Hoisting visual and ultrasonic navigation control system and integral unloading and integral loading method

Abstract

The invention discloses a lifting vision and ultrasonic navigation control system and a whole unloading and whole loading method, the lifting vision and ultrasonic navigation control system comprises an acquisition module, a comparison module and a calculation module, the acquisition module is used for acquiring the contour of a vector diagram fed back by a camera; the comparison module is connected with the acquisition module and is used for comparing the contour of the feedback vector diagram with the calibrated contour of the target object in real time, and if the similarity between the contour of the vector diagram and the calibrated contour of the target object is greater than a preset similarity threshold value, judging that the feedback vector diagram is the target object; and the calculation module is connected with the comparison module and is used for calculating the distance between the camera and the target object according to the contour size of the feedback vector diagram. The automation degree of the equipment is improved, multiple manual operations needed by each time of operation of the equipment are omitted, and the labor cost is saved; the functional structure integration of the equipment is improved, and various risks caused by manual operation are avoided; the operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electrical control, and in particular discloses a lifting visual and ultrasonic navigation control system and a whole-unloading and whole-assembling method. Background Art

[0002] In the prior art, the defects of pallet unloading are:

[0003] 1) Multiple persons are required to observe and guide the driver and operator to perform combined manipulation and transportation.

[0004] 2) Each time the goods are transported, a crane and loading and unloading equipment must work together, and multiple devices are needed.

[0005] 3) Multiple people are required to operate each operation, resulting in high labor costs.

[0006] 4) The operation time is long and the efficiency is low.

[0007] The above-mentioned defects existing in the existing pallet unloading process are technical problems that need to be solved urgently. Summary of the invention

[0008] The present invention provides a lifting vision and ultrasonic navigation control system, aiming to solve at least one of the above-mentioned defects existing in the existing pallet unloading process.

[0009] One aspect of the present invention relates to a lifting visual and ultrasonic navigation control system, comprising an acquisition module, a comparison module and a calculation module, wherein:

[0010] The acquisition module is used to acquire the outline of the vector image fed back by the camera;

[0011] A comparison module, connected to the acquisition module, is used to compare the contour of the fed-back vector image with the contour of the target object in real time. If the similarity between the contour of the vector image and the contour of the target object is greater than a preset similarity threshold, the fed-back vector image is judged to be the target object;

[0012] The calculation module is connected to the comparison module and is used to calculate the distance between the camera and the target object according to the outline size of the fed-back vector diagram.

[0013] Furthermore, the lifting vision and ultrasonic navigation control system also includes a reversing navigation module, which is connected to the calculation module and is used to automatically stop the vehicle from reversing when it is recognized that the distance between the camera and the target object is less than or equal to a preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to a preset deviation threshold.

[0014] Furthermore, the lifting visual and ultrasonic navigation control system also includes a preliminary positioning module and a precise positioning module.

[0015] The preliminary positioning module is used for the arm to complete the preliminary positioning according to the automatic workflow;

[0016] The precise positioning module is used to complete the initial positioning. Based on the target capture of the camera and the distance feedback of the ultrasonic radar, it calculates the relative coordinates of the X, Y, and Z axes between the target and the camera. The arm automatically completes the precise positioning based on the relative coordinates.

[0017] Furthermore, the precise positioning module is specifically used to use a camera to collect a vector image of the target object; detect the target object in the vector image and frame the shape of the target object with a rectangular frame; combine the rectangular frame information to find the two image plane coordinates of the bottom edge of the rectangular frame, marked as (u1, v1) and (u2, v2) respectively; use the geometric relationship deduction method to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2); and calculate the distance d between the camera and the target object based on the surface coordinates (x1, y1) and (x2, y2) using the Euclidean distance formula.

[0018] Another aspect of the present invention relates to a hoisting visual and ultrasonic navigation control method, which is applied to the above-mentioned hoisting visual and ultrasonic navigation control system. The hoisting visual and ultrasonic navigation control method comprises the following steps:

[0019] Collect the outline of the vector graph fed by the camera;

[0020] Compare the contour of the fed-back vector image with the contour of the target object in real time. If the similarity between the contour of the vector image and the contour of the target object is greater than a preset similarity threshold, the fed-back vector image is determined to be the target object.

