Automatic box loading and unloading control method and transfer trolley

Abstract

The invention relates to an automatic box loading and unloading control method and a transfer trolley, and belongs to the technical field of box transfer. The loading and unloading comprises the steps that a box is placed at a preset grabbing position and faces the first direction, and the first direction is parallel to the trolley body direction of the transfer trolley; the box body is grabbed from the preset grabbing position; adjusting the box body to enable the box body to face a second direction, wherein the second direction is perpendicular to the vehicle body direction of the transfer vehicle; the box body is controlled to keep the orientation of the second direction and move into the transfer trolley in a linear mode in the second direction; and when the box body reaches the position above a preset box falling position on the transfer trolley, linear moving-in is stopped, and the box body falls to the box falling position. By means of the loading and unloading control method, automatic loading and unloading can be achieved by planning the loading and unloading path in advance, the loading and unloading efficiency is improved, loading and unloading precision and stability are good, and collision between the box and the vehicle body can be avoided while automatic loading and unloading are conducted.

Description

Technical Field

[0001] The invention relates to a box automatic loading and unloading control method and a transfer vehicle, belonging to the technical field of box transfer. Background Art

[0002] With the booming development of the transfer industry, whether it is municipal waste transfer or logistics transfer, we can see various transfer vehicles shuttling through the streets and alleys of the city. For urban transfer, large logistics vehicles and small tricycles are not suitable. Small and medium-sized transfer vehicles have large capacity and are easy to drive in urban traffic, making them common models. However, single-box transfer vehicles have the disadvantages of long loading and unloading time and low space utilization. A vehicle is stagnant during the entire loading and unloading process, and the number of transportation trips per day is limited. Therefore, transfer vehicles that can load and unload boxes came into being. Transfer vehicles save time for loading and unloading goods in the box by transporting boxes and loading and unloading boxes, thereby improving transportation efficiency.

[0003] However, how to quickly load and unload boxes on the transfer vehicle has become a new problem. In order to maximize the transportation capacity of the transfer vehicle, the vehicle space is maximized, and the boxes are placed tightly. The loading and unloading operations have extremely high requirements on the relative position of the boxes and the vehicle. The stability and safety of the loading and unloading process, the accuracy of loading, and the high position of the boxes in the unloading operation are difficult to unload accurately. Manual operation is difficult and inefficient. A series of problems restrict the operating efficiency of the entire industry. Automatic loading and unloading requires extremely high position accuracy. A 1° deviation in the operating path of the actuator can be magnified to 10cm or even larger at the edge of the box, which is very likely to collide with the cab, the actuator on the vehicle, and the box, and even cause the vehicle to overturn. Therefore, how to accurately achieve rapid loading and unloading of boxes on small and medium-sized transfer vehicles in a limited space has become a technical problem that the existing technology urgently needs to solve. Summary of the invention

[0004] The object of the present invention is to provide a method for controlling automatic loading and unloading of boxes and a transfer vehicle, wherein the box is pre-arranged on the ground and oriented so that the box is parallel to the vehicle body, and then the posture of the box is adjusted in the air after the box is picked up so that the box is oriented perpendicular to the vehicle body, and then the coordinated linkage between multiple mechanisms can be used to directly move the box onto the vehicle in a straight line direction perpendicular to the vehicle body. Through such a loading and unloading process, automatic loading and unloading can be achieved by pre-planning the loading and unloading path, thereby improving the loading and unloading efficiency, and the loading and unloading accuracy and stability are better, and the collision between the box and the vehicle body can be avoided during automatic loading and unloading.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions.

[0006] On the one hand, the present invention provides a box automatic loading and unloading control method, which comprises: Placing the box at a preset grabbing position and directing the box toward a first direction, wherein the first direction is parallel to the body direction of the transfer vehicle; Grab the box from the preset grab position; Adjusting the box so that the box faces a second direction, wherein the second direction is perpendicular to the body direction of the transfer vehicle; Controlling the box to maintain the orientation in the second direction and move straightly into the transfer vehicle along the second direction; When the box body reaches above the preset box drop position on the transfer vehicle, the box body stops moving in a straight line, so that the box body drops to the preset box drop position.

