Automatic cargo loading device and automatic cargo loading method

Abstract

The invention provides an automatic cargo loading device and an automatic cargo loading method. The automatic cargo loading device comprises a movable chassis, a rotating disc base, a first conveying belt, a second conveying belt, a distance measuring assembly and a posture adjusting assembly. The turntable base is rotationally connected to the movable chassis; the first conveying belt is connected to the movable chassis and used for conveying goods in the loading direction. The second conveying belt is connected with the first conveying belt end to end and used for conveying goods in the loading direction, the second conveying belt comprises a conveying belt body and a conveying belt tail end, and the conveying belt tail end is rotatably connected to the conveying belt body in a liftable mode; the distance measuring assembly is arranged at the tail end of the conveying belt and used for positioning the tail end of the conveying belt in the carriage. The pose adjusting assembly is arranged on the rotary disc base and comprises a plurality of driving servo, and the output ends of the driving servo are connected to the second conveying belt and used for driving the tail end of the conveying belt to move to the preset position in the compartment. According to the invention, automatic loading of goods can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cargo loading equipment, and more specifically, to an automatic cargo loading device and an automatic cargo loading method. Background Art

[0002] At present, the container stuffing on the market is mainly operated manually. At present, there is basically no mature solution for automatic loading. The labor cost required for manual stuffing is high and the work efficiency is low. Summary of the Invention

[0003] (1) Technical Problems to be Solved

[0004] The technical problem to be solved by the present invention is that the existing manual stuffing requires high labor cost and low work efficiency.

[0005] (2) Technical Solutions

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides an automatic cargo loading device for conveying and loading cargo into a carriage along a loading direction, including: a mobile chassis, a turntable base, a first conveyor belt, a second conveyor belt, a ranging component, and a pose adjustment component; the turntable base is rotatably connected to the mobile chassis; the first conveyor belt is connected to the mobile chassis for conveying cargo along the loading direction; the second conveyor belt is connected end to end with the first conveyor belt for conveying cargo along the loading direction. The second conveyor belt includes a conveyor belt main body and a conveyor belt end. The conveyor belt end is rotatably and liftably connected to the conveyor belt main body; the ranging component is arranged at the conveyor belt end for positioning the position of the conveyor belt end in the carriage; the pose adjustment component is arranged on the turntable base. The pose adjustment component includes a plurality of driving servos. The output ends of the plurality of driving servos are connected to the second conveyor belt for driving the conveyor belt end to move to a preset position in the carriage.

[0008] Preferably, the plurality of driving servos include an overall rotation servo, a first lifting servo, a second lifting servo, a terminal rotation servo, and a terminal lifting servo. The output end of the overall rotation servo is connected to the turntable base. The first lifting servo and the second lifting servo are both arranged on the turntable base, and the output ends of the first lifting servo and the second lifting servo are both connected to the second conveyor belt. The terminal rotation servo is arranged at the end of the conveyor belt main body and connected to the conveyor belt end for driving the conveyor belt end to rotate. The terminal lifting servo is arranged at the end of the conveyor belt main body and connected to the conveyor belt end for driving the conveyor belt end to lift.

[0009] Preferably, it further includes a first articulated arm, a second articulated arm, a third articulated arm, a fourth articulated arm and a fifth articulated arm. One end of the first articulated arm is rotatably connected to the conveyor belt main body, and the other end of the first articulated arm is rotatably connected to the turntable base. One end of the second articulated arm is connected to the first articulated arm, and the other end of the second articulated arm is connected to the third articulated arm. The end of the third articulated arm is connected to the output end of the first lifting servo. The output end of the second lifting servo is connected to one end of the fourth articulated arm. The other end of the fourth articulated arm is connected to one end of the fifth articulated arm. One end of the fifth articulated arm is connected to the conveyor belt main body.

[0010] Preferably, the ranging component includes an ultrasonic radar and a laser rangefinder.