[0021] The distance between the camera and the target object is calculated based on the outline size of the feedback vector diagram.

[0022] Furthermore, after the step of calculating the distance between the camera and the target object according to the outline size of the fed-back vector diagram, the method further includes:

[0023] When it is recognized that the distance between the camera and the target object is less than or equal to the preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to the preset deviation threshold, the vehicle will automatically stop reversing.

[0024] Further, the step of calculating the distance between the camera and the target object according to the outline size of the fed-back vector diagram includes:

[0025] Used for the arm to complete the initial positioning according to the automatic workflow;

[0026] After completing the initial positioning, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the target capture of the camera and the distance feedback of the ultrasonic radar. The arm automatically completes precise positioning based on the relative coordinates.

[0027] Furthermore, after completing the preliminary positioning, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the target capture of the camera and the distance feedback of the ultrasonic radar. In the step of automatically completing the precise positioning based on the relative coordinates, the arm uses the camera to collect the vector diagram of the target; the target in the vector diagram is detected, and the shape of the target is framed by a rectangular frame; based on the rectangular frame information, the two image plane coordinates of the bottom of the rectangular frame are found, marked as (u1, v1) and (u2, v2) respectively; the geometric relationship deduction method is used to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2); based on the surface coordinates (x1, y1) and (x2, y2), the distance d between the camera and the target is calculated by the Euclidean distance formula.

[0028] Another aspect of the present invention relates to a method for realizing the whole unloading of a pallet, which is applied to the above-mentioned lifting visual and ultrasonic navigation control system. The method for realizing the whole unloading of a pallet comprises the following steps:

[0029] The pallet fixed on the sub-frame of the transport vehicle is pushed to the lifting position by the traction structure of the transport vehicle;

[0030] Control the crane arm to hook the pallet, the locking cylinder on the traction structure extends, the lock head is separated from the pallet, and the traction cylinder drives the fixed beam back to the initial position;

[0031] The boom is driven to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet can roll on the sub-frame. When the tail of the pallet touches the ground, the roller structure at the tail end of the pallet and the crane work together to make the pallet fall to the ground.

[0032] Another aspect of the present invention relates to a method for implementing pallet assembly, which is applied to the above-mentioned lifting visual and ultrasonic navigation control system. The method for implementing pallet assembly includes the following steps:

[0033] Control the roller structure at the rear end of the pallet and the crane to lift the pallet on the ground to the sub-frame of the transport vehicle. Drive the boom to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet can roll on the sub-frame and roll to the traction position.

[0034] Control the traction cylinder to drive the fixed beam to the traction position, and the crane will roll the pallet onto the fixed beam. Then control the crane arm to detach from the pallet, and the locking cylinder on the traction structure will extend, and the lock will hook the pallet.

[0035] The pallet is towed to a fixed position by a towing structure and fixed on the subframe of the transport vehicle.

[0036] The beneficial effects achieved by the present invention are:

[0037] The present invention provides a lifting visual and ultrasonic navigation control system and a whole-unloading and whole-assembling method, which adopts an acquisition module, a comparison module and a calculation module. The acquisition module is used to acquire the outline of the vector diagram fed back by the camera; the comparison module is connected to the acquisition module and is used to compare the outline of the fed back vector diagram with the outline of the target object in real time. If the similarity between the outline of the vector diagram and the outline of the target object is greater than a preset similarity threshold, the fed back vector diagram is judged to be the target object; the calculation module is connected to the comparison module and is used to calculate the distance between the camera and the target object according to the outline size of the fed back vector diagram. The lifting visual and ultrasonic navigation control system and the whole-unloading and whole-assembling method provided by the present invention improve the automation level of the equipment, eliminate the need for multiple manual operations for each operation of the equipment, and save labor costs; improve the functional structure integration of the equipment, avoid various risks caused by manual operations; and improve operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a functional block diagram of a first embodiment of a lifting vision and ultrasonic navigation control system of the present invention;

[0039] Figure 2 This is a functional block diagram of a second embodiment of a lifting vision and ultrasonic navigation control system of the present invention;

[0040] Figure 3 The present invention is a schematic diagram of the working principle of a method for realizing the assembly and disassembly of a pallet.