[0007] Optionally, the loading and unloading method is implemented based on a loading and unloading device, which includes a column, a telescopic mechanism, a first pitch mechanism, a second pitch mechanism, a posture adjustment mechanism and a clamping mechanism. The bottom end of the column can be rotatably mounted on the transfer vehicle, and the top end of the column can be raised and lowered and adjusted in height. The fixed end of the telescopic mechanism is hinged to the top end of the column. The first pitch mechanism is used to adjust the pitch angle of the telescopic mechanism relative to the column. The telescopic end of the telescopic mechanism is equipped with a posture adjustment mechanism, and the posture adjustment mechanism includes a mounting seat and a rotating member. One end of the mounting seat is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting seat relative to the telescopic end. The rotating member is used to connect the clamping mechanism to allow the clamping mechanism to rotate horizontally.

[0008] Optionally, grabbing the box from the preset grabbing position includes: Raising the top end of the column to a preset obstacle avoidance height, and rotating the bottom end of the column to a preset angle so that the direction of the telescopic rod corresponds to the preset grasping position; Controlling the telescopic end to extend to a preset length so that the clamping mechanism is located above the box to be grasped; Lowering the top end of the column to a preset box grabbing height so as to grab the box body through the clamping mechanism; After the clamping mechanism grabs the box, the top end of the column rises to a preset obstacle avoidance height to grab the box.

[0009] Optionally, during the process of grabbing the box body by the clamping mechanism, the clamping mechanism is kept in a horizontal state corresponding to the box body by the first pitch mechanism and the second pitch mechanism.

[0010] Optionally, the first pitch mechanism and the second pitch mechanism are both telescopic cylinders.

[0011] Optionally, adjusting the box body so that the box body faces the second direction includes: The bottom end of the column is rotated by a first angle along a first rotation direction, and the picked-up box is rotated by the first angle along with the column; Controlling the rotating member of the posture adjustment mechanism to drive the clamping mechanism and the grasped box to rotate along the first rotation direction by a second angle, so that the grasped box faces the second direction; The sum of the first angle and the second angle is equal to 90°.

[0012] Optionally, controlling the box to maintain the orientation in the second direction and move linearly into the transfer vehicle along the second direction comprises: Maintaining a first corresponding relationship between the real-time rotation angle of the column and the real-time rotation angle of the rotating member of the posture adjustment mechanism; Keeping the real-time length of the telescopic mechanism and the real-time rotation angle of the column in a second corresponding relationship; The first corresponding relationship and the second corresponding relationship are maintained so that the box is moved straightly into the transfer vehicle.

[0013] Optionally, the first corresponding relationship includes: Setting a follow time △t, during which the rotation angles of the column and the rotating member are both the preset follow angle △θ; In each following time △t, the column and the rotating member rotate in opposite directions by a preset following angle △θ so that the box body keeps moving in a straight line; With clockwise as the positive direction, when the column rotates counterclockwise and the rotating member rotates clockwise, the formulas for the real-time rotation angle of the column and the rotation angle of the rotating member of the posture adjustment mechanism during the linear movement are as follows: ζ t =ζ t-1 -△θ; τ t =τ t-1 +△θ ζ t represents the real-time rotation angle of the column at time t, ζ t-1 Indicates the real-time rotation angle of the column at time t-1; τ t Indicates the real-time rotation angle of the rotating part at time t, τ t-1 represents the real-time rotation angle of the rotating part at time t-1; △θ represents the preset following angle; the time difference between the time t and the time t-1 is the following time △t.