[0011] In a second aspect, the present invention further provides an automatic cargo loading method, including the following steps:

[0012] S1. Move the end of the conveyor belt into the interior of the carriage, obtain the first three-dimensional coordinates of the end of the conveyor belt in the carriage coordinate system through the ranging component, obtain the second three-dimensional coordinates of the nth cargo waiting to be loaded in the carriage coordinate system, and calculate the coordinate offset between the first three-dimensional coordinates and the second three-dimensional coordinates;

[0013] S2. Calculate the fourth three-dimensional coordinates of the end of the conveyor belt in the automatic cargo loading device coordinate system according to the third three-dimensional coordinates of multiple driving servos in the automatic cargo loading device coordinate system;

[0014] S3. Combine the fourth three-dimensional coordinates with the coordinate offset to obtain the fifth three-dimensional coordinates of the nth cargo waiting to be loaded in the automatic cargo loading device coordinate system;

[0015] S4. According to the fifth three-dimensional coordinates, perform inverse operation to obtain the sixth three-dimensional coordinates of multiple driving servos in the automatic cargo loading device coordinate system;

[0016] S5. Starting from n = 1, repeat steps S1 to S4, and increase the value of n by 1 each time. Stop when n = m, where n ≥ 1 and n is a positive integer, and m is the total number of goods to be loaded, to obtain m sets of sixth three-dimensional coordinates;

[0017] S6. Drive multiple driving servos to move to the corresponding sixth three-dimensional coordinates in sequence. m goods are respectively conveyed along the first conveyor belt and the second conveyor belt to the positions of the corresponding sixth three-dimensional coordinates to complete the automatic loading of the goods.

[0018] Preferably, multiple driving servos are respectively installed at fixed positions, and their output ends are rotationally connected to the second conveyor belt through multiple articulated arms. According to the third three-dimensional coordinates of the multiple driving servos in the coordinate system of the automatic cargo loading device, the fourth three-dimensional coordinates of the end of the conveyor belt in the coordinate system of the automatic cargo loading device are calculated, including the following steps:

[0019] Obtain the encoded values corresponding to the multiple driving servos, and calculate the rotation angles of the corresponding driving servos according to the encoded value angle conversion formula;

[0020] According to the coordinates of the fixed positions of the multiple driving servos, the rotation angles of the corresponding driving servos, and the lengths of the articulated arms, calculate and obtain the fourth three-dimensional coordinates of the end of the conveyor belt in the coordinate system of the automatic cargo loading device.

[0021] Preferably, absolute encoders are respectively provided at the output ends of the multiple driving servos, and the encoded values of the encoders corresponding to each driving servo are obtained in real time through the absolute encoders.

[0022] Preferably, the encoded value angle conversion formula is:

[0023] α = (C - Z) * 360 / (A * B);

[0024] Wherein, Z is the encoded value when the absolute encoder is at the zero position, the rotation angle of the driving servo corresponding to the zero position is 0 degrees, A is the number of pulses per revolution of the absolute encoder, B is the reduction ratio of the reduction gear connected to the driving servo, c is the encoded value of the absolute encoder at the corresponding moment, and α is the rotation angle of the current driving servo.

[0025] Preferably, according to the size of the corresponding cargo and the preset placement position of the corresponding cargo in the carriage, the second three-dimensional coordinates of the position to be loaded of the corresponding cargo in the carriage coordinate system are obtained.

[0026] Preferably, the following steps are further included:

[0027] After the automatic loading of one layer of cargo is completed, the automatic cargo loading device moves backward a preset distance, and then starts the automatic loading of the next layer of cargo. The preset distance is the thickness of the corresponding layer of cargo.

[0028] (III) Beneficial effects

[0029] The above technical solutions of the present invention have at least the following advantages:

[0030] 1. The automatic cargo loading device provided by the present invention can drive the second conveyor belt to move through the pose adjustment component, so that the end of the conveyor belt can be moved to a preset position inside the carriage. The cargo is transported along the first conveyor belt and the second conveyor belt to this preset position, thereby realizing the automatic loading of the cargo to the preset position, achieving the automatic loading of the cargo, reducing the labor cost required for packing, and improving the working efficiency of packing.

