Automatic loading platform auxiliary parking positioning method and positioning system

Abstract

The invention discloses an automatic loading platform auxiliary parking positioning method and positioning system in the technical field of automatic loading platform auxiliary positioning. The automatic loading platform auxiliary parking positioning method comprises the steps that a reference operation line, corresponding to a reference parking position of a truck carriage, of automatic carrying equipment is preset in a parking area on one side of a platform; a first detection module arranged on one side of the parking area and a second detection module arranged on the other side of the parking area are used for obtaining the transverse deviation value delta d and the deviation angle theta of the actual parking position of the boxcar relative to the reference parking position; and according to the transverse deviation value delta d and the deviation angle theta, the reference operation line is compensated, and an actual operation line, corresponding to the actual parking position of the truck carriage, of the automatic carrying equipment is output. The method can be effectively applied to the automatic loading process of the boxcar, the purpose of auxiliary positioning of automatic carrying equipment is achieved, the flow and efficiency of unmanned automatic loading can be effectively improved, the effect is remarkable, and popularization is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of automated loading platform auxiliary positioning, and in particular to an automated loading platform auxiliary parking positioning method and positioning system. Background Art

[0002] At present, when vans are docked at the platform, positioning and docking are mainly carried out with manual assistance. This method cannot guarantee the repeatability and accuracy of the positioning and docking process, which results in the vans being unable to dock accurately on one side of the platform.

[0003] To complete the automatic handling of goods, the relevant automated equipment needs to repeatedly construct a map model inside the carriage or guide the automatic handling equipment to complete the route guidance through external methods such as laser reflectors and magnetic lines. However, in actual use, the above method requires the carriage of each van to be modified, which has the problems of large modification labor and high modification costs.

[0004] Therefore, how to achieve accurate positioning and parking of the van on one side of the platform has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the object of the present invention is to provide an automated loading platform auxiliary parking positioning method to solve the technical problem that existing automated handling operations require the modification of the truck compartment.

[0006] The technical solution adopted by the present invention is: an automated loading platform auxiliary parking positioning method, comprising the following steps:

[0007] S10: Preset a reference operating route corresponding to the reference parking position of the automatic handling equipment and the freight car in the parking area on one side of the platform;

[0008] S20: Obtaining a lateral offset value Δd and an offset angle θ of an actual parking position of the truck compartment relative to a reference parking position by a first detection module disposed on one side of the parking area and a second detection module disposed on the other side of the parking area;

[0009] S30: Compensating the reference running route according to the lateral offset value Δd and the offset angle θ and outputting an actual running route corresponding to the actual parking position of the automatic handling equipment and the truck compartment.

[0010] Preferably, the vertical platform of the reference operating line is set in the middle of the parking area, and a plurality of reference delivery points are arranged at intervals on the reference operating line.

[0011] Preferably, the S20 includes:

[0012] S21: Setting a first reference point on one side of the parking area and a second reference point on the other side of the parking area;

[0013] S22: Using a first laser radar, detect a distance x1 between the first reference point and the truck compartment along a fixed angle α, and a distance x2 between the first reference point and the truck compartment along a fixed angle β; using a second laser radar, detect a distance x1′ between the second reference point and the truck compartment along a fixed angle α′, and a distance x2′ between the second reference point and the truck compartment along a fixed angle β′;

[0014] S23: Calculate the lateral offset value Δd, Δd=|dd′|;

[0015] Calculate the offset angle θ, θ = 180° - α - β - δ;

[0016] Wherein, d is the vertical distance between the first reference point and the truck compartment, and d′ is the vertical distance between the second reference point and the truck compartment.

[0017] Preferably, the first reference point and the second reference point are symmetrically arranged on both sides of the reference running line.

[0018] Preferably, α=α′, and β=β.

[0019] Preferably, 15°≤α≤30°, and 30°≤β≤45°

[0020] Preferably, the S30 includes:

[0021] S31: rotating the reference running line horizontally around the center point O by an offset angle θ to obtain an intermediate transition running line;

[0022] S32: Horizontally shifting the intermediate transition running line to obtain an actual running line, and a vertical distance between the actual running line and the intermediate transition running line is a lateral offset value Δd.

[0023] Preferably, the S30 includes:

[0024] S31: Compensating for the offset angle θ and the lateral offset value Δd for all reference delivery points on the reference running route and obtaining the actual delivery points;

[0025] S32: sequentially connecting all the actual delivery points to form an actual operation route.

