present application, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution transforms the truck and adds a lifting platform, so that the handling robot can directly enter the interior of the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 The structural diagram of the intelligent loading and unloading system is shown;

[0018] Figure 2 The structural schematic diagram of the intelligent platform vehicle is shown;

[0019] Figure 3 A partial structural schematic diagram of an intelligent loading and unloading system is shown;

[0020] Figure 4 A first structural diagram of a lifting platform is shown;

[0021] Figure 5 A second structural schematic diagram of the lifting platform is shown;

[0022] Figure 6 A hardware structure block diagram of a mobile terminal for executing a control method of an intelligent loading and unloading system provided in an embodiment of the present application is shown;

[0023] Figure 7 A schematic flow chart of a control method for an intelligent loading and unloading system provided according to an embodiment of the present application is shown;

[0024] Figure 8 A structural block diagram of a control device for an intelligent loading and unloading system provided according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 102. Processor; 104. Memory; 106. Transmission equipment; 108. Input and output equipment; 10. Loading and unloading platform; 11. Handling robot; 12. Intelligent platform vehicle; 13. Lifting platform; 14. Carriage; 15. Chassis vehicle; 16. On-board control system; 17. Guide rail; 18. Lifting platform mechanism; 19. Column frame; 20. Electric cylinder; 21. Slide; 22. Limit; 23. Wire rope; 24. Inclined wire rope; 25. And pulley block. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In the process of transporting explosives to storage, first of all, the explosives need to be transported to the corresponding warehouse entrance by truck. The traditional method is to manually transport the explosives from the truck to the unloading platform at the warehouse entrance, and then the handling robot transfers the goods on the unloading platform to the explosive warehouse for stacking. However, this process still requires a lot of manual intervention and the degree of intelligence is low.

[0031] As introduced in the background technology, the efficiency of loading and unloading operations in the prior art is low. To solve the above problems, the embodiments of the present application provide an intelligent loading and unloading system, a control method for an intelligent loading and unloading system, a control device for an intelligent loading and unloading system, and an intelligent platform vehicle.

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] The present application provides an intelligent loading and unloading system, such as Figure 1 As shown, including:

[0034] A loading and unloading platform 10, used for loading and unloading goods;

[0035] A handling robot 11, used for carrying goods from the above-mentioned loading and unloading platform;

[0036] The intelligent platform vehicle 12 includes a lifting platform 13, the height of which is adjustable. The transport robot enters the interior of the carriage 14 of the intelligent platform vehicle through the lifting platform. The transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0037] Through this embodiment, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution transforms the truck and adds a lifting platform, so that the handling robot can directly enter the interior of the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0038] Specifically, the intelligent loading and unloading system may further include a controller for controlling the operation of the intelligent platform and the handling robot. The intelligent loading and unloading system may further include a server for controlling the operation of the intelligent platform and the handling robot. The intelligent loading and unloading system may further include a vehicle-mounted control system for controlling the operation of the intelligent platform and the handling robot.

[0039] Specifically, this solution is mainly used for intelligent storage of explosives.

[0040] Specifically, the intelligent platform vehicle in the intelligent loading and unloading system in this solution, such as Figure 2 As shown, a chassis vehicle 15 is customized and modified based on it. By adding a lifting platform, a high-power battery, a charging pile for the handling robot, and an on-board control system 16 to the carriage, the robot can be carried and moved between warehouses; it can be connected to the nearest power supply to serve as a mobile charging station; the load capacity is designed to be more than 6 tons; the lifting platform has a load capacity of more than 2 tons; it is equipped with a large-capacity battery to temporarily charge other robots when there is no external power supply; the intelligent platform vehicle is leveled with the ground of the warehouse unloading platform; the intelligent platform vehicle should have at least 2 horizontal reference plane adjustment capabilities, and it can dock with the freight vehicle and the unloading platform at the same time, and at least one lifting platform can land; a visual auxiliary parking positioning device is designed between the intelligent platform vehicle and the unloading platform, and the driver can park with high precision; the docking platform docks with a third-party truck and can withstand the floating of the carriage caused by the change in the weight of the cargo; the outdoor environment adapts to the working environment of -30-40℃; the working area meets the requirements of F1 class electrical hazardous places. The guide rail 17 is used to provide guidance when loading and unloading goods, ensuring that the goods can enter or leave the carriage smoothly and accurately. The guide rails are usually made of metal materials and designed into a certain track shape, which can be straight or curved as needed to meet the loading and unloading needs in different situations.

[0041] In the context of intelligent platform vehicles, guide rails are used to guide the handling robot or goods to move between the lifting platform and the carriage, reduce position deviation during docking, and ensure the safety and efficiency of the handling process. The design of the guide rails needs to consider the coordination with the handling robot and the lifting platform, as well as the flexibility and stability when adjusted at different heights and positions.

