Truck loading method

Abstract

The invention relates to the technical field of transportation, in particular to a truck loading method, which obtains the size of a carriage through a truck loader to realize automatic truck loading. In the loading process, the loading machine dynamically detects the space edge in real time and dynamically and intelligently adjusts the loading position of goods on each tray, so that the loading position can be adjusted according to the position of a transport vehicle no matter whether the parking position of the transport vehicle is fixed or not, the loading position is accurate and does not depend on the accuracy of the parking position of the transport vehicle, and the loading efficiency is improved. The problem that automatic loading cannot be achieved due to the fact that the vehicle parking position is not fixed is solved.

Description

Technical Field

[0001] The invention relates to the field of transportation technology, and in particular to a vehicle loading method. Background Art

[0002] In the field of logistics and transportation, cargo loading is a key link, which means that the cargo needs to be loaded onto the carriage and then transported.

[0003] At present, automated loading equipment can only be used for loading operations of transport vehicles with fixed positions, and cannot perform intelligent path adjustments for uncertain loading positions. Therefore, loading of transport vehicles such as wing trucks whose parking positions are uncertain each time mainly relies on manual operation. For example, loading 200L packaging barrels onto wing trucks can only be done by manual forklift transportation. Manual forklift transportation has high labor costs, high labor intensity, low efficiency, and high requirements for workers' experience. Therefore, there is an urgent need for an automatic loading equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a loading method to solve the technical problem that automatic loading cannot be achieved due to the unstable parking position of the transport vehicle.

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

[0006] The present invention provides a loading method for loading goods into a carriage by a loading machine, the method comprising the following steps:

[0007] S10, the loader obtains the length of the space in the carriage and calculates the number of columns N of cargo to be loaded in the length direction of the carriage;

[0008] S20, the loader obtains the goods at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the space in the carriage in real time. When the loader detects the edge, it stops moving and loads the goods from the edge. After the goods are loaded, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step;

[0009] S30, the loader obtains the goods again at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the remaining space in the carriage in real time. When the loader detects the above edge, it stops moving and loads the goods from the above edge. After the goods are loaded, the loader returns to the initial position again and performs the next loading cycle until the loading of the Nth column of goods is completed.

[0010] Furthermore, in S10, the edge positions of both ends of the compartment in the length direction are obtained and the length of the space inside the compartment is calculated.

[0011] Furthermore, in S10, the loader moves along the length direction of the carriage, and the length of the space inside the carriage is calculated by successively detecting the positions of the edges of the two ends of the length direction of the carriage by the distance measuring element arranged on the loader.

[0012] Furthermore, in S20, after the loader obtains the goods at the initial position, it moves from the tail end to the head end of the carriage. During the movement, the carriage is scanned by a ranging element arranged on the loader. When the edge position of the head end of the carriage is detected, the loader stops moving and starts loading the goods from the edge of the head end of the carriage.

[0013] Furthermore, in S30, after the loader obtains the goods again at the initial position, it moves from the tail end to the head end of the carriage. During the movement, the carriage is scanned by a distance measuring element arranged on the loader. When the edge position of the remaining space in the carriage is detected, the loader stops moving and loads the goods from the edge of the remaining space in the carriage. There are at least two distance measuring elements, which are distributed up and down.

[0014] Furthermore, the S10 also includes obtaining the height of the space in the carriage to calculate the number of layers M of the stacked goods.

[0015] Further, when M>1, after the execution of S30 is completed, the following steps are continued:

[0016] S40, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods to move along the length direction of the carriage. During the movement, the loader detects the edge position of the space above the previous layer of goods in the carriage in real time. When the loader detects the edge, it stops moving, loads the goods from the edge, and places them above the previous layer of goods. After the goods are loaded, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step;

[0017] S50, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods to move along the length direction of the carriage. During the movement, the loader detects the edge position of the remaining space in the length direction above the previous layer of goods in the carriage in real time. When the loader detects the above edge, it stops moving, loads the goods from the above edge, and places them above the previous layer of goods. After the loading of the goods is completed, the loader returns to the initial position and performs the next loading cycle until the loading of the Nth column of goods on the Mth layer is completed.