[0026] A second object of the present invention is to provide an automated loading platform auxiliary parking positioning system, comprising:

[0027] A parking area, wherein the parking area is provided with a reference running line perpendicular to the platform;

[0028] a first detection module, the first detection module being disposed on one side of the parking area, and being capable of detecting a distance x1 between a first reference point and the truck compartment along a fixed angle α and a distance x2 between the first reference point and the truck compartment along a fixed angle β;

[0029] A second detection module is provided on the other side of the parking area, and is capable of detecting a distance x1′ between the second reference point and the truck compartment along a fixed angle α′ and a distance x2′ between the second reference point and the truck compartment along a fixed angle β′;

[0030] a calculation module capable of calculating a lateral offset value Δd and an offset angle θ of the actual parking position of the truck compartment relative to the reference parking position based on x1, x2, x1′, x2′ and trigonometric functions;

[0031] The compensation output module can compensate the reference running route according to the offset angle θ and the lateral offset value Δd and output an actual running route corresponding to the actual parking position of the truck compartment.

[0032] Preferably, the first detection module includes a first laser radar and a first reference point, and the first laser radar is set at the first reference point; the second detection module includes a second laser radar and a second reference point, and the second laser radar is set at the second reference point; the reference running line is set in the middle of the parking area, and the first reference point and the second reference point are symmetrically set on both sides of the reference running line.

[0033] Beneficial effects of the present invention:

[0034] The present invention uses the truck compartment as a reference object, and first presets a reference operating route corresponding to the reference parking position of the automatic handling equipment and the truck compartment in the parking area on one side of the platform, and then detects the actual parking position of the truck compartment by using laser radars arranged on both sides of the parking area, and then calculates the lateral offset value and offset angle of the actual parking position of the truck compartment relative to the reference parking position. Finally, the lateral offset value and offset angle are used to compensate the reference operating route to obtain the actual operating route corresponding to the actual parking position of the automatic handling equipment and the truck compartment, thereby realizing the precise positioning and movement of the automatic handling equipment between the platform and the truck compartment, and then realizing the automatic handling operation of goods, and reducing the workload and cost of transformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the automated loading platform assisted parking positioning method of the present invention;

[0036] Figure 2 This is a schematic structural diagram of the automated loading platform auxiliary parking positioning system of the present invention;

[0037] Figure 3 This is a second schematic diagram of the automated loading platform assisted parking positioning method of the present invention;

[0038] Figure 4 Schematic diagram of the actual operating line compensated for the reference operating line;

[0039] Figure 5 A schematic diagram of the angle relationship.

[0040] Description of reference numerals in the figures:

[0041] 1. Platform; 2. Parking area; 3. Reference operating route; 4. First detection module; 5. Second detection module; 6. Truck compartment; 7. Actual operating route; 8. First reference point; 9. Second reference point; 10. First laser radar; 11. Second laser radar; 12. Intermediate transition operating route; 13. Calculation module; 14. Compensation output module; 15. Left line; 16. Right line. DETAILED DESCRIPTION

[0042] The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention and are not intended to limit the present invention.

[0043] In the description of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0046] Examples, such as Figure 1-Figure 5 As shown, an automated loading platform auxiliary parking positioning method is used to assist automated handling equipment in accurately handling goods to a truck compartment 6 on one side of the platform 1 during an automated loading operation. The method includes the following steps:

[0047] S10: A reference operating route 3 of the automatic handling equipment is pre-set in the parking area 2 on one side of the platform 1, and the reference operating route 3 corresponds to the reference parking position of the truck compartment 6.

[0048] S20: Obtain the lateral offset value Δd and the offset angle θ of the actual parking position of the truck compartment 6 relative to the reference parking position through the first detection module 4 set on one side of the parking area 2 and the second detection module 5 set on the other side of the parking area 2.

[0049] S30 : Compensating the reference running route 3 according to the lateral offset value Δd and the offset angle θ and outputting the actual running route 7 of the automatic handling equipment, wherein the actual running route 7 corresponds to the actual parking position of the truck compartment 6 .

[0050] This application takes the truck car 6 as a reference object, and first presets a reference operating route 3 of the automatic handling equipment corresponding to the reference parking position of the truck car 6 in the parking area 2 on one side of the platform 1, and then detects the actual parking position of the truck car 6 through the first detection module 4 and the second detection module 5 set on both sides of the parking area 2, and then calculates the lateral offset value and offset angle of the actual parking position of the truck car 6 relative to the reference parking position, and finally uses the lateral offset value and offset angle to compensate for the reference operating route 3, and obtains the actual operating route 7 corresponding to the actual parking position of the automatic handling equipment and the truck car 6, so as to realize the precise positioning and movement of the automatic handling equipment between the platform 1 and the truck car 6, thereby realizing the automatic handling operation of the goods and reducing the workload and cost of the transformation.