[0041] Description of Figure Numbers:

[0042] 10. Acquisition module; 20. Comparison module; 30. Calculation module; 40. Reversing navigation module; 50. Preliminary positioning module; 60. Precise positioning module. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] like Figure 1 and Figure 2As shown, the first embodiment of the present invention proposes a hoisting visual and ultrasonic navigation control system, including an acquisition module 10, a comparison module 20 and a calculation module 30, wherein the acquisition module 10 is used to acquire the contour of the vector graph fed back by the camera; the comparison module 20 is connected to the acquisition module 10, and is used to compare the contour of the fed back vector graph with the contour calibrated by the target object in real time. If the similarity between the contour of the vector graph and the contour calibrated by the target object is greater than a preset similarity threshold, the fed back vector graph is judged to be the target object; the calculation module 30 is connected to the comparison module 20, and is used to calculate the distance between the camera and the target object according to the contour size of the fed back vector graph. The acquisition module 10 is used to acquire the contour of the vector graph fed back by the camera. The comparison module 20 is used to compare the contour of the vector graph fed back by the camera with the contour calibrated by the target object in real time. When the similarity is ≥55%, the fed back vector graph is assumed to be the target object. The calculation module 30 is used to calculate the distance between the camera and the target object according to the contour size of the fed back vector graph.

[0045] Further, see Figure 1 and Figure 2 The lifting visual and ultrasonic navigation control system proposed in this embodiment also includes a reversing navigation module 40, which is connected to the calculation module 30 and is used to automatically stop the vehicle from reversing when it is recognized that the distance between the camera and the target object is less than or equal to the preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to the preset deviation threshold. The reversing navigation module 40 is used to automatically stop the vehicle from reversing when the distance to the target object is ≤1.5 meters and the center point position of the target object fed back by the camera overlaps with the calibrated center point or has a deviation of ≤1%.

[0046] Preferably, see Figure 1 and Figure 2The lifting vision and ultrasonic navigation control system proposed in this embodiment also includes a preliminary positioning module 50 and a precise positioning module 60, wherein the preliminary positioning module 50 is used for the boom to complete preliminary positioning according to the automatic workflow; the precise positioning module 60 is used to calculate the relative coordinates of the X, Y, and Z axes between the target and the camera based on the target capture of the camera and the distance feedback of the ultrasonic radar after completing the preliminary positioning, and the boom automatically completes the precise positioning based on the relative coordinates. The preliminary positioning module 50 is used for preliminary positioning: the boom completes preliminary positioning according to the automatic workflow. The precise positioning module 60 is used for precise positioning: after completing the preliminary positioning, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the target capture of the camera and the distance feedback of the ultrasonic radar, and the boom automatically completes the precise positioning based on the relative coordinates. Furthermore, the precise positioning module 60 is specifically used to use a camera to collect a vector image of the target object; detect the target object in the vector image and frame the shape of the target object with a rectangular frame; combine the rectangular frame information to find the two image plane coordinates of the bottom edge of the rectangular frame, marked as (u1, v1) and (u2, v2) respectively; use the geometric relationship deduction method to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2); and calculate the distance d between the camera and the target object based on the surface coordinates (x1, y1) and (x2, y2) using the Euclidean distance formula.

[0047] The present invention relates to a hoisting visual and ultrasonic navigation control method, which is applied to the above-mentioned hoisting visual and ultrasonic navigation control system. The hoisting visual and ultrasonic navigation control method comprises the following steps:

[0048] Step S110: collecting the outline of the vector image fed back by the camera.

[0049] The acquisition module acquires the outline of the vector image fed back by the camera.

[0050] Step S120: compare the contour of the fed-back vector image with the calibrated contour of the target object in real time. If the similarity between the contour of the vector image and the calibrated contour of the target object is greater than a preset similarity threshold, the fed-back vector image is determined to be the target object.