[0018] Furthermore, before each loading of goods, it is necessary to detect whether there are obstacles at the current loading position.

[0019] Furthermore, each time the goods are loaded onto a vehicle, it is necessary to check whether the goods are loaded onto the correct location.

[0020] Furthermore, after each loading of goods is completed, before the loader moves to the initial position, it is necessary to detect whether the loader is completely separated from the goods.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] A loading method proposed in the present invention realizes automatic loading control by scanning and acquiring the size of the carriage by a loader; during the loading process, in each loading cycle, the loader will dynamically detect the edge of the carriage space in real time, and adjust the loading position of the goods according to the position of the carriage, so as to ensure that the loading position is accurate, no errors will occur, and it is not dependent on the accuracy of the parking position; at the same time, it will also intelligently adjust the loading position of each pallet of goods, so that each pallet of goods will be loaded close to the edge of the previous pallet, so as to minimize the distance between goods and maximize the loading space.

[0023] A loading method proposed by the present invention overcomes the problem that automatic loading cannot be achieved due to the unstable parking position of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 The flowchart of a vehicle loading method is shown in one embodiment.

[0026] Figure 2 The schematic diagram of the structure of a vehicle loader shown in one embodiment.

[0027] Figure 3 is a schematic diagram showing the positions of a sixth detection module and a seventh detection module in an embodiment.

[0028] Figure 4 The present invention is a front view showing the position relationship between the loader and the carriage during the loading process in one embodiment.

[0029] Figure 5 The figure is a side view showing the position relationship between the loader and the carriage during the loading process in one embodiment.

[0030] Figure 6 is a flow chart of a loading method shown in another embodiment.

[0031] Figure 7 It is a schematic structural diagram of a vehicle loader shown in another embodiment.

[0032] In the above figure:

[0033] 1. Loading machine;

[0034] 100. Main frame;

[0035] 200. Walking mechanism, 210. Roller, 220. Motor, 230. Track;

[0036] 300. Lifting mechanism, 310. Linear guide rail, 320. Lifting mechanism;

[0037] 400. Telescopic fork, 410. Fork body, 420. Lifting bracket;

[0038] 500. detection system, 510. first detection module; 520. second detection module, 530. third detection module, 540. fourth detection module, 550. fifth detection module, 560. sixth detection module, 570. seventh detection module;

[0039] 2. Carriage;

[0040] 3. Goods, 31. Packaging barrels, 32. Pallets. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the present invention is described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Embodiment 1

[0043] See also Figure 1 This embodiment provides a loading method for loading goods into a carriage by a loading machine, and the method comprises the following steps:

[0044] S10, the loader obtains the length of the space in the carriage and calculates the number N of columns of cargo to be loaded in the length direction of the carriage, where N is an integer greater than or equal to 1.

[0045] In some specific embodiments, in S10, the edge positions at both ends of the length direction of the carriage are obtained, and the length of the space in the carriage is calculated: for example, a laser ranging sensor or other ranging element is set on the loader, and the loader is first moved along the length direction of the carriage. The laser ranging sensor set on the loader can successively detect the positions of the edges at both ends of the length direction of the carriage, and then the length of the space in the carriage can be calculated; for another example, a machine vision ranging module can be used to first obtain an image of the carriage, and then the length of the space in the carriage is calculated by a machine vision ranging algorithm.

[0046] S20, the loader obtains the goods at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the space in the carriage in real time. When the loader detects the above edge, it stops moving and loads the goods from the above edge. After the goods are loaded, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step.

[0047] In some specific embodiments, in S20, the edge position of the space in the carriage can be detected by a ranging element provided on the loader. For example, a laser ranging sensor is provided on the loader. When the laser ranging sensor provided on the loader detects an object signal during the movement of the loader along the length direction of the carriage, it indicates that the edge of the carriage has been detected.

[0048] S30, the loader obtains the goods again at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the remaining space in the carriage in real time. When the loader detects the above edge, it stops moving and loads the goods from the above edge. After the goods are loaded, the loader returns to the initial position again and performs the next loading cycle until the loading of the Nth column of goods is completed.