[0042] Specifically, the performance parameters of the chassis vehicle are as follows:

[0043] Vehicle selection: Choose a 6.8-meter box truck and reserve a refrigerated box;

[0044] Cab configuration: Transform the cab space to store the robot field control server platform;

[0045] Cargo box configuration: equipped with a temperature control system, cooling in summer and heating in winter;

[0046] Carrying capacity: Net load greater than 6 tons.

[0047] Specifically, the performance parameters of the lifting platform are as follows:

[0048] Board size: Customized board 1.6*1.8;

[0049] Lifting height: 0-1.5 meters;

[0050] Lifting load: 2000kg;

[0051] Torsion-resistant structure: To address the problem of the road surface and platform not being parallel, a double-fork torsion-resistant structure board head is designed;

[0052] Power mechanism: electric cylinder drive;

[0053] Opening position: tail, middle left side;

[0054] The on-board 10kWh, 48V battery pack is used for on-board servers and communication modules.

[0055] Specifically, the chassis vehicle includes a carriage, and at least a lifting platform is provided at the rear of the carriage, and the lifting platform has a liftable platform body; when in use, the driver can drive the intelligent platform vehicle to move the vehicle to the rear of the carriage of the explosive truck in a tail-to-tail manner, and adjust the height of the lifting platform to match the height of the carriage of the explosive truck while keeping the alignment, so that the two reach substantially the same height, so that it is convenient for the handling robot to carry the explosives in the truck to the intelligent platform vehicle. After the goods are completely transported to the intelligent platform vehicle, the driver needs to move the platform vehicle to the unloading platform near the warehouse, and at the same time, the tail is aligned with the unloading platform and the lifting platform is adjusted to substantially the same height as the unloading platform, so that the handling robot can then transfer the explosives to the warehouse.

[0056] Specifically, Figure 3As shown, the vehicle control system, which is installed on the chassis, includes an auxiliary driving unit, an image processing unit, an image analysis unit, a position estimation unit, a lifting platform control unit and a charging control unit, wherein the image processing unit is used to pre-process the image data collected by the image acquisition device to facilitate subsequent image analysis. The pre-processing specifically includes: 1) using a denoising algorithm to remove noise in the image, such as Gaussian filtering, median filtering or bilateral filtering. 2) enhancing the visual quality of the image by adjusting the contrast, brightness and color of the image. Specific means can be histogram equalization, contrast stretching and color balance. 3) adjusting the image to a uniform size by cropping, scaling or filling the image to a specified size. 4) converting a color image to a grayscale image. In some cases, only the brightness information of the image is required but not the color information, so the image can be converted to a grayscale image to reduce the amount of calculation. 5) performing morphological operations on the image, such as corrosion or dilation operations, to change the shape and structure of the image and help remove noise and unnecessary details in the image. 6) segmenting the image into different regions or objects. Image segmentation can help separate the rear target of the car from the background in the image, providing a better basis for subsequent target recognition and analysis. 7) Remove the background in the image and retain the area of ​​interest. This is very important for target detection, tracking and recognition tasks in the image.

[0057] In the image analysis unit, the specific contents include: extraction of the shape features of the rear end of the vehicle. The rear end of a truck usually has a unique shape feature, and the edge detection algorithm or the shape detection algorithm can be used to extract the contour information of the rear end of the vehicle. Among them, the edge detection algorithm can be, for example, Sobel, Prewitt, Canny, etc., to extract the boundary of the rear end of the truck, and for corner points, contour lines, etc., shape detection algorithms, such as Harris corner point detection, Shi-Tomasi corner point detection and other algorithms can be used to achieve. In addition, the rear end identification features, lighting features, cargo box features or hook features can also be used to determine whether it is facing the rear end of the truck compartment. Similarly, for the unloading platform, edge detection algorithms and morphological detection algorithms can also be used to achieve it.

[0058] In the present invention, the proximity sensor may be an infrared sensor, an ultrasonic sensor or a photoelectric sensor, and its function is to determine whether the lifting platform is successfully docked with the truck compartment or the unloading platform.

[0059] The position estimation unit is used to determine the height of the truck compartment or the unloading platform according to the result of the image analysis unit.

[0060] The lifting platform control unit controls the lifting of the lifting platform according to the estimation result of the position estimation unit.

[0061] The charging control unit is used to control the charging pile to charge the handling robot.

[0062] The auxiliary driving unit is used to mark the edge of the truck compartment or the edge of the unloading platform according to the edge detection result of the image analysis unit, and transmit the video stream to the vehicle-mounted display screen in real time.

[0063] In the present invention, in addition to setting a lifting platform at the rear of the platform vehicle, a second lifting platform can also be set at the side of the vehicle, and the second lifting platform is basically the same as the first lifting platform, except that the second lifting platform allows the height to be adjusted to the ground. At the same time, the second lifting platform is also controlled by the lifting platform control unit.

