Automatic loading and unloading control method for a box and a transfer vehicle

Abstract

This invention relates to an automatic loading and unloading control method and transfer vehicle for containers, belonging to the field of container transfer technology. The loading and unloading includes: placing the container at a preset gripping position and oriented the container towards a first direction, which is parallel to the vehicle's direction; gripping the container from the preset gripping position; adjusting the container to face a second direction, which is perpendicular to the vehicle's direction; controlling the container to maintain its orientation in the second direction and move it linearly into the transfer vehicle along that direction; stopping the linear movement when the container reaches above a preset drop position on the transfer vehicle, allowing the container to fall to the drop position. This invention, through such a loading and unloading control method, can achieve automatic loading and unloading by pre-planning the loading and unloading path, improving loading and unloading efficiency, and offering better loading and unloading accuracy and stability. It can also avoid collisions between the container and the vehicle body during automatic loading and unloading.

Description

Technical Field

[0001] This invention relates to an automatic loading and unloading control method for containers and a transfer vehicle, belonging to the field of container transfer technology. Background Technology

[0002] With the booming development of the transportation industry, various transfer vehicles can be seen shuttling through the streets and alleys of cities, whether for municipal waste transfer or logistics transfer. For urban transfers, large logistics vehicles and small tricycles are not suitable, while small and medium-sized transfer vehicles with large capacity and easy operation in urban traffic have become the common vehicle type. However, single-box transfer vehicles have drawbacks such as long loading and unloading time and low space utilization. A vehicle is stationary during the entire loading and unloading process, limiting the number of trips per day. Therefore, transfer vehicles with detachable boxes have emerged. By transporting and loading / unloading boxes, these vehicles save time on loading and unloading goods inside the boxes, thus improving transportation efficiency.

[0003] However, how to quickly load and unload containers on transfer vehicles has become a new challenge. To maximize the transport capacity of transfer vehicles, vehicle space is utilized to the maximum extent, and containers are placed tightly. Loading and unloading operations require extremely high precision in the relative position of the containers and the vehicle. The stability and safety of the loading and unloading process, the accuracy of loading, and the accuracy of unloading containers from high positions are all difficult and inefficient to handle manually. A series of problems restrict the operational efficiency of the entire industry. Automated loading and unloading requires extremely high positional accuracy. A 1° deviation in the operating path of the actuator can be magnified to 10cm or even more at the edge of the container, which may result in collisions with the cab, the actuators on the vehicle, the container, or even cause the vehicle to overturn. Therefore, how to accurately and quickly load and unload containers on small and medium-sized transfer vehicles within limited space has become a technical problem that urgently needs to be solved by existing technologies. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic loading and unloading control method and transfer vehicle for containers. By pre-arranging the containers on the ground and aligning them parallel to the vehicle body, the container's posture is adjusted in mid-air after being lifted so that its orientation is perpendicular to the vehicle body. Subsequently, by utilizing the coordinated linkage between multiple mechanisms, the container can be directly moved onto the vehicle along a straight line perpendicular to the vehicle body. This loading and unloading process can achieve automatic loading and unloading by pre-planning the loading and unloading path, improving loading and unloading efficiency, and providing better loading and unloading accuracy and stability. It can also avoid collisions between the container and the vehicle body during automatic loading and unloading.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution.

[0006] On one hand, the present invention provides an automatic loading and unloading control method for a container, comprising: Place the box in the preset gripping position and orient the box toward the first direction, which is parallel to the vehicle body direction of the transfer vehicle; The box is picked up from the preset gripping position; Adjust the box to face the second direction, which is perpendicular to the vehicle body direction of the transfer vehicle; The container is controlled to maintain its orientation in the second direction and move into the transfer vehicle in a straight line along the second direction; When the container reaches above the preset drop position on the transfer vehicle, it stops moving in a straight line and falls to the preset drop position.

[0007] Optionally, the loading and unloading method is based on a loading and unloading device, which includes a column, a telescopic mechanism, a first pitch mechanism, a second pitch mechanism, an attitude adjustment mechanism, and a clamping mechanism. The bottom end of the column is rotatably mounted on a transfer vehicle, and the height of the top end of the column is adjustable. 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 an attitude adjustment mechanism, which includes a mounting base and a rotating component. One end of the mounting base is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting base relative to the telescopic end. The rotating component is used to connect the clamping mechanism to make the clamping mechanism rotate horizontally.