[0049] In some specific embodiments, in S30, the edge position of the remaining space in the carriage can also be detected by a ranging element provided on the loader. For example, a laser ranging sensor can be provided on the loader. When the laser ranging sensor provided on the loader detects an object signal during the movement of the loader along the length direction of the carriage, it indicates that the edge of the carriage has been detected.

[0050] Normally, items need to be placed on a pallet when being loaded onto a vehicle, and the items and the pallet together constitute the goods described in this embodiment. For example, when loading packaging barrels, four packaging barrels are generally placed in a group on a pallet. However, since the relative positions of the packaging barrels on the pallet and the pallet are not fixed, there are two situations: the packaging barrels exceed the edge of the pallet and the packaging barrels are completely inside the pallet. Based on the above two situations, after the loader has loaded the first pallet of goods, when loading the second pallet, it is necessary to find the outermost edge of the previous pallet of goods to avoid interference. The outermost edge may be the edge of the packaging barrel or the edge of the pallet. Therefore, in S30, two distance measuring elements are required to detect the edge position of the remaining space in the car, and the two distance measuring elements need to be distributed up and down, one for detecting the edge of the pallet located below, and the other for detecting the edge of the packaging barrel located above. As long as one of the distance measuring elements detects a signal, it means that the edge of the remaining space in the car has been detected, that is, the outermost edge of the previous pallet of goods has been found.

[0051] In order to avoid interference when loading goods, before each loading, after the loader detects that the edge of the space in the carriage has stopped moving, it is also necessary to detect whether there are any obstacles at the current loading position.

[0052] In some specific embodiments, it is possible to detect whether there is an obstacle at the current loading position by using a ranging element provided on the loader. For example, a laser ranging sensor is provided on the loader, and the specific installation position can be determined based on the actual structure of the loader. The irradiation angle is directed toward the current cargo loading position in the carriage, and whether the laser ranging sensor detects an object signal can further determine whether there is an obstacle at the current loading position.

[0053] In order to ensure the accuracy of the cargo loading position, it is necessary to check whether the cargo is loaded to the correct position every time the cargo is loaded.

[0054] In some specific embodiments, sensors can be provided on the loader to detect whether the goods are loaded to the correct position. For example, a laser ranging sensor can be provided at a suitable position of a component of the loader for grabbing the goods to detect a change in the distance between the component and the bottom or top surface of the carriage. When the sensor detects a change in the distance, it indicates that the top or bottom surface of the carriage has been detected, and the goods have been loaded to the correct position.

[0055] And after each loading of goods is completed, before the loader moves to the initial position, it is necessary to check whether the loader is completely separated from the goods.

[0056] In some specific embodiments, sensors can be set on the loader to detect whether the goods are loaded at the correct position. For example, a laser ranging sensor is set at a suitable position of a component of the loader used to grab the goods to detect a change in the distance between the component and the goods. When the sensor detects a change in the distance, it means that a gap exists between the component used to grab the goods and the goods, and the loader has been completely separated from the goods.

[0057] See also Figures 2 to 5 In order to further understand the loading method provided by this embodiment, the specific structure of the loading machine 1 used in this embodiment is described in detail below.

[0058] The loader 1 in this embodiment includes: a main frame 100 , a traveling mechanism 200 , a lifting mechanism 300 , a telescopic fork 400 and a detection system 500 .

[0059] The main frame 100 is the moving body of the vehicle loader 1 and is a frame structure composed of a plurality of cross beams and longitudinal beams. The main frame 100 has an installation space inside to provide an installation foundation for other components.

[0060] The walking mechanism 200 is connected to the main frame 100 and can drive the main frame 100 to perform reciprocating motion in a horizontal direction.

[0061] The walking mechanism 200 can take a variety of forms. In some specific embodiments, the walking mechanism 200 can take the form of rollers in combination with ground tracks. Specifically, a roller 210 is set at the bottom of the main frame 100, and the roller 210 is driven by a driving device such as a motor 220 to drive the main frame 100 to reciprocate horizontally along a track 230 set on the ground; in other embodiments, the walking mechanism 200 can also adopt a powered vehicle, or can adopt RGV, AGV, etc.