[0014] Optionally, the second corresponding relationship includes: The target position is set when the box is moved into the transfer vehicle, and the real-time rotation angle of the column when the box is at the target position is set as the target angle; Obtaining the real-time rotation angle of the column and the real-time length of the telescopic mechanism; The calculation formula of the retracted length △l of the telescopic mechanism within the following time △t is as follows: △l=(l 终 / cosθ1)-(l 终 / cosθ2) θ1-θ2=△θ Wherein, △l represents the retracted length of the telescopic mechanism within the following time △t, θ1 is the angle between the real-time rotation angle of the column at time t-1 and the target angle; θ2 is the angle between the real-time rotation angle of the column at time t and the target angle; l 终 Indicates the extended length of the telescopic mechanism when the box reaches the target position.

[0015] In a second aspect, the present invention provides a transfer vehicle, characterized in that it includes a controller, the controller is used to execute the automatic loading and unloading control method of the box body Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention pre-sets the grabbing position of the box and the corresponding box orientation, and can automatically transfer the box at the grabbing position to the transfer vehicle through path planning, and corrects the posture and orientation of the box in real time during the loading and unloading process. The loading and unloading is stable with small deviation and high loading and unloading efficiency.

[0016] 2. The present invention ensures that the box can be moved onto the transfer vehicle in a straight line direction perpendicular to the vehicle body through the multi-action combination of multiple mechanisms. This is not only conducive to maintaining the posture of the box to avoid collision with the vehicle body or other boxes, but also conducive to neatly arranging multiple boxes on the transfer vehicle to improve space utilization.

[0017] 3. The present invention can adapt to boxes of different specifications and different packing quantities through such a loading and unloading control method, so as to achieve the purpose of multiple uses of one vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the grabbing position of the box and the position of the transfer vehicle in Example 1; Figure 2 It is a structural schematic diagram of the loading and unloading device in Example 1; Figure 3 This is a schematic diagram of the packing operation of Example 1; Figure 4 This is a schematic diagram of a multi-action composite calculation model for the telescopic mechanism telescopic extension, column rotation, and rotation of the rotating part of the posture adjustment mechanism in Example 1.

[0019] Numbers in the figure: 1. Transfer vehicle; 2. Clamping mechanism; 3. Posture adjustment mechanism; 4. Telescopic mechanism; 5. First pitch mechanism; 6. Column; 7. Support mechanism; 8. Leveling mechanism. DETAILED DESCRIPTION

[0020] It should be noted that: The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0021] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship. Example 1

[0022] This embodiment introduces a box automatic loading and unloading control method, which includes: Step S1: placing a box at a preset grabbing position and making the box face a first direction, wherein the first direction is parallel to the body direction of the transfer vehicle 1; Step S2: grabbing the box from the preset grabbing position; Step S3: adjusting the box body so that the box body faces a second direction, wherein the second direction is perpendicular to the body direction of the transfer vehicle 1; Step S4: Control the box to maintain the orientation in the second direction and move straightly into the transfer vehicle 1 along the second direction.

[0023] Step S5: When the box body reaches above the preset box drop position on the transfer vehicle 1, the box body stops moving in a straight line, and the box body drops to the box drop position.

[0024] In this embodiment, the direction of the box is mainly controlled to cooperate with the corresponding path planning so that the box can be stably and safely transferred to the vehicle.

[0025] In a specific embodiment, to implement the above steps, this embodiment is based on a loading and unloading device to carry out, combined with Figure 2 The loading and unloading device includes an actuator and a control system communicated with the actuator, and the actuator includes a column 6, a telescopic mechanism 4, a first pitch mechanism 5, a second pitch mechanism, a posture adjustment mechanism 3, a clamping mechanism 2, a supporting mechanism 7 and a leveling mechanism 8 for carrying out.