[0064] Specifically, Figure 4 and Figure 5 As shown, the intelligent platform vehicle includes a lifting platform, which is controlled by a lifting platform mechanism 18, and the lifting platform mechanism 18 includes a column frame 19, an electric cylinder 20, a slide 21, a limit 22, a wire rope 23, an inclined wire rope 24 and a pulley block 25. The electric cylinder moves, driving the pulley to move up and down, so that the wire rope drives the slide to move up and down, so that the platform plate completes the up and down translation action, and the solenoid valve controls the limit clamping teeth.

[0065] An electric cylinder is a drive device that converts electrical energy into linear motion, similar to a hydraulic cylinder, but uses electricity instead of hydraulic oil. In a lift mechanism, the action of the electric cylinder is the power source for the entire lifting process. When the electric cylinder is controlled to extend and retract, it drives the components connected to it (such as pulleys) to move up and down, thereby causing the entire lift to move.

[0066] The pulley is a component used in the lifting platform to change the direction and magnitude of the force. The linear motion of the electric cylinder is converted into rotational motion through the pulley system, which helps the vertical movement of the lifting platform. The pulley system usually includes a fixed pulley and a movable pulley, which can be used to change the direction of the force and amplify the force, so that the electric cylinder can drive the lifting platform more efficiently.

[0067] The wire rope is the transmission component that connects the electric cylinder and the slide, and is connected to the electric cylinder through the pulley system. When the electric cylinder is in motion, the wire rope is tightened or loosened as the pulley rotates, thereby driving the slide (i.e. the structural component of the load-bearing platform) to move up and down. The movement of the slide directly determines the lifting and lowering of the lifting platform, and is the key link in the entire mechanism to achieve vertical transportation of goods.

[0068] The platform plate refers to the main bearing surface of the lifting platform, and is also the part where the handling robot and the goods actually contact and move. The up and down movement of the slide drives the platform plate to move together, realizing the lifting and lowering of the platform plate, so as to achieve the purpose of docking with the unloading platform or truck compartment door at different heights.

[0069] A solenoid valve is a control valve driven by electromagnetic force and is used to control the flow of fluids (such as air or water). In a lifting platform mechanism, a solenoid valve may be used to control the gas or liquid entering the cylinder or hydraulic cylinder, thereby controlling the telescopic action of the electric cylinder. The limit latch is a safety limit device used to limit the lifting range of the platform plate to prevent safety problems caused by over-lifting or over-lowering. When the platform plate reaches the predetermined lifting position, the solenoid valve controls the action of the limit latch, and the latch cooperates with the limit mechanism on the platform plate or slide to prevent the wire rope from further pulling the slide, thereby ensuring that the platform plate does not exceed the safety range.

[0070] The column frame is the basic structure of the lifting platform mechanism, usually made of high-strength steel, forming a vertical support structure. Its function is to support the slide and platform plate, and provide fixing points for the electric cylinder on both sides to ensure the stability and safety of the lifting platform in the vertical direction.

[0071] The electric cylinder is a linear drive device that is driven by a motor through a screw or rack mechanism to achieve linear motion. In a lifting platform, the electric cylinder is fixed to the column frame, and its piston rod is connected to the slide. When the electric cylinder is controlled to extend or retract, it pushes or pulls the slide, thereby achieving the lifting and lowering of the platform plate.

[0072] The slide is a structural component that connects the electric cylinder and the platform plate. It slides up and down along the guide rails of the column frame. The slide usually has connection points connected to the wire rope and the inclined wire rope to transmit the driving force of the electric cylinder. At the same time, the slide may also be equipped with guide wheels to reduce friction between the column frame and ensure its smooth movement.

[0073] Limits refer to the travel limiting devices of the lifting platform, usually including limit switches or limit teeth. These devices are used to ensure that the platform plate stops when it is lifted to the predetermined position to prevent safety hazards caused by excessive movement. The limit switch controls the action of the electric cylinder by detecting the position of the slide, while the limit teeth prevent it from moving further when the slide reaches the limit position.

[0074] The wire rope is the transmission medium connecting the electric cylinder and the slide. It moves cyclically on the column frame through the pulley block. The tension and relaxation of the wire rope are driven by the electric cylinder. When the electric cylinder extends, the wire rope is tightened, driving the slide to rise; when it contracts, the wire rope is relaxed and the slide descends. The strength and stability of the wire rope ensure the safety of the platform during the lifting process.

[0075] Inclined steel wire ropes are often used to balance and stabilize lifting platforms. When the platform is raised or lowered, the inclined steel wire ropes can prevent the platform from tilting or shaking, ensuring the balance of the entire mechanism. It is usually connected to the top or bottom of the platform and the column frame, and the stability of the platform in the horizontal direction can be adjusted by tightening or loosening it.