[0051] In a specific embodiment, if Figure 1 、 Figure 2 、 Figure 4 As shown, S10 specifically includes: one or more parking areas 2 are set on one side of the platform 1, and the parking area 2 is also called a parking space; a reference parking position of the truck compartment 6 is pre-set in the parking area 2, and a reference operating route 3 of the automatic handling equipment is set in the reference parking position, and a plurality of reference delivery points are set at intervals on the reference operating route 3, so that when the truck compartment 6 is located at the reference parking position of the parking area 2, the automatic handling equipment can accurately enter and exit the truck compartment 6 along the reference operating route 3, and accurately and automatically stack the goods in the truck compartment 6.

[0052] Preferably, in the transverse direction ( Figure 1The reference running line 3 is arranged in the middle of the parking area 2 and is perpendicular to the platform 1.

[0053] In a specific embodiment, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, the S20 specifically includes:

[0054] S21: Set a first reference point 8 on one side of the parking area 2 and a second reference point 9 on the other side of the parking area 2; that is, set the first reference point 8 on the left side of the parking area 2 in the horizontal direction and set the second reference point 9 on the right side of the parking area 2 in the horizontal direction.

[0055] S22: Install a first laser radar 10 on the first reference point 8, and use the first laser radar 10 to detect the distance x1 between the first reference point 8 and the truck compartment 6 along the fixed angle α and the distance x2 between the first reference point 8 and the truck compartment 6 along the fixed angle β; install a second laser radar 11 on the second reference point 9, and use the second laser radar 11 to detect the distance x1′ between the second reference point 9 and the truck compartment 6 along the fixed angle α′ and the distance x2′ between the second reference point 9 and the truck compartment 6 along the fixed angle β′.

[0056] S23: Calculate the lateral offset Δd of the actual parking position of the truck compartment 6 relative to the reference parking position, Δd=|dd′|;

[0057] Calculate the offset angle θ of the actual parking position of the truck compartment 6 relative to the reference parking position, θ=180°-α-β-δ;

[0058]

[0059] Among them, d is the vertical distance between the first reference point 8 and the left line 15 of the freight car 6, d′ is the vertical distance between the second reference point 9 and the right line 16 of the freight car 6; θ is the offset angle of the freight car 6 in the direction perpendicular to the platform 1.

[0060] Preferably, Figure 4 As shown, the first reference point 8 and the second reference point 9 are symmetrically arranged on the left and right sides of the reference running line 3 ; that is, the first reference point 8 and the second reference point 9 are symmetrically arranged on both sides of the reference running line 3 in the transverse direction.

[0061] More preferably, α=α′, and β=β′.

[0062] More preferably, 15°≤α≤30°, and 30°≤β≤45°

[0063] In a specific embodiment, if Figure 1 、 Figure 2 、 Figure 3 As shown, the S30 specifically includes:

[0064] S31: Rotate the reference running route 3 horizontally around the center point O by an offset angle θ to obtain an intermediate transition running route 12; wherein the center point O is 1 / 2 of the length of the reference running route 3, and the center point O is directly below the center point of the reference parking position of the truck compartment 6.

[0065] S32: The intermediate transition running line 12 is horizontally shifted to obtain the actual running line 7, and the vertical distance between the actual running line 7 and the intermediate transition running line 12 is the lateral offset value Δd.

[0066] In a specific embodiment, if Figure 1 、 Figure 2 As shown, the S30 specifically includes:

[0067] S31: Compensate the offset angle θ and the lateral offset value Δd for all reference delivery points on the reference operation line 3 and obtain the actual delivery point;

[0068] S32: Sequentially connect all actual delivery points to form an actual operation route 7.

[0069] Examples, such as Figure 2 、 Figure 5 As shown, an automated loading platform auxiliary parking positioning system can detect the actual parking position of the truck compartment 6 and re-plan the actual travel route of the automatic handling equipment based on the actual parking position, so that the automatic handling equipment can accurately transport the goods to the loading position in the truck compartment 6; the system includes:

[0070] The parking area 2 is provided with a reference running line 3 perpendicular to the platform 1.