[0008] Optionally, picking up the box from the preset gripping position includes: Raise the top of the column to a preset obstacle avoidance height, and rotate the bottom of the column by a preset angle so that the orientation of the telescopic rod corresponds to the preset grab position; The telescopic end is controlled to extend a preset length so that the clamping mechanism is positioned above the box to be gripped; The top of the column is lowered to a preset box-grabbing height so that the box can be gripped by the clamping mechanism; After the clamping mechanism grabs the box, the top of the column rises to a preset obstacle avoidance height to lift the box.

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

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

[0011] Optionally, adjusting the housing to orient the housing toward the second direction includes: The bottom end of the column is rotated by a first angle along the first direction, and the box being picked up rotates by the first angle along with the column. The rotating component of the attitude adjustment mechanism drives the clamping mechanism and the gripped box to rotate by a second angle along the first rotation direction, so that the gripped box faces the second direction. The sum of the first angle and the second angle is 90°.

[0012] Optionally, controlling the container to maintain its orientation in the second direction and move it linearly into the transfer vehicle along the second direction includes: The real-time rotation angle of the column and the real-time rotation angle of the rotating component of the attitude adjustment mechanism are kept in a first correspondence. The real-time length of the telescopic mechanism and the real-time rotation angle of the column maintain a second correspondence. Maintaining the first and second correspondences, the box is moved into the transfer vehicle in a straight line.

[0013] Optionally, the first correspondence includes: Set a following time Δt, during which the rotation angles of the column and the rotating component are both preset following angles Δθ; Within each following time Δt, the column and the rotating component rotate in opposite directions by a preset following angle Δθ to keep the box moving in a straight line; With clockwise as the positive direction, when the column rotates counterclockwise and the rotating component rotates clockwise, the formulas for the real-time rotation angle of the column and the rotation angle of the rotating component of the attitude adjustment mechanism during linear movement are as follows: ζ t =ζ t-1 -△θ; τ t =τ t-1 +△θ ζ t ζ represents the real-time rotation angle of the column at time t. t-1 τ represents the real-time rotation angle of the column at time t-1; t τ represents the real-time rotation angle of the rotating component at time t. t-1 The real-time rotation angle of the rotating component at time t-1 is represented by Δθ; the preset following angle is represented by Δθ; the time difference between time t and time t-1 is the following time Δt.

[0014] Optionally, the second correspondence includes: The target position is defined as the time when the container is moved into the transfer vehicle, and the real-time rotation angle of the column when the container is in the target position is defined as the target angle. Obtain the real-time rotation angle of the column and the real-time length of the telescopic mechanism; The formula for calculating the retraction length Δl of the telescopic mechanism within the following time Δt is as follows: △l=(l 终 / cosθ1)-(l 终 / cosθ2) θ1-θ2=△θ In the formula, Δl represents the retraction length of the telescopic mechanism within the following time Δt; θ1 is the angle between the real-time rotation angle of the column and the target angle at time t-1; θ2 is the angle between the real-time rotation angle of the column and the target angle at time t; l 终 This indicates the extension length of the telescopic mechanism when the housing reaches the target position.

[0015] Secondly, the present invention provides a transfer vehicle, characterized in that it includes a controller, the controller being used to execute the aforementioned automatic loading and unloading control method for containers. Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. This invention can automatically transfer the box to the transport vehicle by pre-setting the gripping position and the corresponding box orientation through path planning. It can also correct the posture and orientation of the box in real time during loading and unloading, resulting in small loading and unloading stability deviation and high loading and unloading efficiency.

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

[0017] 3. This invention, through its loading and unloading control method, can adapt to different specifications of boxes and different packing quantities, so as to achieve the purpose of one vehicle serving multiple purposes. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the gripping position of the box and the position of the transfer vehicle in Example 1; Figure 2 This is a schematic diagram of the loading and unloading device in Example 1; Figure 3 This is a schematic diagram of the packing operation in Example 1; Figure 4 This is a schematic diagram of a multi-action composite calculation model for the telescopic mechanism's extension and retraction, the column's rotation, and the rotation of the rotating component of the attitude adjustment mechanism, as shown in Example 1.