[0076] The pulley block consists of a fixed pulley and a movable pulley, which are distributed on the column frame and are used to change the direction and size of the electric cylinder's driving force. The wire rope passes through the pulley block to form a closed loop system. The use of the pulley block can increase the force amplification ratio, reduce the load of the electric cylinder, and ensure that the wire rope is evenly stressed, extending its service life. During the lifting process, the pulley block also guides the wire rope to ensure its smooth operation.

[0077] When the electric cylinder is in motion, the sliding platform slides up and down along the guide rail of the column frame through the transmission of the wire rope and the pulley block, thereby driving the platform plate to rise and fall. The limit device ensures that the platform plate rises and falls within a safe range, while the inclined wire rope increases the stability of the mechanism. This design enables the lifting platform to accurately adjust the height to meet the height requirements of different unloading platforms or the tail of trucks, while ensuring the safety and efficiency of the entire operation.

[0078] During the specific implementation process, the intelligent platform vehicle further includes a proximity sensor, which is located on the lifting platform and is used to detect the distance between the lifting platform and the loading and unloading platform.

[0079] In this solution, the proximity sensor can detect the distance of the object from the sensor, thereby judging the proximity between the object and the sensor. Therefore, the distance between the lifting platform and the loading and unloading platform can be judged by the proximity sensor, so that when the distance between the lifting platform and the loading and unloading platform is close, a signal can be sent for docking. In addition, the range of the distance is not limited in this solution, and can be any feasible distance, such as 1cm, 5cm, 1m, etc.

[0080] Specifically, the proximity sensor is arranged on the platform body of the lifting platform. The proximity sensor can also be used to detect the distance between the platform body and the rear of the truck or the distance from the unloading platform. When it is determined that the two are successfully docked, a signal is sent out.

[0081] During the specific implementation process, the above-mentioned intelligent platform vehicle also includes an image acquisition device, which is located on the above-mentioned lifting platform. The above-mentioned image acquisition device is at least used to acquire an image of the rear end of the above-mentioned intelligent platform vehicle and / or an image of the above-mentioned loading and unloading platform.

[0082] In this solution, by installing a camera on the smart platform vehicle, the collected images can be fed back to the driver's display screen to facilitate the driver to observe the reversing situation. Of course, the collected images can also be used to automatically determine the situation of the rear of the smart platform vehicle.

[0083] Specifically, the image acquisition device may be a camera or other devices.

[0084] During the specific implementation process, the above-mentioned intelligent platform vehicle also includes a charging pile, which is located inside the above-mentioned carriage of the above-mentioned intelligent platform vehicle, and the above-mentioned charging pile is used to charge the above-mentioned transport robot.

[0085] In this solution, a charging pile is installed in the smart platform vehicle, through which the transport robot can be charged. In this way, the transport robot does not need to travel a long distance for charging, which greatly facilitates the charging of the transport robot.

[0086] Specifically, the performance parameters of the charging pile are as follows:

[0087] External power supply: 380V40kW interface;

[0088] Robot charging pile: 4-way, intelligent charging pile.

[0089] Specifically, the intelligent platform vehicle in the intelligent loading and unloading system developed in this solution plays multiple tasks such as handling, charging, height difference docking of unloading platforms, and external high-power power interface of working robots. The platform vehicle turnover working robots move in the warehouse area and dock with unloading platforms of different heights in each warehouse and dangerous goods transport vehicles of different specifications. It provides path height difference matching and robot charging services for working robots.

[0090] Specifically, the intelligent platform vehicle of the intelligent loading and unloading system of the present application is essentially aimed at the existing explosive handling process, in which there is no coordination between the handling truck and the handling robot, that is, the handling robot can complete the handling work of a certain distance from the unloading platform to the warehouse, while the truck needs to transfer the explosives to the unloading platform. However, the actual problem is that the height of the unloading platform is not the same, and the height of the container door of trucks of different specifications is also different. In other words, every time a truck comes, when it reverses to the unloading platform, the height of the container may not be in the same plane as the unloading platform. This makes it impossible for the handling robot to enter the interior of the truck.

[0091] According to this situation and the inventor's preliminary research on the project, the original demand for explosive transfer itself is a specific application scenario, so there is actually no ready-made solution. In short, this application proposal does not simply invent a lifting mechanism or simply propose an image processing method. Instead, it proposes an intelligent loading and unloading system. The intelligent platform vehicle of the intelligent loading and unloading system has the freight function of a general truck, and is equipped with an on-board control system that can assist in reversing to the unloading platform. It also includes a lifting mechanism that can automatically adjust the height of the lifting platform to dock with the unloading platform. The birth of this mechanism is because there may be a height difference between the unloading platform of the explosive warehouse and the general truck. After adding this mechanism, the handling robot can directly enter the truck through this platform and transfer the explosives to the unloading platform. At the same time, this intelligent platform vehicle can also provide charging services for the handling robot that enters the platform for operation. It should be said that such a demand itself is unique in the current market. Although the provided intelligent platform vehicle appears in the form of a vehicle, its on-board control system itself is also a new concept that is not available on the market. Of course, it also includes the function setting of combining the charging of the handling robot and the algorithm part of the auxiliary platform vehicle to the unloading platform.