[0026] The bottom end of the column 6 is rotatably mounted on the transfer vehicle 1, and the top height of the column 6 can be raised and lowered. The fixed end of the telescopic mechanism 4 is hinged to the top of the column 6. The first pitch mechanism 5 is used to adjust the pitch angle of the telescopic mechanism 4 relative to the column 6. The telescopic end of the telescopic mechanism 4 is installed with a posture adjustment mechanism 3, and the posture adjustment mechanism 3 includes a mounting seat and a rotating member. One end of the mounting seat is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting seat relative to the telescopic end. The rotating member is used to connect the clamping mechanism 2 to rotate the clamping mechanism 2 horizontally. The leveling mechanism 8 is supported on the chassis of the transfer vehicle 1 to keep the vehicle body horizontal. When in use, it is combined with the vehicle body angle sensor and the leg position sensor to detect that the vertical legs are extended and the wheels are off the ground, and the leveling program is started to control the four vertical legs to run until the vehicle body is horizontal. The support mechanism 7 performs the horizontal leg extension and retraction action to increase the left and right stability of the vehicle body. It is located at the vehicle body frame and connected to the leveling mechanism 8.

[0027] In a specific embodiment, the control system of the control method of the present invention includes a control component, a detection component, a judgment component, and an output component. The control component includes a central processing unit for data processing and core algorithm operation; the detection component includes a detection unit, including but not limited to an angle sensor, a position sensor, a rotary encoder, and a pressure sensor; the judgment component includes a monitoring unit, including a communication interface, a network, and a judgment operation device; the output component includes a mechanism control unit, including a digital port, a PWM port, and a port control operation device.

[0028] The central processing unit is responsible for receiving the position status of each mechanism transmitted by the detection unit, receiving the system status judgment result of the monitoring unit, making the system run according to the established algorithm, and sending the operation instruction to the mechanism control unit. The system collects, processes, integrates algorithms, and sends instructions for each unit of the system. The detection unit is responsible for collecting the working status and position information of each mechanism, and transmits this information to the monitoring unit and the central processing unit, making system status judgment for the monitoring unit, and providing data support for the logical judgment and instruction of the central processing unit. Its functions include: Leveling mechanism 8 detection: detect the extension state of the leveling mechanism 8 and detect the balance angle of the whole vehicle; this embodiment uses a dual-axis angle sensor to detect the angle of the vehicle body in real time. The loading and unloading operations can only be carried out when the vehicle body is level. The operation will automatically stop when it exceeds the balance range to ensure safety.

[0029] Support mechanism 7 detection: detect the supporting state of the support mechanism 7; Column 6 detection: detect the lifting position, rotation position and working status of column 6.

[0030] Clamping mechanism 2 detection, detecting the rotation angle of the clamping mechanism 2; This embodiment uses an absolute encoder to detect the rotation angle of the column 6 and the rotation angle of the clamping mechanism 2 in real time.

[0031] Pitch mechanism detection: detect the pitch angle and working status of the first pitch mechanism 5 and the second pitch mechanism; this embodiment uses a single-axis angle sensor to detect the pitch mechanism angle in real time.

[0032] Telescopic mechanism 4 detection: Detect the extension length and working state of the telescopic mechanism 4; The present invention utilizes a wire sensor to detect the lifting height of the column 6 mechanism and the extension length of the telescopic mechanism 4 in real time.

[0033] The posture adjustment mechanism 3 detects: the left / right tilt, front / back tilt, and rotation angle of the clamping mechanism 2; the present embodiment uses a dual-axis angle sensor to detect the angle of the clamping mechanism 2 in real time, and controls the posture adjustment mechanism 3 through angle feedback to perform left / right tilt (another oil cylinder can be used for control, and a device with the same function in the prior art can also be selected for control), front / back tilt (controlled by the second posture adjustment mechanism 3), and adjusts the angle of the clamping mechanism 2 to be horizontal, ensuring that the box is always level during the loading and unloading process.