[0062] The lifting mechanism 300 is arranged in the main frame 100, and the telescopic fork 400 is connected to the lifting mechanism 300. The lifting mechanism 300 can drive the telescopic fork 400 to reciprocate in the vertical direction; the telescopic fork 400 includes a fork body 410 that can be extended and retracted horizontally, and the fork body 410 can take and place the goods 3.

[0063] In some specific embodiments, the lifting mechanism 300 can take the form of a guide rail plus a lifting mechanism. Specifically, the fork body 410 can be slidably connected to the linear guide rail 310 vertically arranged in the main frame 100 through a lifting bracket 420, and then the lifting frame 420 is pulled by the lifting mechanism 320 to move in the vertical direction along the linear guide rail 310, thereby driving the fork body 410 to reciprocate in the vertical direction. The lifting mechanism 320 can adopt a chain sprocket structure or a screw structure, etc.

[0064] The detection system 500 includes a first detection module 510 , a second detection module 520 , a third detection module 530 , a fourth detection module 540 , a sixth detection module 560 and a seventh detection module 570 .

[0065] The first detection module 510 is used to obtain the length of the space in the carriage 2. After obtaining the length of the space in the carriage 2, the number of rows to be loaded can be calculated according to the size of the goods 3.

[0066] In this embodiment, the first detection module 510 is a laser ranging sensor installed on the loader 1. When the loader 1 moves along the length direction of the carriage 2, the first detection module 510 senses the distance change twice and detects the object signal twice, that is, the edge positions at both ends of the length direction of the carriage 2, and then the length of the space inside the carriage 2 can be calculated.

[0067] In another embodiment, the first detection module 510 may also adopt a machine vision ranging module to first acquire an image of the carriage 2 and then calculate the length inside the carriage 2 using a machine vision ranging algorithm.

[0068] The second detection module 520 is used to detect the position of the edge of the space in the compartment 2 in the length direction to determine the starting position of loading the goods 3.

[0069] In this embodiment, the second detection module 520 is a laser ranging sensor arranged on the lifting bracket 420. When the fork body 410 is facing the carriage 2, the second detection module 520 is installed on the lifting bracket 420 on a side close to the head of the carriage 2; during the movement of the loader 1 along the length direction of the carriage 2, the object signal detected by the second detection module 520 is the edge of the carriage 2.

[0070] Since the first detection module 510 and the second detection module 520 are similar in function and implementation principle, the first detection module 510 and the second detection module 520 can be merged. For example, the same laser ranging sensor can be used as the first detection module 510 and the second detection module 520 to realize different functions at different stages; or the same machine vision module can be used with different machine vision algorithms to realize different functions.

[0071] The third detection module 530 is also used to detect the position of the edge of the space in the length direction of the carriage 2 to determine the loading position of the goods 3. The third detection module 530 also uses a laser ranging sensor, which is arranged on the lifting bracket 420 and is located directly below the second detection module 520. The third detection module 530 and the second detection module 520 can detect object signals at different heights. That is to say, the third detection module 530 can detect the edge of the pallet located below, and the second detection module 520 can detect the edge of the packaging barrel above to ensure accurate detection of the edge position of the remaining space in the carriage 2.

[0072] The fourth detection module 540 is used to detect whether there are obstacles at the current cargo loading position in the carriage 2 to avoid interference when the cargo 3 is loaded.

[0073] In some specific embodiments, the fourth detection module 540 is a laser ranging sensor installed on the loader 1. The specific installation position can be determined according to the actual structure of the loader 1. In this embodiment, the laser ranging sensor serving as the fourth detection module 540 is installed at the top of the main frame 100, and the illumination angle is toward the current loading position of the cargo 3 in the carriage 2. If the fourth detection module 540 detects an object signal, it means that there is an obstacle at the current loading position. Otherwise, it means that there is no obstacle at the current position and loading can be carried out.