[0092] In summary, the intelligent loading and unloading system of this solution can reduce the demand for manpower. This technology can work 24 hours a day and 7 days a week, and only a small amount of manpower is needed to realize the transfer and handling from the truck to the unloading platform, greatly improving the efficiency of loading and unloading operations. It can improve efficiency. The loading and unloading robot can automatically charge the handling robot, which improves the transfer efficiency.

[0093] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 6 FIG. 1 is a hardware structure block diagram of a mobile terminal of a control method of an intelligent loading and unloading system according to an embodiment of the present invention. Figure 6 As shown, the mobile terminal may include one or more ( Figure 6 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 6 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown.

[0094] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0095] In this embodiment, a control method for an intelligent loading and unloading system running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0096] Figure 7 FIG. 1 is a flow chart of a control method of an intelligent loading and unloading system according to an embodiment of the present application. Figure 7 As shown, the method comprises the following steps:

[0097] Step S201, obtaining a first height of the loading and unloading platform;

[0098] Specifically, explosives are unloaded and loaded through a loading and unloading platform. If the height is not aligned, the loading and unloading process cannot be performed. Therefore, the height of the loading and unloading platform can be obtained first to obtain a first height.

[0099] Step S202, obtaining a second height of the lifting platform;

[0100] Specifically, explosive items can be transported by a transport robot. Therefore, the height of the lifting platform of the intelligent platform vehicle can be obtained to get a second height. Subsequently, the height of the lifting platform can be aligned for transport. Of course, the height of the lifting platform is the height of the car body.

[0101] Step S203, adjusting the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0102] Specifically, since the height of the existing truck and the height of the loading and unloading platform are not in the same plane, the handling robot cannot enter the interior of the truck. Therefore, this solution can adjust the height of the lifting platform so that the height of the lifting platform is aligned with the height of the loading and unloading platform, so that the handling robot can enter the interior of the truck through the lifting platform to carry explosives.

[0103] Specifically, the preset height difference value may be 1 mm, 3 mm, 5 cm, etc., and of course, may also be any other feasible preset height difference value.

[0104] Through this embodiment, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution adjusts the height of the lifting platform so that the handling robot can directly enter the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0105] Specifically, the execution subject of the above-mentioned solution can be the controller, server, vehicle-mounted control system, etc.

[0106] During the specific implementation process, the above-mentioned intelligent platform vehicle also includes a proximity sensor, which is located on the above-mentioned lifting platform. The above-mentioned proximity sensor is used to detect the distance between the above-mentioned lifting platform and the above-mentioned loading and unloading platform. Before adjusting the above-mentioned second height according to the above-mentioned first height until the height difference between the above-mentioned first height and the above-mentioned second height is less than the preset height difference, and obtaining the target second height of the above-mentioned lifting platform, the above-mentioned method also includes the following steps: obtaining the above-mentioned distance between the above-mentioned lifting platform and the above-mentioned loading and unloading platform; when the above-mentioned distance is less than the preset distance threshold, determining that the above-mentioned intelligent platform vehicle and the above-mentioned loading and unloading platform are successfully docked.

[0107] In this solution, the distance between the lifting platform and the loading and unloading platform can be detected by a proximity sensor. When the actual measured distance is less than the preset distance threshold, it can be directly and automatically determined that the intelligent platform vehicle and the loading and unloading platform are successfully docked. This eliminates the need for manual judgment and speeds up automated loading and unloading.

[0108] In some embodiments, the intelligent platform vehicle further includes an image acquisition device, which is located on the lifting platform. The image acquisition device is at least used to acquire an image of the rear of the intelligent platform vehicle and / or an image of the loading and unloading platform to obtain a second height of the lifting platform, which can be specifically achieved through the following steps: acquiring an initial image of the lifting platform; preprocessing the initial image to obtain a target image, wherein the preprocessing includes one or more of denoising, image enhancement, resizing, grayscale, segmentation, and background removal; extracting contour information of the loading and unloading platform in the target image using a target algorithm, wherein the target algorithm is an edge detection algorithm and / or a shape detection algorithm; acquiring the height of the contour information relative to the ground to obtain the second height.

[0109] In this scheme, by preprocessing the initial image, the target image can be guaranteed to be more accurate and more suitable for target detection, tracking and recognition. The outline of the loading and unloading platform can be detected by the target algorithm, and the height of the lifting platform can be obtained more accurately by calculating the height of the outline and the ground.