[0034] System detection: detect the working pressure of each mechanism, the status of the power system, and the status of the vehicle; The monitoring unit is responsible for monitoring the vehicle status, power system status, and the operating status of each mechanism, and receives data from the detection unit to determine whether the system is safe and whether the action can be started, and sends the judgment result to the central processing unit. The mechanism control unit is responsible for receiving the operation instructions issued by the central processing unit and transmitting the signal to the actuator. The operation unit is responsible for sending action requests to the central processing unit.

[0035] Step S1 of this embodiment is usually implemented with the aid of an external crane and a transport trolley to place the box at a preset grabbing position.

[0036] Based on the above-mentioned loading and unloading device, step S2 in this embodiment includes: Step S21: raising the top end of the column 6 to a preset obstacle avoidance height, and rotating the bottom end of the column 6 by a preset angle so that the direction of the telescopic rod corresponds to the preset grasping position; Step S22: controlling the telescopic end to extend to a preset length so that the clamping mechanism 2 is located above the box to be grasped; Step S23: lowering the top end of the column 6 to a preset box grabbing height so as to grab the box through the clamping mechanism 2; Step S24: After the clamping mechanism 2 grabs the box, the top end of the column 6 rises to a preset obstacle avoidance height to grab the box.

[0037] This embodiment can realize the operation of grabbing the box through the linkage between various mechanisms. In addition, during the process of grabbing the box, the clamping mechanism 2 is kept in a horizontal state corresponding to the box through the first pitch mechanism 5 and the second pitch mechanism; the first pitch mechanism 5 and the second pitch mechanism are both telescopic cylinders. The first pitch mechanism 5 can adjust the pitch angle of the telescopic mechanism 4, and the second pitch mechanism can adjust the angle of the clamping mechanism 2 through the posture adjustment mechanism 3.

[0038] Further, step S3 includes: adjusting the box so that the box faces the second direction includes: Step S31: rotating the bottom end of the column 6 along a first rotation direction by a first angle, and the picked-up box rotates along with the column 6 by the first angle; Step S32: Control the rotating part of the posture adjustment mechanism 3 to drive the clamping mechanism 2 and the grasped box to rotate along the first rotation direction by a second angle, so that the grasped box faces a second direction; the sum of the first angle and the second angle is equal to 90°.

[0039] It can be understood that the rotation of the column 6 itself and the rotation of the rotating part of the posture adjustment mechanism 3 are both in the same direction, so that the box can be finally rotated 90° to complete the orientation adjustment.

[0040] It is worth noting that the first angle in this embodiment can be any angle, and it only needs to be rotated to correspond to the packing position on the vehicle body. The purpose of this is that a grabbing position set on the ground can correspond to multiple packing positions on the vehicle body, thereby improving versatility. Even different types of transfer vehicles 1 can be packed by simply placing the box at the grabbing position.

[0041] Furthermore, when the box is facing the first direction, it is parallel to the vehicle body, so that the box is not likely to collide with the vehicle body during step S31. For ease of understanding, if the box is directly arranged in a vertical manner facing the vehicle body, not only is the travel requirement of the telescopic mechanism 4 high, but also the distance to the vehicle body is close after grasping, and the combination of multiple actions between multiple mechanisms is likely to cause the box to collide with the vehicle body.

[0042] Furthermore, in this embodiment, step S4 includes: Step S41: maintaining a first corresponding relationship between the real-time rotation angle of the column 6 and the real-time rotation angle of the rotating member of the posture adjustment mechanism 3; Step S42: maintaining a second corresponding relationship between the real-time length of the telescopic mechanism 4 and the real-time rotation angle of the column 6; Step S43: maintaining the first corresponding relationship and the second corresponding relationship so that the box is moved straightly into the transfer vehicle 1 .

[0043] It can be understood that in this embodiment, the linear motion of the box can be achieved through the combined actions of the telescopic mechanism 4, the rotation of the column 6 and the rotating part of the posture adjustment mechanism 3.