[0031] 2. In the automatic cargo loading method provided by the present invention, through the ranging component, the conversion of the coordinate position of the cargo to be loaded in the carriage coordinate system and the coordinate position of the cargo to be loaded in the coordinate system of the automatic cargo loading device can be realized. Then, according to a series of coordinate operation rules, based on the fifth three-dimensional coordinate to which the end of the conveyor belt needs to move, the sixth three-dimensional coordinate to which each driving servo needs to move is calculated. Furthermore, by driving each driving servo to move to the sixth three-dimensional coordinate, the end of the conveyor belt is moved to the preset position, so as to facilitate the transportation of the cargo to this preset position through the first conveyor belt and the second conveyor belt, realizing the automatic loading of the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is the overall structural schematic diagram of the automatic cargo loading device provided by the embodiment of the present invention;

[0033] Figure 2 is the structural schematic diagram of each part of the automatic cargo loading device provided by the embodiment of the present invention;

[0034] Figure 3 is the implementation principle diagram of the automatic cargo loading device provided by the embodiment of the present invention.

[0035] In the figure: 1. Moving chassis; 2. Turntable base; 3. First conveyor belt; 4. Second conveyor belt; 5. Pose adjustment component; 6. First joint arm; 7. Second joint arm; 8. Third joint arm; 9. Fourth joint arm; 10. Fifth joint arm; 41. Conveyor belt main body; 42. Conveyor belt end; 51. Whole machine rotation servo; 52. First lifting servo; 53. Second lifting servo; 54. End rotation servo; 55. End lifting servo. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention 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 should not be construed as a limitation to the present invention.

[0038] As Figure 1 shown, an embodiment of the present invention provides an automatic cargo loading device for transporting and loading cargo into a carriage along the loading direction, including: a mobile chassis 1, a turntable base 2, a first conveyor belt 3, a second conveyor belt 4, a ranging component, and a pose adjustment component 5; the turntable base 1 is rotatably connected to the mobile chassis 2; the first conveyor belt 3 is connected to the mobile chassis 2 for transporting cargo along the loading direction; the second conveyor belt 4 is connected end to end with the first conveyor belt 3 for transporting cargo along the loading direction. The second conveyor belt 4 includes a conveyor belt main body 41 and a conveyor belt end 42, and the conveyor belt end 42 is rotatably and liftably connected to the conveyor belt main body 41; the ranging component is arranged at the conveyor belt end 42 for positioning the position of the conveyor belt end 42 in the carriage; the pose adjustment component 5 is arranged on the turntable base 2, and the pose adjustment component 5 includes a plurality of driving servos. The output ends of the plurality of driving servos are connected to the second conveyor belt 4 for driving the conveyor belt end 42 to move to a preset position in the carriage.

[0039] Specifically, the mobile chassis 1 is an AGV cart. The mobile chassis 1 is independently driven by 4 driving wheels and can move forward, backward, left, and right. At the same time, there is one or more 2D or 3D lidars and 3D cameras on the mobile chassis 1, which are convenient for scanning the surrounding environment and establishing an environmental map to facilitate navigating the mobile chassis 1 to move to a designated place. At the same time, an inclination sensor is installed on the mobile chassis 1 to obtain the front and rear inclination angles of the current device in real time. The first conveyor belt 3 and the second conveyor belt 4 are used to transport the cargo behind to the front carriage. The synchronous movement of the pose adjustment component 5 can ensure that the conveyor belt end 42 moves in the front-rear, left-right, and up-down directions on the premise of maintaining a specific angular attitude, and accurately reaches each corner of the carriage to transport the cargo to the preset position in the carriage. The purpose of the ranging component is to measure the distances of the current conveyor belt end 42 from the front, left, right, and up-down directions inside the carriage after the conveyor belt end 42 stops, for positioning the attitude of the current conveyor belt end 42 in the carriage.