[0074] The sixth detection module 560 is used to detect the change in the distance between the fork body 410 and the object above it, with the purpose of detecting whether the fork body 410 is separated from the cargo, and serving as an input signal for the fork body 410 to stop descending and perform a retraction action. In some specific embodiments, the sixth detection module 560 is a laser ranging sensor installed on the fork body 410, and the specific installation position can be determined according to the specific structure of the fork body 410. When the fork body 410 places the cargo 3 in the carriage 2 and then descends, the laser ranging sensor serving as the sixth detection module 560 detects the gap between the upper surface of the fork body 410 and the lower surface of the cargo 3. When the sixth detection module 560 senses a distance change, it indicates that a gap has been generated between the upper surface of the fork body 410 and the lower surface of the cargo 3, that is, the fork body 410 has been separated from the cargo 3 and can perform a retraction action.

[0075] The seventh detection module 570 is used to detect the change in the distance between the fork body 410 and the object below it, with the purpose of detecting whether the fork body 410 is extended to the right position. In some specific embodiments, the seventh detection module 570 is a laser ranging sensor installed on the fork body 410. The specific installation position can be determined according to the specific structure of the fork body 410. For example, it can be installed on the side of the fork body 410. Its position must ensure that when the cargo 3 on the fork body 410 completely enters the carriage 2, the laser ranging sensor as the seventh detection module 570 can just detect the edge of the bottom surface of the carriage 2. When the fork body 410 is extended, if the laser ranging sensor as the seventh detection module 570 detects an object, it means that the edge of the carriage 2 is detected, and the extension action of the fork body 410 stops, ensuring that the extension position of the fork body 410 is accurate.

[0076] The following uses a flying wing vehicle as a transport vehicle, and four packaging barrels 31 placed on a pallet 32 ​​as the loading goods 3. Combined with the specific structure of the loading machine 1 described in this embodiment, the specific loading steps of the loading method provided in this embodiment are described in detail:

[0077] The flying wing truck stops at the loading position, and the loader 1 stops at the initial position. The cargo 3 can be transported to the initial position by a conveyor roller, etc., waiting to be loaded; in this embodiment, the initial position is located at the tail of the flying wing truck.

[0078] The loader 1 first moves horizontally along the length direction of the carriage 2 of the flying wing vehicle. During the movement, the first detection module 510 scans the carriage 2. The first detection module 510 detects the object signal twice, namely the position signal of the rear edge and the head edge of the carriage 2, and feeds the signal back to the control system of the loader 1, calculates the length of the space in the carriage 2, and calculates the number N of rows of cargo 3 to be loaded based on the known size of the cargo 3; then the loader 1 returns to the initial position.

[0079] After the loader 1 returns to the initial position, the fork body 410 extends out and is inserted into the pallet 32, and the lifting mechanism 300 drives the fork body 410 to rise and take away the cargo 3; then the loader 1 moves toward the front of the flying wing vehicle. During the movement, the second detection module 520 scans the carriage 2 in real time. When the second detection module 520 detects the object signal for the first time, it means that the edge of the rear of the carriage 2 has been detected, and the loader 1 continues to move toward the front of the vehicle. When the second detection module 520 detects the object signal for the second time, it means that the edge position of the head of the carriage 2 has been detected. At this time, the loader 1 stops moving. Since the second detection module 520 is located on the lifting bracket 420 close to the front side of the vehicle, when the second detection module 520 detects the edge of the head of the carriage 2 for the second time, the fork body 410 is aligned with the inside of the carriage 2.

[0080] When the head edge position of the carriage 2 is detected, the initial loading position is determined. At this time, the fourth detection module 540 scans the interior of the carriage 2 to detect whether there are obstacles at the current loading position inside the carriage 2. If there are no obstacles, a loading signal is issued.