[0044] Specifically, the first corresponding relationship in step S41 includes: A following time △t is set, during which the rotation angles of the column 6 and the rotating member are both the preset following angle △θ; In each following time △t, the column 6 and the rotating member rotate in opposite directions by a preset following angle △θ so that the box body keeps moving in a straight line; With clockwise as the positive direction, the column 6 rotates counterclockwise, and when the rotating member rotates clockwise, the formulas for the real-time rotation angle of the column 6 and the rotation angle of the rotating member of the posture adjustment mechanism 3 during the linear movement are as follows: ζ t =ζ t-1 -△θ; τ t =τ t-1 +△θ ζ t represents the real-time rotation angle of the column 6 at time t, ζ t-1 represents the real-time rotation angle of the column 6 at time t-1; τ t Indicates the real-time rotation angle of the rotating part at time t, τ t-1 represents the real-time rotation angle of the rotating part at time t-1; △θ represents the preset following angle; the time difference between the time t and the time t-1 is the following time △t.

[0045] The ζ and τ can use the initial rotation position as the zero reference position and clockwise or counterclockwise as the positive direction to determine the real-time rotation angle. In actual measurement, the corresponding sensors can be used to obtain the real-time angle.

[0046] The second corresponding relationship includes: setting the target position when the box is moved into the transfer vehicle 1, and the real-time rotation angle of the column 6 when the box is at the target position as the target angle; obtaining the real-time rotation angle of the column 6 and the real-time length of the telescopic mechanism 4; While the two mechanisms are operating in combination, the telescopic mechanism 4 is also operating. Suppose the angle between the rotation angle of the column 6 mechanism and the target angle is θ, and the target length of the telescopic mechanism 4 is l 终 , the length of the telescopic mechanism 4 itself is l 自 , then the real-time length l of the telescopic mechanism 4 is equal to the target length l 终 , the route along which the box runs forms a right triangle.

[0047] like Figure 4, the real-time length of the telescopic mechanism 4 is l=l 终 / cosθ1, the box moves from position 1 to position 2, and the retracted length of the telescopic mechanism 4 is △l=(l 终 / cosθ1)-(l 终 / cosθ2) and θ1-θ2 is △θ. According to this relationship, the telescopic mechanism 4 can follow the column 6 mechanism to select the angle for operation. The combined operation of the three mechanisms enables the box to maintain the same angle posture and run along a straight track.

[0048] The calculation formula of the retracted length Δl of the telescopic mechanism 4 within the following time Δt is as follows: △l=(l 终 / cosθ1)-(l 终 / cosθ2) θ1-θ2=△θ Wherein, △l represents the retracted length of the telescopic mechanism 4 within the following time △t, θ1 is the angle between the real-time rotation angle of the column 6 at time t-1 and the target angle; θ2 is the angle between the real-time rotation angle of the column 6 at time t and the target angle; l 终 It indicates the extension length of the telescopic mechanism 4 when the box reaches the target position.

[0049] In step S5, when the box is stable, the pillar 6 mechanism is automatically lowered to a certain height, and the box falls to a preset box drop position on the vehicle body. The box drop position can be set at different positions according to actual conditions.

[0050] The final position of the box on the vehicle is that the column 6 mechanism rotates at an angle of -90°, the posture adjustment mechanism 3 rotates at an angle of 90°, the telescopic mechanism 4 has a length of a preset l1, and the pitch mechanism angle is a preset ε.

[0051] The process of unloading the box from the transfer vehicle 1 can be understood as the reverse process of loading the box, which will not be described in detail in this embodiment.