[0040] In one embodiment, the multiple driving servos include a whole-machine rotation servo 51, a first lifting servo 52, a second lifting servo 53, a terminal rotation servo 54, and a terminal lifting servo 55. The output end of the whole-machine rotation servo 51 is connected to the turntable base 2. Both the first lifting servo 52 and the second lifting servo 53 are arranged on the turntable base 2, and the output ends of both the first lifting servo 52 and the second lifting servo 53 are connected to the second conveyor belt 4. The terminal rotation servo 54 is arranged at the end of the conveyor belt main body 41 and is connected to the conveyor belt end 42. The terminal rotation servo 54 is used to drive the rotation of the conveyor belt end 42. The terminal lifting servo 55 is arranged at the end of the conveyor belt main body 41 and is connected to the conveyor belt end 42. The terminal lifting servo 55 is used to drive the lifting of the conveyor belt end 42.

[0041] In one embodiment, it further includes a first articulated arm 6, a second articulated arm 7, a third articulated arm 8, a fourth articulated arm 9, and a fifth articulated arm 10. One end of the first articulated arm 6 is rotatably connected to the conveyor belt main body 41, and the other end of the first articulated arm 6 is rotatably connected to the turntable base 2. One end of the second articulated arm 7 is connected to the first articulated arm 6, and the other end of the second articulated arm 7 is connected to the third articulated arm 8. The end of the third articulated arm 8 is connected to the output end of the first lifting servo 52. The output end of the second lifting servo 53 is connected to one end of the fourth articulated arm 9. The other end of the fourth articulated arm 9 is connected to one end of the fifth articulated arm 10. One end of the fifth articulated arm 10 is connected to the conveyor belt main body 41.

[0042] In one embodiment, the ranging component includes an ultrasonic radar and a laser rangefinder.

[0043] The embodiment of the present invention further provides an automatic cargo loading method, including the following steps:

[0044] S1. The conveyor belt end 42 moves to the interior of the carriage. The first three-dimensional coordinates of the conveyor belt end 42 in the carriage coordinate system are obtained through the ranging component, the second three-dimensional coordinates of the nth cargo waiting-to-be-loaded position in the carriage coordinate system are obtained, and the coordinate offset between the first three-dimensional coordinates and the second three-dimensional coordinates is calculated.

[0045] S2. According to the third three-dimensional coordinates of the multiple driving servos in the automatic cargo loading device coordinate system, the fourth three-dimensional coordinates of the conveyor belt end 42 in the automatic cargo loading device coordinate system are calculated.

[0046] S3. The fifth three-dimensional coordinates of the nth cargo waiting-to-be-loaded position in the automatic cargo loading device coordinate system are obtained by combining the fourth three-dimensional coordinates with the coordinate offset.

[0047] S4. According to the fifth three-dimensional coordinates, the inverse operation is performed to obtain the sixth three-dimensional coordinates of the multiple driving servos in the automatic cargo loading device coordinate system.

[0048] S5. Starting from n = 1, repeat steps S1 to S4, with the value of n increasing by 1 each time until n = m, where n ≥ 1 and n is a positive integer, and m is the total number of goods to be loaded, to obtain m sets of sixth three-dimensional coordinates;

[0049] S6. Drive multiple drive servos to move to the corresponding sixth three-dimensional coordinates in sequence. The m goods are respectively conveyed along the first conveyor belt 3 and the second conveyor belt 4 to the positions of the corresponding sixth three-dimensional coordinates, completing the automatic loading of the goods.

[0050] In one embodiment, multiple drive servos are respectively installed at fixed points, and their output ends are rotationally connected to the second conveyor belt 4 through multiple articulated arms. According to the third three-dimensional coordinates of the multiple drive servos in the coordinate system of the goods automatic loading device, the fourth three-dimensional coordinates of the end 42 of the conveyor belt in the coordinate system of the goods automatic loading device are calculated, including the following steps:

[0051] Obtain the encoded values corresponding to the multiple drive servos, and calculate the rotation angles of the corresponding drive servos according to the encoded value angle conversion formula;

[0052] According to the coordinates of the fixed points of the multiple drive servos, the rotation angles of the corresponding drive servos, and the lengths of the articulated arms, calculate the fourth three-dimensional coordinates of the end of the conveyor belt in the coordinate system of the goods automatic loading device.

[0053] In one embodiment, absolute encoders are respectively provided at the output ends of the multiple drive servos, and the encoded values of the encoders corresponding to each drive servo are obtained in real time through the absolute encoders.