[0019] The diagram is labeled as follows: 1. Transfer vehicle; 2. Clamping mechanism; 3. Attitude adjustment mechanism; 4. Telescopic mechanism; 5. First pitch mechanism; 6. Column; 7. Support mechanism; 8. Leveling mechanism. Detailed Implementation

[0020] It should be noted that: The technical solution of the present invention will be described in detail below with reference to 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 thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0021] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0022] This embodiment describes an automatic loading and unloading control method for containers, which includes: Step S1: Place the box in the preset gripping position and make the box face the first direction, which is parallel to the vehicle body direction of the transfer vehicle 1; Step S2: Pick up the box from the preset gripping position; Step S3: Adjust the box to face the second direction, which is perpendicular to the vehicle body direction of the transfer vehicle 1; Step S4: Control the box to maintain its orientation in the second direction and move it straight into the transfer vehicle 1 along the second direction.

[0023] Step S5: When the box reaches above the preset box-dropping position on the transfer vehicle 1, stop moving in a straight line and let the box fall to the box-dropping position.

[0024] In this embodiment, the orientation of the container is controlled in order to coordinate with the corresponding path planning so that the container can be stably and safely transplanted onto the vehicle.

[0025] In one specific embodiment, to achieve the above steps, this embodiment is based on a loading and unloading device, combined with... Figure 2 The loading and unloading device includes an actuator and a control system that is communicatively connected to the actuator. The actuator includes a column 6, a telescopic mechanism 4, a first pitch mechanism 5, a second pitch mechanism, an attitude adjustment mechanism 3, a clamping mechanism 2, a support mechanism 7, and a leveling mechanism 8 for operation.

[0026] The bottom end of the column 6 is rotatably mounted on the transport vehicle 1, and the height of the top end of the column 6 is adjustable. The fixed end of the telescopic mechanism 4 is hinged to the top end 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 equipped with an attitude adjustment mechanism 3, which includes a mounting base and a rotating component. One end of the mounting base is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting base relative to the telescopic end. The rotating component is used to connect the clamping mechanism 2 to make the clamping mechanism 2 rotate horizontally. The leveling mechanism 8 is supported on the chassis of the transport vehicle 1 to keep the vehicle body level. In use, after the vertical outriggers are extended and the wheels are off the ground, the leveling program is started, controlling the four vertical outriggers to operate independently until the vehicle body is level. The support mechanism 7 performs the horizontal outrigger extension and retraction action to increase the lateral stability of the vehicle body. It is located on the vehicle frame and connected to the leveling mechanism 8.

[0027] In one 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 execution; 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 computing device; the output component includes a mechanism control unit, including a digital input port, a PWM port, and a port control computing device.

[0028] The central processing unit (CPU) is responsible for receiving the position status of each mechanism from the detection unit, receiving the system status judgment results from the monitoring unit, enabling the system to operate according to a predetermined algorithm, and sending operating instructions to the mechanism control unit. This includes data collection, processing, algorithm integration, and instruction transmission from each system unit. The detection unit is responsible for collecting the working status and position information of each mechanism and transmitting this information to the monitoring unit and the CPU. It provides system status judgments for the monitoring unit and data support for the CPU's logical judgments and instruction issuance. Its functions include: Leveling mechanism 8 detection: Detects the extension status of leveling mechanism 8 and the balance angle of the whole vehicle; In this embodiment, a dual-axis angle sensor is used to detect the vehicle body angle in real time. Loading and unloading operations can only be carried out when the vehicle body is level. If the operation is out of balance range, the operation will stop automatically to ensure safety.

[0029] Support Mechanism 7 Inspection: Inspect the support status of support mechanism 7; Column 6 Inspection: Inspect the lifting position, rotation position, and working status of column 6.

[0030] The clamping mechanism 2 is tested to detect its rotation angle. This embodiment utilizes an absolute encoder to detect the rotation angles of the column 6 mechanism and 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; in this embodiment, a single-axis angle sensor is used to detect the pitch mechanism angle in real time.

[0032] Inspection of telescopic mechanism 4; Inspection of the extension length and working status of telescopic mechanism 4; This invention utilizes a pull-wire sensor to detect in real time the lifting height of the column 6 mechanism and the extension length of the telescopic mechanism 4.