[0052] A specific application example is used for explanation. On the basis of the above-mentioned specific control method and loading and unloading device, a model is built according to the actual mechanism size of the transfer vehicle 1, and the running trajectory of the box body in the loading and unloading process is calculated. The specific point coordinates are obtained according to the trajectory formula, so as to output the real-time following current value to control the column 6, the telescopic mechanism 4, and the posture adjustment mechanism 3 to move at the associated speed. When it is found that a certain mechanism is running too fast and the position deviates, and the difference a1 from the target value is greater than the error range +△a, the mechanism will slow down and wait for other actions, and the speed slowdown ratio is positively correlated with |a1-△a|; when it is found that a certain mechanism is running too slowly and the position deviates, and the difference a2 from the target value is less than the error range -△a, the mechanism will speed up and follow other actions, and the speed acceleration ratio is positively correlated with |a2+△a|.

[0053] In addition, in order to ensure the operating accuracy of the entire loading and unloading device, this embodiment not only controls the operating speed of the mechanism in real time to ensure that the column 6, telescopic mechanism 4, and posture adjustment mechanism 3 operate at related speeds and position relationships, but also monitors the movement position of the individual mechanism in real time. When a certain action moves beyond the target range, the central processing unit will make the action run in the opposite direction to find the target coordinates. The speed of movement in the reverse direction is positively correlated with the distance between the actual position and the target position coordinates, thereby realizing single action following and multiple groups of actions following in combination. The farther from the target, the faster the adjustment speed, and the closer the distance, the slower the adjustment speed. At the same time, the working condition is automatically identified. The action speed in the interval before the box is clamped is as large as possible according to the calibration value, and the interval with high precision requirements is as stable as possible according to the stable operating speed, thereby achieving both precision and efficiency improvements.

[0054] Furthermore, in a specific application example, by calibrating the box drop position on the transfer vehicle 1 (such as Figure 1 P1, P2), ground grasping position calibration (such as Figure 1 The automatic loading and unloading operations of A→P1, D→P1, B→P2, C→P2 and the automatic unloading operations of P1→A, P1→D, P2→B, P2→C can be realized. Similarly, the present invention can also realize the position calibration of the loading and unloading boxes of 4 boxes and 8 boxes and the position calibration of the boxes on the ground, so as to realize the transportation of more boxes. The above is only an applicable example, and other different loading and unloading schemes can also be adopted in actual operation. Example 2

[0055] Based on the same inventive concept as that of Example 1, this embodiment provides a transfer vehicle, which includes a controller, and the controller is used to execute the automatic loading and unloading control method of the box described in Example 1.

[0056] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0057] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce 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.

[0058] 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.

[0059] 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.

[0060] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A box automatic loading and unloading control method, characterized in that: include: Placing the box at a preset grabbing position and directing the box toward a first direction, wherein the first direction is parallel to the body direction of the transfer vehicle; Grab the box from the preset grab position; Adjusting the box so that the box faces a second direction, wherein the second direction is perpendicular to the body direction of the transfer vehicle; Controlling the box to maintain the orientation in the second direction and move straightly into the transfer vehicle along the second direction; When the box body reaches above the preset box drop position on the transfer vehicle, the box body stops moving in a straight line, so that the box body drops to the preset box drop position.

2. A box automatic loading and unloading control method according to claim 1, characterized in that: The loading and unloading method is implemented based on a loading and unloading device, which includes a column, a telescopic mechanism, a first pitch mechanism, a second pitch mechanism, a posture adjustment mechanism and a clamping mechanism. The bottom end of the column can be rotatably installed on the transfer vehicle, and the top end of the column can be raised and lowered to adjust the height. The fixed end of the telescopic mechanism is hinged to the top end of the column. The first pitch mechanism is used to adjust the pitch angle of the telescopic mechanism relative to the column. The telescopic end of the telescopic mechanism is equipped with a posture adjustment mechanism. The posture adjustment mechanism includes a mounting seat and a rotating member. One end of the mounting seat is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting seat relative to the telescopic end. The rotating member is used to connect the clamping mechanism to allow the clamping mechanism to rotate horizontally.