[0071] The first detection module 4 is provided on one lateral side of the parking area 2 and is capable of detecting the distance x1 between the first reference point 8 and the truck compartment 6 along a fixed angle α and the distance x2 between the first reference point 8 and the truck compartment 6 along a fixed angle β.

[0072] The second detection module 5 is arranged on the other side of the parking area 2 in the horizontal direction, and the second distance measuring module 5 can detect the distance x1′ between the second reference point 9 and the truck compartment 6 along the fixed angle α′ and the distance x2′ between the second reference point 9 and the truck compartment 6 along the fixed angle β′.

[0073] The calculation module 13 can calculate the lateral offset value Δd and the offset angle θ of the actual parking position of the truck body 6 relative to the reference parking position according to x1, x2, x1′, x2′ and trigonometric functions.

[0074] The compensation output module 14 can compensate the reference running route 3 according to the offset angle θ and the lateral offset value Δd and output the actual running route 7 corresponding to the actual parking position of the automatic handling equipment and the truck compartment 6.

[0075] In a specific embodiment, if Figure 2 As shown, the first detection module 4 includes a first laser radar 10 and a first reference point 8, and the first laser radar 10 is set on the first reference point 8; the second detection module 5 includes a second laser radar 11 and a second reference point 9, and the second laser radar 11 is set on the second reference point 9.

[0076] In this embodiment, the first laser radar 10 and the second laser radar 11 are both set with a 90° sector detection range.

[0077] More preferably, the reference operating route 3 is set in the middle of the parking area 2, and a plurality of reference loading points are arranged at intervals on the reference operating route 3; the first reference point 8 and the second reference point 9 are symmetrically arranged on both sides of the reference operating route 3 in the horizontal direction.

[0078] The principle of the auxiliary parking positioning method of the present invention is as follows:

[0079] A fixed angle α and a fixed angle β are set for the first laser radar 10. When the truck compartment 6 parks in the parking area 2, the sideline length x2 corresponding to the fixed angle α and the sideline length x1 corresponding to the fixed angle β are obtained.

[0080] By fixing the angles α and β, and the corresponding sideline lengths x2 and x1, a left sideline 15 is made that coincides with the left side of the truck compartment 6. The sideline length x2 corresponding to the fixed angle α is the straight-line measurement distance from the first reference point 8 to the left side of the truck compartment 6 when the first laser radar 10 selects the fixed angle α; the sideline length x1 corresponding to the fixed angle β is the straight-line measurement distance from the first reference point 8 to the left side of the truck compartment 6 when the first laser radar 10 selects the fixed angle β.

[0081] The vertical distance d from the first reference point 8 to the left side line 15 of the truck body 6 is calculated using trigonometric functions, and the vertical distance d′ from the second reference point 9 to the right side line 16 of the truck body 6 is calculated using trigonometric functions. d and d′ are used to calculate the lateral offset value Δd of the actual parking position of the truck body relative to the reference parking position, Δd = |dd′|.

[0082] The specific calculation process of the offset angle θ of the actual parking position of the truck compartment 6 relative to the reference parking position is as follows:

[0083] like Figure 5As shown, θ and ε are complementary, δ and ε+γ are complementary, and γ and α+β are complementary, so θ = 180° - δ - α - β;

[0084] From the cosine theorem, we know that if the length of the opposite side of α is l, then l 2 =x1 2 +x2 2 -2*x1*x2*cosα;

[0085] From the law of sine we know that: so:

[0086] The process of compensating the reference operating route 3 according to the lateral offset value Δd and the offset angle θ includes: accumulating the lateral offset value Δd and the offset angle θ to each reference loading point inside the truck compartment 6, so as to achieve accurate positioning of the loading position of the AGV in the truck compartment 6.

[0087] Compared with the existing technology, this application has at least the following beneficial technical effects:

[0088] The assisted parking positioning method of the present application has simple steps, reasonable design, and easy implementation. It can be effectively applied in the automatic loading process of truck compartments to achieve the purpose of assisting the positioning of automatic handling equipment. It can effectively improve the flow and efficiency of unmanned automated loading, has significant effects, and is easy to promote.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An automated loading platform auxiliary parking positioning method, characterized in that: The steps include: S10: Presetting a reference operation route (3) corresponding to a reference parking position of an automatic handling device and a truck compartment (6) in a parking area (2) on one side of the platform (1); S20: obtaining a lateral offset value Δd and an offset angle θ of an actual parking position of a truck compartment (6) relative to a reference parking position by means of a first detection module (4) arranged on one side of the parking area (2) and a second detection module (5) arranged on the other side of the parking area (2); S30: Compensating the reference running route (3) according to the lateral offset value Δd and the offset angle θ and outputting an actual running route (7) corresponding to the actual parking position of the automatic handling equipment and the truck compartment (6).