[0033] The attitude adjustment mechanism 3 detects the left and right tilt, forward and backward tilt, and rotation angles of the clamping mechanism 2. In this embodiment, a dual-axis angle sensor is used to detect the angle of the clamping mechanism 2 in real time. The attitude adjustment mechanism 3 is controlled by angle feedback to perform left / right tilt (which can be controlled by another hydraulic cylinder, or a device with the same function in the prior art can be selected) and forward / backward tilt (controlled by the second attitude adjustment mechanism 3) to adjust the angle of the clamping mechanism 2 to be horizontal, so as to ensure that the box is always horizontal during the loading and unloading process.

[0034] System testing: Testing the working pressure of each mechanism, the status of the power system, and the vehicle status; The monitoring unit is responsible for monitoring the vehicle status, power system status, and operational status of each mechanism. It receives data from the detection unit, determines the system's safety and whether actions can be initiated, and sends the results to the central processing unit. The mechanism control unit receives operating commands from the central processing unit and transmits signals to the actuators. The operation unit sends action requests to the central processing unit.

[0035] Step S1 in this embodiment is typically achieved by using an external crane and a transport trolley to place the container at a preset gripping position.

[0036] Based on the above-mentioned loading and unloading device, step S2 in this embodiment includes: Step S21: Raise the top of the column 6 to a preset obstacle avoidance height, and rotate the bottom of the column 6 by a preset angle so that the orientation of the telescopic rod corresponds to the preset grab position; Step S22: Control the telescopic end to extend a preset length so that the clamping mechanism 2 is positioned above the box to be gripped; Step S23: Lower the top of the column 6 to the preset box-grabbing height so that the box can be gripped by the clamping mechanism 2; Step S24: After the clamping mechanism 2 grabs the box, the top of the column 6 rises to the preset obstacle avoidance height to lift the box.

[0037] This embodiment achieves the lifting of the box through the coordinated operation of various mechanisms. Furthermore, during the box lifting process, the clamping mechanism 2 is kept horizontally aligned with the box by the first pitch mechanism 5 and the second pitch mechanism; both the first pitch mechanism 5 and the second pitch mechanism are telescopic hydraulic 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 attitude adjustment mechanism 3.

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

[0039] Understandably, the rotation of the column 6 itself and the rotation of the rotating component of the attitude adjustment mechanism 3 are both directed in the same direction, which enables the box to finally rotate 90° to complete the orientation adjustment.

[0040] It is worth noting that the first angle in this embodiment can be any angle, as long as it is rotated to correspond to the loading position on the vehicle body. The purpose of this is that one gripping position set on the ground can correspond to multiple loading positions on the vehicle body, thereby improving versatility. Even different types of transport vehicles 1 can be loaded by simply placing the box in the gripping position.

[0041] Furthermore, when the box is facing the first direction, it is parallel to the vehicle body, so that the box is less likely to collide with the vehicle body during step S31. For ease of understanding, if the box is arranged directly perpendicular to the vehicle body, not only will the requirements for the 4-stroke extension mechanism be higher, but the box will also be closer to the vehicle body after being grabbed, and the complex actions of multiple mechanisms will easily cause the box to collide with the vehicle body.

[0042] Furthermore, in this embodiment, step S4 includes: Step S41: Maintain a first correspondence between the real-time rotation angle of the column 6 and the real-time rotation angle of the rotating component of the attitude adjustment mechanism 3; Step S42: Maintain a second correspondence between the real-time length of the telescopic mechanism 4 and the real-time rotation angle of the column 6; Step S43: Maintain the first correspondence and the second correspondence to move the box into the transfer vehicle 1 in a straight line.

[0043] Understandably, in this embodiment, the linear motion of the box can be achieved through the combined action of the telescopic mechanism 4, the rotation of the column 6, and the rotation of the posture adjustment mechanism 3.

[0044] Specifically, the first correspondence in step S41 includes: Set the following time △t, during which the rotation angle of the column 6 and the rotating component are both the preset following angle △θ; Within each following time Δt, the column 6 and the rotating component rotate in opposite directions by a preset following angle Δθ to keep the box moving in a straight line; With clockwise as the positive direction, the column 6 rotates counterclockwise, and the rotating component rotates clockwise. The formulas for the real-time rotation angle of the column 6 and the rotation angle of the rotating component of the attitude adjustment mechanism 3 during linear movement are as follows: ζ t =ζ t-1 -△θ; τ t =τ t-1 +△θ ζ t ζ represents the real-time rotation angle of column 6 at time t. t-1 τ represents the real-time rotation angle of column 6 at time t-1; t τ represents the real-time rotation angle of the rotating component at time t. t-1 The real-time rotation angle of the rotating component at time t-1 is represented by Δθ; the preset following angle is represented by Δθ; the time difference between time t and time t-1 is the following time Δt.