[0051] The comparison module compares the vector image contour fed back by the camera with the calibrated contour of the target object in real time. When the similarity is ≥55%, the vector image fed back is considered to be the target object by default.

[0052] Step S130: Calculate the distance between the camera and the target object according to the outline size of the fed-back vector diagram.

[0053] The calculation module calculates the distance between the camera and the target object based on the size of the vector image contour fed back.

[0054] Furthermore, the hoisting visual and ultrasonic navigation control method provided in this embodiment further includes, after step S130:

[0055] Step S140: When it is recognized that the distance between the camera and the target object is less than or equal to the preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to the preset deviation threshold, the vehicle reverses automatically.

[0056] The reversing navigation module is used to automatically stop the vehicle from reversing when the distance to the target object is ≤1.5 meters and the center point position of the target object fed back by the camera overlaps with the calibrated center point or has a deviation of ≤1%.

[0057] Preferably, in the hoisting visual and ultrasonic navigation control method provided in this embodiment, step S130 includes:

[0058] Step S131, the arm completes preliminary positioning according to the automatic workflow.

[0059] Preliminary positioning module Preliminary positioning: The arm completes the preliminary positioning according to the automatic workflow.

[0060] Step S132: After the preliminary positioning is completed, the relative coordinates of the X, Y, and Z axes between the target object and the camera are calculated based on the target object capture of the camera and the distance feedback of the ultrasonic radar. The arm automatically completes the precise positioning based on the relative coordinates.

[0061] The precise positioning module is used for precise positioning: after completing the initial positioning, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the camera target capture and the distance feedback of the ultrasonic radar. The arm automatically completes the precise positioning based on the relative coordinates. Specifically, the camera is used to collect the vector map of the target; the target in the vector map is detected, and the shape of the target is framed by a rectangular frame; combined with the rectangular frame information, the two image plane coordinates of the bottom of the rectangular frame are found, marked as (u1, v1) and (u2, v2) respectively; the geometric relationship derivation method is used to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2); according to the surface coordinates (x1, y1) and (x2, y2), the distance d between the camera and the target is calculated by the Euclidean distance formula.

[0062] The present invention relates to a method for realizing the whole and unloading of a pallet, which is applied to the above-mentioned lifting visual and ultrasonic navigation control system. The method for realizing the whole and unloading of a pallet comprises the following steps:

[0063] Step S210: Push the pallet fixed on the sub-frame of the transport vehicle to a lifting position by using the traction structure of the transport vehicle.

[0064] The pallet fixed on the sub-frame of the transport vehicle is pushed to the lifting position of the sub-frame by the traction structure of the transport vehicle.

[0065] Step S220, control the crane arm to hook the pallet, the locking cylinder on the traction structure extends, the lock head is separated from the pallet, and the traction cylinder drives the fixed beam to return to the initial position.

[0066] The crane arm is controlled to hook the pallet, the locking cylinder on the traction structure of the transport vehicle extends, the lock head is separated from the pallet, and the traction cylinder on the transport vehicle drives the fixed beam back to the initial position.

[0067] Step S230: The variable amplitude structure and telescopic structure on the crane drive the boom to push and pull the pallet, so that the pallet can roll on the auxiliary frame. When the tail of the pallet touches the ground, the roller structure at the tail end of the pallet and the crane work together to make the pallet land.

[0068] The variable amplitude structure and telescopic structure on the crane drive the boom to push and pull the pallet, so that the pallet can roll on the sub-frame. When the tail of the pallet touches the ground, the pallet falls to the ground through the cooperation of the roller structure at the tail end of the pallet and the crane.

[0069] The present invention also relates to a method for assembling a pallet, which is applied to the above-mentioned lifting visual and ultrasonic navigation control system. The method for assembling a pallet comprises the following steps:

[0070] Step S310, control the roller structure at the rear end of the pallet and the crane to jointly lift the pallet on the ground to the sub-frame of the transport vehicle, and drive the boom to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet rolls on the sub-frame and rolls to the traction position.