[0110] The preprocessing specifically includes: 1) Use denoising algorithms to remove noise from the image, such as Gaussian filtering, median filtering or bilateral filtering. 2) Enhance the visual quality of the image by adjusting the contrast, brightness and color of the image. Specific means can be histogram equalization, contrast stretching and color balance. 3) Adjust the image to a uniform size by cropping, scaling or padding the image to a specified size. 4) Convert the color image to a grayscale image. In some cases, only the brightness information of the image is needed but not the color information, so the image can be converted to a grayscale image to reduce the amount of calculation. 5) Perform morphological operations on the image, such as corrosion or expansion operations, to change the shape and structure of the image and help remove noise and unnecessary details in the image. 6) Segment the image into different regions or objects. Image segmentation can help separate the rear target of the carriage in the image from the background, providing a better basis for subsequent target recognition and analysis. 7) Remove the background in the image and retain the area of ​​interest. This is very important for target detection, tracking and recognition tasks in images.

[0111] Specifically, the edge detection algorithm may be Sobel, Prewitt, Canny, etc., and the shape detection algorithm may be Harris corner detection, Shi-Tomasi corner detection, etc.

[0112] Specifically, a height detection model can be constructed, wherein the height detection model is obtained by training with a target algorithm using multiple sets of training data, each set of training data in the multiple sets of training data includes historical target images acquired within a historical time period and historical second heights corresponding to the historical target images; the target images are input into the height detection model to obtain the second height corresponding to the target images.

[0113] Of course, the method for obtaining the first height is the same as that for the second height, and will not be repeated in this solution.

[0114] Specifically, the contour information of the lifting platform includes length, width, height and other information. The height of the contour information relative to the ground refers to the vertical distance from the ground to the lifting platform. Of course, the first height of the loading and unloading platform is also the vertical distance of the loading and unloading platform relative to the ground.

[0115] In order to improve the work efficiency of handling, the above-mentioned intelligent platform vehicle also includes a charging pile, which is located inside the above-mentioned carriage of the above-mentioned intelligent platform vehicle. The above-mentioned charging pile is used to charge the above-mentioned handling robot. After adjusting the above-mentioned second height according to the above-mentioned first height until the height difference between the above-mentioned first height and the above-mentioned second height is less than the preset height difference, and the target second height of the above-mentioned lifting platform is obtained, the above-mentioned method also includes the following steps: obtaining a charging demand, wherein the above-mentioned charging demand is a demand for pre-charging of the above-mentioned handling robot; controlling the charging pile to discharge according to the above-mentioned charging demand, so that the above-mentioned charging pile charges the above-mentioned handling robot.

[0116] In this room, during the operation of the transport robot, the remaining power of the transport robot can be obtained in real time. If the remaining power is less than the preset power (for example, 10%, 20%, etc.), the transport robot can generate a charging demand. At this time, the charging demand is obtained and the charging pile inside the smart platform vehicle is used to charge the transport robot. This can avoid the transport robot from interrupting its work due to insufficient power, thereby improving the transport efficiency.

[0117] The embodiment of the present application also provides a control device for an intelligent loading and unloading system. It should be noted that the control device for the intelligent loading and unloading system of the embodiment of the present application can be used to execute the control method for the intelligent loading and unloading system provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0118] The following is an introduction to the control device of the intelligent loading and unloading system provided in the embodiment of the present application.

[0119] Figure 8 is a structural block diagram of a control device of an intelligent loading and unloading system according to an embodiment of the present application. Figure 8 As shown, the device comprises:

[0120] A first obtaining unit 100 is used to obtain a first height of the loading and unloading platform;

[0121] A second acquisition unit 200 is used to acquire a second height of the lifting platform;

[0122] The adjustment unit 300 is used to adjust the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0123] Through this embodiment, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution adjusts the height of the lifting platform so that the handling robot can directly enter the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0124] During the specific implementation process, the above-mentioned intelligent platform vehicle also includes a proximity sensor, which is located on the above-mentioned lifting platform. The above-mentioned proximity sensor is used to detect the distance between the above-mentioned lifting platform and the above-mentioned loading and unloading platform. The above-mentioned device also includes a third acquisition unit and a determination unit. The third acquisition unit is used to adjust the above-mentioned second height according to the above-mentioned first height until the height difference between the above-mentioned first height and the above-mentioned second height is less than the preset height difference, and before obtaining the target second height of the above-mentioned lifting platform, obtain the above-mentioned distance between the above-mentioned lifting platform and the above-mentioned loading and unloading platform; the determination unit is used to determine that the above-mentioned intelligent platform vehicle and the above-mentioned loading and unloading platform are successfully docked when the above-mentioned distance is less than the preset distance threshold.