[0054] In one embodiment, the encoded value angle conversion formula is:

[0055] α = (C - Z) * 360 / (A * B);

[0056] Where Z is the encoded value when the absolute encoder is at the zero position, the rotation angle of the drive servo corresponding to the zero position is 0 degrees, A is the number of pulses per revolution of the absolute encoder, B is the reduction ratio of the speed reducer connected to the drive servo, c is the encoded value of the absolute encoder at the corresponding moment, and α is the rotation angle of the current drive servo.

[0057] In one embodiment, according to the size of the corresponding goods and the preset placement position of the corresponding goods in the carriage, the second three-dimensional coordinates of the position where the corresponding goods are to be loaded in the carriage coordinate system are obtained.

[0058] In one embodiment, the following steps are further included:

[0059] After the automatic loading of one layer of goods is completed, the goods automatic loading device moves backward by a preset distance and then starts the automatic loading of the next layer of goods. The preset distance is the thickness of the goods corresponding to the layer.

[0060] Specifically, the following is a specific embodiment provided by the present invention:

[0061] Step 1: The truck arrives at the loading site, docks at the boarding bridge, opens the truck tailgate, opens the boarding bridge, and starts running the goods automatic loading device.

[0062] There are multiple 2D or 3D lidars and 3D cameras, etc. on the moving chassis 1. The surrounding environment is scanned by the lidar and 3D camera to establish an environmental map. The opening at the rear of the truck is scanned, and the center line of the truck goods is obtained through algorithm operation, and the AGV is controlled to move onto the center line of the truck. Specifically, the lidar can be used to detect the positions of both ends of the carriage opening, and then the width of the truck carriage opening can be obtained, and then the midpoint position can be calculated to obtain the center line of the truck carriage.

[0063] Step 3: Obtain the dimensions of the truck carriage (by manual measurement or automatic measurement by lidar). At the same time, input the dimensions and quantities of each type of goods to be loaded into the packing and palletizing algorithm operation system. After system algorithm operation, a suitable palletizing sequence is obtained. The palletizing sequence includes the palletizing order of the goods, the dimensions of each good, the placement position of each good, and the placement posture of each good, etc. The generated palletizing sequence is packaged according to the data of each layer and then sent to the goods automatic loading device. The goods automatic loading device obtains the depth of the goods on the current layer, moves forward along the center line of the truck carriage into the interior of the truck carriage, and stops at a position greater than the depth of one good from the front according to the depth of the goods. Specifically, after the carriage arrives, manual or automated equipment is used to measure the dimensions of the carriage to obtain the internal space (length, width, and height) dimensions of the carriage. At the same time, the types, quantities, loading order, etc. of the goods to be loaded in the current carriage are input into the software manually or by data scraping. The software will simulate various stacking methods, calculate the combination methods of various boxes stacked inside, and finally generate a reasonable stacking strategy on the premise of meeting the stacking requirements. Finally, this stacking strategy is generated into a palletizing sequence and sent to the goods automatic loading device.

[0064] Step 4. After docking is completed and the output shafts of each driving servo are stationary, measure the position of the end of the conveyor belt in the carriage through the ranging component on the end of the conveyor belt to obtain the distances in the front, left, right, up, and down directions, that is, the first three-dimensional coordinates (LF, LL, LR, LU, LD). Among them, LF is the distance between the front end of the conveyor belt end and the inner wall of the carriage, LL is the distance between the left end of the conveyor belt end and the inner wall of the carriage, LR is the distance between the right end of the conveyor belt end and the inner wall of the carriage, LU is the distance between the upper end of the conveyor belt end and the inner wall of the carriage, and LD is the distance between the lower end of the conveyor belt end and the inner wall of the carriage.

[0065] Step 5. When loading the first cargo, the position of the first cargo to be loaded in the carriage is the second three-dimensional coordinate (L1, D1, H1). Then, according to the measurement results of the distances in the previous step, the loading trolley needs to move to the left by a distance of LL - L1, move forward by a distance of LF – D1, and move downward by a distance of LD – H1 to obtain the coordinate offset.