[0045] ζ and τ can be determined by taking 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 real-time angle can be obtained by using the corresponding sensor.

[0046] The second correspondence 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 in 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 simultaneously. Let θ be the angle between the rotation angle of the process column 6 mechanism and the target angle, and let l be the target length of the telescopic mechanism 4. 终 The telescopic mechanism 4 has a length of 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 operates forms a right triangle.

[0047] like Figure 4The real-time length of the telescopic mechanism 4 is l=l 终 / cosθ1, then the box moves from position 1 to position 2, and the retraction length Δl of the telescopic mechanism 4 is = (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 to run. The three mechanisms work together to make the box maintain the same angle posture and run along a straight trajectory.

[0048] The formula for calculating the retraction 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 In the formula, Δl represents the retraction length of the telescopic mechanism 4 within the following time Δt, 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 This indicates the extension length of the telescopic mechanism 4 when the box reaches the target position.

[0049] In step S5, once the box is stable, the column 6 mechanism automatically descends to the desired height. At this point, the box falls to the preset box-dropping position on the vehicle body. The box-dropping position can be set to different positions according to the actual situation.

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

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

[0052] To illustrate with a specific application example, based on the aforementioned control method and loading / unloading device, a model is created according to the actual dimensions of the transfer vehicle 1. The trajectory of the container during the loading / unloading process is calculated, and the specific point coordinates are obtained based on the trajectory formula. This outputs a real-time following current value to control the column 6, telescopic mechanism 4, and attitude adjustment mechanism 3 to move at a related speed. If a mechanism is found to be moving too fast and its position deviates, with the difference a1 from the target value being greater than the error range + Δa, then the mechanism slows down to wait for other actions. The speed reduction ratio is positively correlated with |a1-Δa|. If a mechanism is found to be moving too slowly and its position deviates, with the difference a2 from the target value being less than the error range -Δa, then the mechanism speeds up to follow other actions. The speed increase ratio is positively correlated with |a2+Δa|.

[0053] Furthermore, to ensure the operational 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 attitude adjustment mechanism 3 operate with related speeds and positional relationships, but also monitors the movement position of individual mechanisms in real time. When a certain movement exceeds the target range, the central processing unit will cause the movement to move in the opposite direction to find the target coordinates. The speed of the reverse movement is positively correlated with the distance between the actual position and the target position coordinates, realizing individual movement following and multiple movement compound following. The adjustment speed is faster the farther away from the target and slower the distance. At the same time, the working conditions are automatically identified. The movement speed in the section before the box is clamped is given as high as possible according to the calibration value, and the section with high accuracy requirements is given as stable as possible according to the stable operating speed, thus achieving a double improvement in accuracy and efficiency.

[0054] Furthermore, in a specific application example, the unloading position of the box is marked on the transfer vehicle 1 (e.g., Figure 1 P1, P2), ground gripping position marking (e.g. Figure 1 The system (A, B, C, D) enables automatic loading operations for two containers: A→P1, D→P1, B→P2, C→P2, and P1→A, P1→D, P2→B, P2→C. Similarly, this invention can also be used to mark the loading and unloading positions of containers on a vehicle (4 or 8 containers) and on the ground, thus enabling the transfer of more containers. The above is only one applicable example; other different loading and unloading schemes can be used in actual operation. Example 2

[0055] Based on the same inventive concept as Embodiment 1, this embodiment provides a transfer vehicle, which includes a controller for executing the automatic loading and unloading control method for containers described in Embodiment 1.