[0125] In this solution, the distance between the lifting platform and the loading and unloading platform can be detected by a proximity sensor. When the actual measured distance is less than the preset distance threshold, it can be directly and automatically determined that the intelligent platform vehicle and the loading and unloading platform are successfully docked. This eliminates the need for manual judgment and speeds up automated loading and unloading.

[0126] In some embodiments, the intelligent platform vehicle further includes an image acquisition device, which is located on the lifting platform. The image acquisition device is at least used to acquire an image of the rear of the intelligent platform vehicle and / or an image of the loading and unloading platform. The second acquisition unit includes a first acquisition module, a processing module, an extraction module, and a second acquisition module. The first acquisition module is used to acquire an initial image of the lifting platform; the processing module is used to preprocess the initial image to obtain a target image, wherein the preprocessing includes one or more of denoising processing, image enhancement processing, resizing processing, grayscale processing, segmentation processing, and background removal processing; the extraction module is used to extract contour information of the loading and unloading platform in the target image using a target algorithm, wherein the target algorithm is an edge detection algorithm and / or a shape detection algorithm; the second acquisition module is used to acquire the height of the contour information relative to the ground to obtain the second height.

[0127] In this scheme, by preprocessing the initial image, the target image can be guaranteed to be more accurate and more suitable for target detection, tracking and recognition. The outline of the loading and unloading platform can be detected by the target algorithm, and the height of the lifting platform can be obtained more accurately by calculating the height of the outline and the ground.

[0128] In order to improve the work efficiency of handling, the above-mentioned intelligent platform vehicle also includes a charging pile, which is located inside the above-mentioned carriage of the above-mentioned intelligent platform vehicle. The above-mentioned charging pile is used to charge the above-mentioned handling robot. The above-mentioned device also includes a fourth acquisition unit and a control unit. The fourth acquisition unit is used to adjust the above-mentioned second height according to the above-mentioned first height until the height difference between the above-mentioned first height and the above-mentioned second height is less than the preset height difference, and after the target second height of the above-mentioned lifting platform is obtained, obtain the charging demand, wherein the above-mentioned charging demand is the demand for pre-charging of the above-mentioned handling robot; the control unit is used to control the discharge of the charging pile according to the above-mentioned charging demand, so that the above-mentioned charging pile charges the above-mentioned handling robot.

[0129] In this room, during the operation of the transport robot, the remaining power of the transport robot can be obtained in real time. If the remaining power is less than the preset power (for example, 10%, 20%, etc.), the transport robot can generate a charging demand. At this time, the charging demand is obtained and the charging pile inside the smart platform vehicle is used to charge the transport robot. This can avoid the transport robot from interrupting its work due to insufficient power, thereby improving the transport efficiency.

[0130] The control device of the intelligent loading and unloading system includes a processor and a memory. The first acquisition unit, the second acquisition unit and the adjustment unit are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0131] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the problem of low efficiency of loading and unloading operations in the prior art can be solved by adjusting kernel parameters.

[0132] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0133] The present application provides an intelligent platform vehicle, which includes the lifting platform and a vehicle-mounted control system. The lifting platform and the vehicle-mounted control system are communicatively connected, and the vehicle-mounted control system is used to execute any one of the control methods of the above-mentioned intelligent loading and unloading systems.

[0134] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the intelligent loading and unloading system.

[0135] Specifically, the control method of the intelligent loading and unloading system includes:

[0136] Step S201, obtaining a first height of the loading and unloading platform;

[0137] Step S202, obtaining a second height of the lifting platform;

[0138] Step S203, adjusting the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0139] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the intelligent loading and unloading system is executed when the program is run.

[0140] Specifically, the control method of the intelligent loading and unloading system includes:

[0141] Step S201, obtaining a first height of the loading and unloading platform;

[0142] Step S202, obtaining a second height of the lifting platform;

[0143] Step S203, adjusting the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0144] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0145] Step S201, obtaining a first height of the loading and unloading platform;

[0146] Step S202, obtaining a second height of the lifting platform;

[0147] Step S203, adjusting the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0148] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0149] A computer program product includes a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in each embodiment of the present application are implemented:

[0150] Step S201, obtaining a first height of the loading and unloading platform;

[0151] Step S202, obtaining a second height of the lifting platform;

[0152] Step S203, adjusting the second height according to the first height until the height difference between the first height and the second height is less than the preset height difference, thereby obtaining the target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

[0153] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0154] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0155] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0158] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0159] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0160] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0161] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0162] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0163] 1) The intelligent loading and unloading system of the present application may have a height difference between the unloading platform of the explosive warehouse and the general truck, and the handling robot cannot enter the interior of the truck. Therefore, this solution transforms the truck and adds a lifting platform, so that the handling robot can directly enter the interior of the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0164] 2) The control method of the intelligent loading and unloading system of the present application, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution adjusts the height of the lifting platform so that the handling robot can directly enter the interior of the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0165] 3) The control device of the intelligent loading and unloading system of the present application, since there may be a height difference between the unloading platform of the explosive warehouse and the general truck, the handling robot cannot enter the interior of the truck. Therefore, this solution adjusts the height of the lifting platform so that the handling robot can directly enter the truck through this platform and transfer the explosives to the unloading platform, thereby improving the intelligent effect of loading and unloading and greatly improving the efficiency of loading and unloading operations.