[0081] After it is determined that the vehicle can be loaded, the fork body 410 extends and carries the pallet 32 ​​into the compartment 2. At this time, the seventh detection module 570 shines toward the ground and begins to detect whether the fork body 410 is extended to the right position. When the seventh detection module 570 detects an object, it means that the edge of the bottom surface of the compartment 2 is detected, and the fork body 410 stops extending. At this time, the cargo 3 on the fork body 410 completely enters the compartment 2. After receiving the signal from the seventh detection module 570, the lifting mechanism 300 begins to descend until the pallet 32 ​​contacts the On the bottom surface of the carriage 2, the pallet 32 ​​stops moving. At this time, the fork body 410 is still dragging the pallet 32, and there is no gap between the two. The fork body 410 continues to descend. When the sixth detection module 560 detects a signal, a gap is generated between the fork body 410 and the pallet 32, indicating that the fork body 410 has been separated from the pallet 32, the lifting mechanism 300 stops descending, the fork body 410 retracts, and the loader 1 returns to the initial position; when the loading column number N=1, the loading is completed; when the loading column number N>1, proceed to the next step.

[0082] After the loader 1 obtains the cargo 3 again at the initial position, it continues to move toward the front of the flying wing vehicle. During the movement, the second detection module 520 and the third detection module 530 continue to scan the carriage 2. When the second detection module 520 and the third detection module 530 detect the object signal for the first time, it means that the edge of the rear of the carriage 2 has been detected. The loader 1 continues to move toward the front of the vehicle. When any one of the second detection module 520 and the third detection module 530 detects the object signal for the second time, it means that the edge position of the remaining space in the carriage 2 in the length direction has been detected. The edge position may be the edge position of the previous pallet 32, or it may be the edge position of the packaging barrel 31 on the previous pallet 32. At this time, the loader 1 stops moving.

[0083] When the edge of the remaining space in the carriage 2 in the length direction is detected, loading begins, and the specific method is the same as the previous loading cycle.

[0084] After the loading cycle is finished, the loader 1 returns to the initial position again and repeats the above loading action until the N rows of goods are loaded.

[0085] Embodiment 2

[0086] See also Figure 6This embodiment provides a loading method. Based on the loading method provided in the first embodiment, the S10 further includes a step of obtaining the height of the space in the compartment, and the height of the space in the compartment is obtained to calculate the number of layers M of the stacked goods, where M is an integer greater than or equal to 1; when M=1, after the execution of the S30 is completed, the entire loading operation is completed; when M>1, after the execution of the S30 is completed, the following steps are continued.

[0087] S40, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods to move along the length direction of the carriage. During the movement, the loader detects the edge position of the space above the previous layer of goods in the carriage in real time. When it reaches the edge, the loader stops moving, loads the goods from the edge, and places the goods above the previous layer of goods. After the loading of the goods is completed, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step.

[0088] S50, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods obtained this time to move along the length direction of the carriage. During the movement, the loader detects the edge position of the remaining space in the length direction above the previous layer of goods in the carriage in real time. When it reaches the above edge, the loader stops moving and loads the goods obtained this time from the above edge, placing the goods above the previous layer of goods. After the loading of this cargo is completed, the loader returns to the initial position and performs the next loading cycle until the loading of the Nth column of cargo on the Mth layer is completed.

[0089] See Figure Figures 3 to 7 In some specific embodiments, in order to implement the above-mentioned loading method, the detection system 500 of the loader 1 further includes a fifth detection module 550, which is used to obtain the height of the space in the carriage 2. The fifth detection module 550 can be a distance measuring element arranged on the loader 1. For example, a laser distance measuring sensor is arranged on the lifting bracket 420 of the telescopic fork 400, and the telescopic fork 400 is driven to rise upward by the lifting mechanism 300. During the lifting process, the laser distance measuring sensor arranged on the lifting bracket 420 can detect object signals twice in succession, that is, it can detect the edges of the bottom and top surfaces of the carriage 2, and then calculate the height inside the carriage 2.

[0090] In other specific embodiments, the height of the space inside the carriage 2 can also be obtained through a machine vision detection module. First, an image of the carriage 2 is obtained through a camera, and then the height inside the carriage 2 is calculated through a machine vision ranging algorithm.