[0056] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0058] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0059] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0060] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for automatically loading and unloading containers, characterized in that, include: Place the box in the preset gripping position and orient the box toward the first direction, which is parallel to the vehicle body direction of the transfer vehicle; The box is picked up from the preset gripping position; Adjust the box to face the second direction, which is perpendicular to the vehicle body direction of the transfer vehicle; The container is controlled to maintain its orientation in the second direction and move into the transfer vehicle in a straight line along the second direction; When the container reaches above the preset drop position on the transfer vehicle, it stops moving in a straight line and falls to the preset drop position. The loading and unloading control method is based on a loading and unloading device, which includes a column, a telescopic mechanism, a first pitch mechanism, a second pitch mechanism, an attitude adjustment mechanism, and a clamping mechanism. The bottom end of the column is rotatably mounted on a transfer vehicle, and the height of the top end of the column is adjustable. 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. An attitude adjustment mechanism is installed at the telescopic end of the telescopic mechanism. The attitude adjustment mechanism includes a mounting base and a rotating component. One end of the mounting base is hinged to the telescopic end. The second pitch mechanism is used to adjust the pitch angle of the mounting base relative to the telescopic end. The rotating component is used to connect the clamping mechanism to make the clamping mechanism rotate horizontally. The control of the container to maintain its orientation in the second direction and move it in a straight line along the second direction into the transfer vehicle includes: The real-time rotation angle of the column and the real-time rotation angle of the rotating component of the attitude adjustment mechanism are kept in a first correspondence. The real-time length of the telescopic mechanism and the real-time rotation angle of the column maintain a second correspondence. Maintaining the first and second correspondences, the container is moved linearly into the transfer vehicle; The first correspondence includes: Set a following time Δt, during which the rotation angles of the column and the rotating component are both preset following angles Δθ; Within each following time Δt, the column and the rotating component rotate in opposite directions by a preset following angle Δθ to keep the box moving in a straight line; With clockwise as the positive direction, when the column rotates counterclockwise and the rotating component rotates clockwise, the formulas for the real-time rotation angle of the column and the rotation angle of the rotating component of the attitude adjustment mechanism during linear movement are as follows: g t =ζ t-1 -△θ; t t =t t-1 +△θ ζ t ζ represents the real-time rotation angle of the column at time t. t-1 τ represents the real-time rotation angle of the column at time t-1; t τ represents the real-time rotation angle of the rotating component at time t. t-1 The real-time rotation angle of the rotating component at time t-1 is represented by Δθ; the preset following angle is represented by Δθ; the time difference between time t and time t-1 is the following time Δt. The second correspondence includes: The target position is defined as the time when the container is moved into the transfer vehicle, and the real-time rotation angle of the column when the container is in the target position is defined as the target angle. Obtain the real-time rotation angle of the column and the real-time length of the telescopic mechanism; The formula for calculating the retraction length Δl of the telescopic mechanism within the following time Δt is as follows: △l=(l 终 / cosθ1)-(l 终 / cosθ2) θ1-θ2=△θ In the formula, Δl represents the retraction length of the telescopic mechanism within the following time Δt; θ1 is the angle between the real-time rotation angle of the column and the target angle at time t-1; θ2 is the angle between the real-time rotation angle of the column and the target angle at time t; l 终 This indicates the extension length of the telescopic mechanism when the housing reaches the target position.

2. The automatic loading and unloading control method for a container according to claim 1, characterized in that, Picking up the box from the preset gripping position includes: The top of the column is raised to a preset obstacle avoidance height, and the bottom of the column is rotated by a preset angle so that the orientation of the telescopic end corresponds to the preset gripping position. The telescopic end is controlled to extend a preset length so that the clamping mechanism is positioned above the box to be gripped; The top of the column is lowered to a preset box-grabbing height so that the box can be gripped by the clamping mechanism; After the clamping mechanism grabs the box, the top of the column rises to a preset obstacle avoidance height to lift the box.

3. The automatic loading and unloading control method for a container according to claim 2, characterized in that, During the process of gripping the box by the clamping mechanism, the clamping mechanism is kept in a horizontal state corresponding to the box by the first pitch mechanism and the second pitch mechanism.

4. The automatic loading and unloading control method for a container according to claim 3, characterized in that, Both the first pitch mechanism and the second pitch mechanism are telescopic hydraulic cylinders.

5. The automatic loading and unloading control method for a container according to claim 2, characterized in that, The adjustment of the housing to orient the housing toward the second direction includes: The bottom end of the column is rotated by a first angle along the first direction, and the box being picked up rotates by the first angle along with the column. The rotating component of the attitude adjustment mechanism drives the clamping mechanism and the gripped box to rotate by a second angle along the first rotation direction, so that the gripped box faces the second direction. The sum of the first angle and the second angle is 90°.

6. A transfer vehicle, characterized in that, Includes a controller, which is used to execute the automatic loading and unloading control method for the container as described in any one of claims 1-5.

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