[0166] The above description is only the preferred 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 modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent loading and unloading system, characterized in that: include: Loading and unloading platform, used for loading and unloading goods; A handling robot, used for carrying goods from the loading and unloading platform; An intelligent platform vehicle, the intelligent platform vehicle comprising a lifting platform, the height of which is adjustable, the transport robot entering the interior of the compartment of the intelligent platform vehicle through the lifting platform, and the transport robot transporting goods between the loading and unloading platform and the interior of the compartment of the intelligent platform vehicle through the lifting platform.

2. The intelligent loading and unloading system according to claim 1, characterized in that: The intelligent platform vehicle also includes: A proximity sensor is located on the lifting platform, and is used to detect the distance between the lifting platform and the loading and unloading platform.

3. The intelligent loading and unloading system according to claim 1, characterized in that: The intelligent platform vehicle also includes: An image acquisition device is located on the lifting platform, and the image acquisition device is at least used to acquire an image of the rear end of the intelligent platform vehicle and / or an image of the loading and unloading platform.

4. The intelligent loading and unloading system according to claim 1, characterized in that: The intelligent platform vehicle also includes: A charging pile is located inside the compartment of the intelligent platform vehicle, and the charging pile is used to charge the transport robot.

5. A control method for an intelligent loading and unloading system according to any one of claims 1 to 4, characterized in that: The method comprises: Obtaining a first height of the loading and unloading platform; Acquire a second height of the lifting platform; The second height is adjusted according to the first height until the height difference between the first height and the second height is less than a preset height difference, thereby obtaining a target second height of the lifting platform, wherein, when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

6. The method according to claim 5, characterized in that The intelligent platform vehicle further includes a proximity sensor, which is located on the lifting platform and is used to detect the distance between the lifting platform and the loading and unloading platform. Before the second height is adjusted according to the first height until the height difference between the first height and the second height is less than a preset height difference and the target second height of the lifting platform is obtained, the method further includes: Obtaining the distance between the lifting platform and the loading and unloading platform; When the distance is less than a preset distance threshold, it is determined that the intelligent platform vehicle and the loading and unloading platform are successfully docked.

7. The method according to claim 5, characterized in that The intelligent platform vehicle further includes an image acquisition device, which is located on the lifting platform and is used to at least acquire an image of the rear of the intelligent platform vehicle and / or an image of the loading and unloading platform to obtain a second height of the lifting platform, including: Acquiring an initial image of the lifting platform; Preprocessing the initial image to obtain a target image, wherein the preprocessing includes one or more of denoising, image enhancement, resizing, grayscale, segmentation, and background removal; Extracting contour information of the loading and unloading platform in the target image using a target algorithm, wherein the target algorithm is an edge detection algorithm and / or a shape detection algorithm; The height of the profile information relative to the ground is acquired to obtain the second height.

8. The method according to claim 5, characterized in that The intelligent platform vehicle further includes a charging pile, the charging pile is located inside the compartment of the intelligent platform vehicle, and the charging pile is used to charge the transport robot. After the second height is adjusted according to the first height until the height difference between the first height and the second height is less than a preset height difference and the target second height of the lifting platform is obtained, the method further includes: Obtaining a charging requirement, wherein the charging requirement is a requirement for pre-charging the transport robot; The charging pile is controlled to discharge according to the charging demand so that the charging pile can charge the transport robot.

9. A control device for an intelligent loading and unloading system according to any one of claims 1 to 4, characterized in that: The device comprises: A first obtaining unit, used for obtaining a first height of the loading and unloading platform; A second acquisition unit, used to acquire a second height of the lifting platform; An adjustment unit is used to adjust the second height according to the first height until the height difference between the first height and the second height is less than a preset height difference, thereby obtaining a target second height of the lifting platform, wherein when the lifting platform is at the target second height, the transport robot enters the interior of the carriage of the intelligent platform vehicle through the lifting platform, and the transport robot transports goods between the loading and unloading platform and the interior of the carriage of the intelligent platform vehicle through the lifting platform.

10. An intelligent platform vehicle, characterized in that: The intelligent platform vehicle comprises the lifting platform and a vehicle-mounted control system, the lifting platform and the vehicle-mounted control system are communicatively connected, and the vehicle-mounted control system is used to execute the control method of the intelligent loading and unloading system according to any one of claims 5 to 8.

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