[0071] First, the pallet on the ground is lifted to the sub-frame of the transport vehicle through the cooperation of the pallet tail roller structure and the crane. Then, the boom is driven to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet can roll on the sub-frame and roll to the traction position.

[0072] Step S320, control the traction cylinder to drive the fixed beam to the traction position, and the crane rolls the pallet onto the fixed beam, then controls the crane arm to detach from the pallet, and the locking cylinder on the traction structure extends, and the lock hooks the pallet.

[0073] First, the traction cylinder on the transport vehicle is controlled to drive the fixed beam to the traction position, and the crane rolls the pallet onto the fixed beam; then the crane arm is controlled to detach from the pallet, the locking cylinder on the transport vehicle's traction structure extends, and the lock hooks the pallet.

[0074] Step S330: Towing the pallet to a fixed position through the traction structure, and fixing the pallet on the sub-frame of the transport vehicle.

[0075] First, the transport vehicle traction structure tows the pallet to a fixed position; then the pallet is fixed on the transport vehicle subframe.

[0076] The present embodiment provides a lifting vision and ultrasonic navigation control system and a whole-unloading and whole-assembling method. Compared with the prior art, it adopts an acquisition module, a comparison module and a calculation module. The acquisition module is used to acquire the outline of the vector diagram fed back by the camera; the comparison module is connected to the acquisition module and is used to compare the outline of the fed-back vector diagram with the calibrated outline of the target object in real time. If the similarity between the outline of the vector diagram and the calibrated outline of the target object is greater than a preset similarity threshold, the fed-back vector diagram is judged to be the target object; the calculation module is connected to the comparison module and is used to calculate the distance between the camera and the target object based on the outline size of the fed-back vector diagram. The lifting vision and ultrasonic navigation control system and the whole-unloading and whole-assembling method provided by the present embodiment improve the automation level of the equipment, eliminate the need for multiple manual operations for each operation of the equipment, save labor costs; improve the functional structure integration of the equipment, avoid various risks caused by manual operations; and improve work efficiency.

[0077] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A lifting visual and ultrasonic navigation control system, characterized in that: It comprises a collection module (10), a comparison module (20) and a calculation module (30), wherein: The acquisition module (10) is used to acquire the outline of the vector image fed back by the camera; The comparison module (20) is connected to the acquisition module (10) and is used to compare the contour of the fed-back vector image with the contour of the calibrated target object in real time, and if the similarity between the contour of the vector image and the contour of the calibrated target object is greater than a preset similarity threshold, the fed-back vector image is judged to be the target object; The calculation module (30) is connected to the comparison module (20) and is used to calculate the distance between the camera and the target object according to the outline size of the fed-back vector image.

2. The hoisting visual and ultrasonic navigation control system according to claim 1, characterized in that: The lifting visual and ultrasonic navigation control system also includes a reversing navigation module (40), which is connected to the calculation module (30) and is used to automatically stop the vehicle from reversing when it is recognized that the distance between the camera and the target object is less than or equal to a preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to a preset deviation threshold.

3. The hoisting visual and ultrasonic navigation control system according to claim 2, characterized in that: The lifting visual and ultrasonic navigation control system further comprises a preliminary positioning module (50) and a precise positioning module (60). The preliminary positioning module (50) is used for the boom to complete preliminary positioning according to the automatic working process; The precise positioning module (60) is used to calculate the relative coordinates of the X, Y and Z axes between the target object and the camera based on the target object capture of the camera and the distance feedback of the ultrasonic radar after completing the preliminary positioning, and the arm automatically completes the precise positioning based on the relative coordinates.

4. The hoisting visual and ultrasonic navigation control system according to claim 3, characterized in that: The precise positioning module (60) is specifically used to use the camera to collect a vector image of a target object; detect the target object in the vector image and frame the shape of the target object with a rectangular frame; find two image plane coordinates of the bottom edge of the rectangular frame in combination with the rectangular frame information, and mark them as (u1, v1) and (u2, v2) respectively; use a geometric relationship derivation method to derive plane coordinates (x1, y1) and (x2, y2) from image plane coordinate points (u1, v1) and (u2, v2); and calculate the distance d between the camera and the target object according to the surface coordinates (x1, y1) and (x2, y2) using the Euclidean distance formula.