[0091] The following describes in detail the specific loading steps of the loading method provided in this embodiment when M>1:

[0092] When all the Nth row of goods on the first layer is loaded, the loader 1 returns to the initial position again.

[0093] The loader 1 takes up the cargo 3 again at the initial position, and the lifting mechanism 300 is actuated to lift the telescopic fork 400 and the cargo 3 on the fork body 410 to a preset height, which is higher than the height of the first layer of cargo 3 in the carriage 2 .

[0094] The loader 1 drives the cargo 3 to move toward the head of the carriage 2 for loading. The loading steps are the same as those of the first layer, and will not be repeated until the loading of the Nth row of cargo on the Mth layer is completed.

[0095] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0096] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A loading method for loading goods into a carriage by means of a loading machine, characterized in that: The method comprises the following steps: S10, the loader obtains the length of the space in the carriage and calculates the number of columns N of cargo to be loaded in the length direction of the carriage; S20, the loader obtains the goods at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the space in the carriage in real time. When the loader detects the edge, it stops moving and loads the goods from the edge. After the goods are loaded, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step; S30, the loader obtains the goods again at the initial position and moves along the length direction of the carriage. During the movement, the loader detects the edge position of the length direction of the remaining space in the carriage in real time. When the loader detects the above edge, it stops moving and loads the goods from the above edge. After the goods are loaded, the loader returns to the initial position again and performs the next loading cycle until the loading of the Nth column of goods is completed.

2. The loading method according to claim 1, characterized in that: In S10, the edge positions of both ends of the compartment in the length direction are obtained and the length of the space inside the compartment is calculated.

3. The loading method according to claim 2, characterized in that: In S10, the loader moves along the length direction of the carriage, and the length of the space in the carriage is calculated by successively detecting the positions of the two end edges of the carriage in the length direction through the distance measuring elements arranged on the loader.

4. The loading method according to claim 1, characterized in that: In S20, after the loader obtains the goods at the initial position, it moves from the rear end to the head of the carriage. During the movement, the carriage is scanned by a distance measuring element arranged on the loader. When the edge position of the head of the carriage is detected, the loader stops moving and starts loading the goods from the edge of the head of the carriage.

5. The loading method according to claim 4, characterized in that: In S30, after the loader obtains the goods again at the initial position, it moves from the tail end to the head end of the carriage. During the movement, the carriage is scanned by a distance measuring element arranged on the loader. When the edge position of the remaining space in the carriage is detected, the loader stops moving and loads the goods from the edge of the remaining space in the carriage. There are at least two distance measuring elements, which are distributed up and down.

6. The loading method according to claim 1, characterized in that: The step S10 also includes obtaining the height of the space in the carriage to calculate the number of layers M of the stacked goods.

7. The loading method according to claim 6, characterized in that: When M>1, after the execution of S30 is completed, the following steps are continued: S40, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods to move along the length direction of the carriage. During the movement, the loader detects the edge position of the space above the previous layer of goods in the carriage in real time. When the loader detects the edge, it stops moving, loads the goods from the edge, and places them above the previous layer of goods. After the goods are loaded, the loader returns to the initial position; when N=1, the loading is completed; when N>1, proceed to the next step; S50, the loader obtains the goods again at the initial position, lifts the goods to a preset height, and drives the goods to move along the length direction of the carriage. During the movement, the loader detects the edge position of the remaining space in the length direction above the previous layer of goods in the carriage in real time. When the loader detects the above edge, it stops moving, loads the goods from the above edge, and places them above the previous layer of goods. After the loading of the goods is completed, the loader returns to the initial position and performs the next loading cycle until the loading of the Nth column of goods on the Mth layer is completed.

8. The loading method according to claim 1, characterized in that: Before each loading of goods, it is also necessary to check whether there are any obstacles at the current loading location.

9. The loading method according to claim 1, characterized in that: Every time the goods are loaded, it is necessary to check whether the goods are loaded to the correct location.

10. The loading method according to claim 1, characterized in that: After each loading of goods is completed, before the loader moves to the initial position, it is also necessary to check whether the loader is completely separated from the goods.

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