3. A box automatic loading and unloading control method according to claim 2, characterized in that: Grabbing the box from the preset grabbing position includes: Raising the top end of the column to a preset obstacle avoidance height, and rotating the bottom end of the column to a preset angle so that the direction of the telescopic rod corresponds to the preset grasping position; Controlling the telescopic end to extend to a preset length so that the clamping mechanism is located above the box to be grasped; Lowering the top end of the column to a preset box grabbing height so as to grab the box body through the clamping mechanism; After the clamping mechanism grabs the box, the top end of the column rises to a preset obstacle avoidance height to grab the box.

4. A box automatic loading and unloading control method according to claim 3, characterized in that: During the process of grabbing the box body by the clamping mechanism, the clamping mechanism is kept in a horizontal state corresponding to the box body by the first pitch mechanism and the second pitch mechanism.

5. A box automatic loading and unloading control method according to claim 4, characterized in that: The first pitch mechanism and the second pitch mechanism are both telescopic cylinders.

6. A box automatic loading and unloading control method according to claim 3, characterized in that: The step of adjusting the box body so that the box body faces the second direction comprises: The bottom end of the column is rotated by a first angle along a first rotation direction, and the picked-up box is rotated by the first angle along with the column; Controlling the rotating member of the posture adjustment mechanism to drive the clamping mechanism and the grasped box to rotate along the first rotation direction by a second angle, so that the grasped box faces the second direction; The sum of the first angle and the second angle is equal to 90°.

7. A box automatic loading and unloading control method according to claim 6, characterized in that: The step of controlling the box to maintain the orientation in the second direction and move it linearly into the transfer vehicle along the second direction comprises: Maintaining a first corresponding relationship between the real-time rotation angle of the column and the real-time rotation angle of the rotating member of the posture adjustment mechanism; Keeping the real-time length of the telescopic mechanism and the real-time rotation angle of the column in a second corresponding relationship; The first corresponding relationship and the second corresponding relationship are maintained so that the box is moved straightly into the transfer vehicle.

8. The automatic box loading and unloading control method according to claim 7, characterized in that: The first corresponding relationship includes: Setting a follow time △t, during which the rotation angles of the column and the rotating member are both the preset follow angle △θ; In each following time △t, the column and the rotating member rotate in opposite directions by a preset following angle △θ so that the box body keeps moving in a straight line; With clockwise as the positive direction, when the column rotates counterclockwise and the rotating member rotates clockwise, the formulas for the real-time rotation angle of the column and the rotation angle of the rotating member of the posture adjustment mechanism during the linear movement are as follows: g t =ζ t-1 -△θ; t t =t t-1 +△θ ζ t represents the real-time rotation angle of the column at time t, ζ t-1 Indicates the real-time rotation angle of the column at time t-1; τ t Indicates the real-time rotation angle of the rotating part at time t, τ t-1 represents the real-time rotation angle of the rotating part at time t-1; △θ represents the preset following angle; the time difference between the time t and the time t-1 is the following time △t.

9. The automatic box loading and unloading control method according to claim 8, characterized in that: The second corresponding relationship includes: The target position is set when the box is moved into the transfer vehicle, and the real-time rotation angle of the column when the box is at the target position is set as the target angle; Obtaining the real-time rotation angle of the column and the real-time length of the telescopic mechanism; The calculation formula of the retracted length △l of the telescopic mechanism within the following time △t is as follows: △l=(l 终 / cosθ1)-(l 终 / cosθ2) θ1-θ2=△θ Wherein, △l represents the retracted length of the telescopic mechanism within the following time △t, θ1 is the angle between the real-time rotation angle of the column at time t-1 and the target angle; θ2 is the angle between the real-time rotation angle of the column at time t and the target angle; l 终 Indicates the extended length of the telescopic mechanism when the box reaches the target position.

10. A transfer vehicle, characterized in that: It comprises a controller, and the controller is used to execute the automatic loading and unloading control method of the box according to any one of claims 1-9.

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