5. A method for hoisting visual and ultrasonic navigation control, applied to the hoisting visual and ultrasonic navigation control system as claimed in any one of claims 1 to 4, characterized in that: The hoisting visual and ultrasonic navigation control method comprises the following steps: Collect the outline of the vector graph fed by the camera; Compare the outline of the fed-back vector image with the outline of the target object in real time, and if the similarity between the outline of the vector image and the outline of the target object is greater than a preset similarity threshold, determine that the fed-back vector image is the target object; The distance between the camera and the target object is calculated according to the outline size of the fed-back vector diagram.

6. The hoisting visual and ultrasonic navigation control method according to claim 5, characterized in that: After the step of calculating the distance between the camera and the target object according to the outline size of the vector diagram fed back, the following step is further included: When it is recognized that the distance between the camera and the target object is less than or equal to a preset distance threshold and the center point position of the target object fed back by the camera overlaps with the calibrated center point, or the deviation value is less than or equal to a preset deviation threshold, the vehicle reverses automatically.

7. The hoisting visual and ultrasonic navigation control method according to claim 6, characterized in that: The step of calculating the distance between the camera and the target object according to the outline size of the fed-back vector diagram comprises: Used for the arm to complete the initial positioning according to the automatic workflow; After completing the preliminary positioning, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the target capture of the camera and the distance feedback of the ultrasonic radar, and the arm automatically completes the precise positioning based on the relative coordinates.

8. The hoisting visual and ultrasonic navigation control method according to claim 7, characterized in that: After the preliminary positioning is completed, the relative coordinates of the X, Y, and Z axes between the target and the camera are calculated based on the target capture of the camera and the distance feedback of the ultrasonic radar. In the step of automatically completing the precise positioning of the arm based on the relative coordinates, the camera is used to collect a vector diagram of the target; the target in the vector diagram is detected, and the shape of the target is framed by a rectangular frame; based on the rectangular frame information, the two image plane coordinates of the bottom edge of the rectangular frame are found and marked as (u1, v1) and (u2, v2) respectively; the geometric relationship derivation method is used to derive the plane coordinates (x1, y1) and (x2, y2) from the image plane coordinate points (u1, v1) and (u2, v2); according to the surface coordinates (x1, y1) and (x2, y2), the distance d between the camera and the target is calculated by the Euclidean distance formula.

9. A method for realizing the whole unloading of a pallet, applied to the lifting visual and ultrasonic navigation control system according to any one of claims 1 to 4, characterized in that: The method for realizing the whole unloading of the pallet comprises the following steps: The pallet fixed on the sub-frame of the transport vehicle is pushed to the lifting position by the traction structure of the transport vehicle; Control the crane arm to hook the pallet, the locking cylinder on the traction structure extends, the lock head is separated from the pallet, and the traction cylinder drives the fixed beam back to the initial position; The boom is driven to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet can roll on the sub-frame. When the tail of the pallet touches the ground, the roller structure at the tail end of the pallet and the crane work together to make the pallet fall to the ground.

10. A method for realizing pallet assembly, applied to the lifting visual and ultrasonic navigation control system according to any one of claims 1 to 4, characterized in that: The method for realizing pallet assembly The following steps are involved: Control the roller structure at the rear end of the pallet and the crane to lift the pallet on the ground to the sub-frame of the transport vehicle. Drive the boom to push and pull the pallet through the variable amplitude structure and telescopic structure on the crane, so that the pallet can roll on the sub-frame and roll to the traction position. Control the traction cylinder to drive the fixed beam to the traction position, and the crane will roll the pallet onto the fixed beam. Then control the crane arm to detach from the pallet, and the locking cylinder on the traction structure will extend, and the lock will hook the pallet. The pallet is towed to a fixed position by a towing structure and fixed on the subframe of the transport vehicle.

Images