2. The method for assisting parking positioning at an automated loading platform according to claim 1, characterized in that: The reference running line (3) is arranged vertically on the platform (1) in the middle of the parking area (2), and a plurality of reference cargo release points are arranged at intervals on the reference running line (3).

3. The method for assisting parking positioning at an automated loading platform according to claim 1, characterized in that: The S20 includes: S21: setting a first reference point (8) on one side of the parking area (2), and setting a second reference point (9) on the other side of the parking area (2); S22: using a first laser radar (10) to detect a distance x1 between the first reference point (8) and the truck compartment (6) along a fixed angle α and a distance x2 between the first reference point (8) and the truck compartment (6) along a fixed angle β, and using a second laser radar (11) to detect a distance x1′ between the second reference point (9) and the truck compartment (6) along a fixed angle α′ and a distance x2′ between the second reference point (9) and the truck compartment (6) along a fixed angle β′; S23: Calculate the lateral offset value Δd, Δd=|dd′|; Calculate the offset angle θ, θ = 180° - α - β - δ; Wherein, d is the vertical distance between the first reference point (8) and the truck compartment (6), and d′ is the vertical distance between the second reference point (9) and the truck compartment (6).

4. The method for assisted parking positioning at an automated loading platform according to claim 3, characterized in that: The first reference point (8) and the second reference point (9) are symmetrically arranged on both sides of the reference running line (3).

5. The method for assisting parking positioning at an automated loading platform according to claim 4, characterized in that: Said α=α', and β=β'.

6. The method for assisting parking positioning at an automated loading platform according to claim 5, characterized in that: 15°≤α≤30°, and 30°≤β≤45°.

7. The method for assisted parking positioning at an automated loading platform according to claim 1, characterized in that: The S30 includes: S31: rotating the reference running line (3) horizontally around the center point O by an offset angle θ to obtain an intermediate transition running line (12); S32: The intermediate transition running line (12) is horizontally shifted to obtain an actual running line (7), and the vertical distance between the actual running line (7) and the intermediate transition running line (12) is a lateral offset value Δd.

8. The method for assisting parking positioning at an automated loading platform according to claim 1, characterized in that: The S30 includes: S31: Compensating the offset angle θ and the lateral offset value Δd for all reference cargo release points on the reference running route (3) in turn and obtaining the actual cargo release points; S32: sequentially connect all the actual delivery points to form an actual operation route (7).

9. An automated loading platform auxiliary parking positioning system, characterized in that: include: A parking area (2), wherein the parking area (2) is provided with a reference running line (3) perpendicular to the platform (1); A first detection module (4), the first detection module (4) being arranged at one side of the parking area (2), the first detection module (4) being capable of detecting a distance x1 between the first reference point (8) and the truck compartment (6) along a fixed angle α and a distance x2 between the first reference point (8) and the truck compartment (6) along a fixed angle β′; a second detection module (5), the second detection module (5) being arranged at the other side of the parking area (2), the second detection module (5) being capable of detecting a distance x1′ between the second reference point (9) and the truck compartment (6) along a fixed angle α′ and a distance x2′ between the second reference point (9) and the truck compartment (6) along a fixed angle β′; A calculation module (13), wherein the calculation module (13) is capable of calculating a lateral offset value Δd and an offset angle θ of an actual parking position of a truck compartment (6) relative to a reference parking position according to x1, x2, x1′, x2′ and trigonometric functions; A compensation output module (14) is capable of compensating a reference running route (3) in sequence according to an offset angle θ and a lateral offset value Δd and outputting an actual running route (7) corresponding to an actual parking position of a truck compartment (6).

10. The automated loading platform auxiliary parking positioning method according to claim 9, characterized in that: The first detection module (4) comprises a first laser radar (10) and a first reference point (8), and the first laser radar (10) is arranged at the first reference point (8); the second detection module (5) comprises a second laser radar (11) and a second reference point (9), and the second laser radar (11) is arranged at the second reference point (9); the reference running line (3) is arranged in the middle of the parking area (2), and the first reference point (8) and the second reference point (9) are symmetrically arranged on both sides of the reference running line (3).

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