[0066] Step 6. According to the third three-dimensional coordinates of multiple driving servos (since the positions of multiple driving servos on the automatic cargo loading device are fixed and unchanged, the third three-dimensional coordinates corresponding to each driving servo can be directly obtained), the position of the current conveyor belt end in the coordinate system of the automatic cargo loading device can be calculated as the fourth three-dimensional coordinate (X0, Y0, Z0). Then, the position of the first cargo in the coordinate system of the automatic cargo loading device is the fifth three-dimensional coordinate (X0 - (LL - L1), Y0 - (LD – H1), Z0 - (LF – D1)), so as to obtain the fifth three-dimensional coordinate (X1, Y1, Z1) of the first cargo in the coordinate system of the automatic cargo loading device. Through this fifth three-dimensional coordinate, the sixth three-dimensional coordinates (S11, S21, S31, S41, S51) of the current driving servos in the coordinate system of the automatic cargo loading device can be inversely calculated. The sixth three-dimensional coordinates are the target coordinate positions that each driving servo needs to reach.

[0067] Specifically, absolute encoders are respectively provided at the output ends of multiple driving servos, and the encoding values of the encoders corresponding to each driving servo are obtained in real time through the absolute encoders. Zero calibration is performed on the initial states of each driving servo. The encoding value Z of the driving servo in the stationary state is recorded as zero, and the corresponding angle is 0 degrees. Then, the encoding value - angle conversion formula is:

[0068] α = (C - Z) * 360 / (A * B);

[0069] Among them, Z is the encoded value when the absolute encoder is at the zero position. The rotation angle of the driving servo corresponding to the zero position is 0 degrees. A is the number of pulses per revolution of the absolute encoder, B is the reduction ratio of the reduction gear connected to the driving servo, c is the encoded value of the absolute encoder at the corresponding moment, and α is the rotation angle of the current driving servo.

[0070] According to the above encoding value angle conversion formula, the rotation angle α of the third joint arm 8, the rotation angle β of the fourth joint arm 9, and the current rotation angle γ of the whole machine rotation servo can be obtained.

[0071] In a triangle, if the coordinates of two points A and B are known, as well as the lengths of each side, the coordinates of the third point C can be calculated by the following method.

[0072] Calculate the angle of ∠A:

[0073]

[0074] Calculate the included angle formed by AB and the X-axis

[0075] ε = arctan(y B -y A / x B -x A )

[0076] The final included angle formed by AC and the X-axis is

[0077] γ = θ + ε

[0078] Finally, it can be known that the coordinates of point C are:

[0079] x C = x A + L AC × cosγ

[0080] y C = y A + L AC × sinγ

[0081] According to the above method, the coordinates of the third side of the triangle can be obtained, and this method is named ThirdPointCalc.

[0082] As Figure 3 shown, a coordinate system is established with the automatic cargo loading device as the reference. The length direction of the automatic cargo loading device is the X-axis, the height direction is the Y-axis, the width direction is the Z-axis, the center of the turntable base is used as the origin of the X-axis and Z-axis, and the upper surface of the turntable base is used as the origin in the Y-axis direction to establish the coordinate system of the automatic cargo loading device.

[0083] In the coordinate system of the automatic loading device for goods, the point positions are divided as shown in Figure 3 and the following coordinate system is established. Among them, point A is the connection node between the conveyor belt main body 41 and the first joint arm 6, point B is the connection node between the first joint arm 6 and the second joint arm 7, point C is the installation and fixation node of the first lifting servo 52, point D is the connection node between the second joint arm 7 and the third joint arm 8, point E is the installation and fixation node of the second lifting servo 53, point F is the connection node between the fourth joint arm 9 and the fifth joint arm 10, point G is the connection node between the fifth joint arm 10 and the conveyor belt main body 41, and point O is the connection node between the first joint arm 6 and the turntable base 2.

[0084] Since the positions of the first lifting servo 52, the second lifting servo 53, and the first joint arm 6 on the turntable base 2 remain fixed after the equipment is assembled, the coordinates corresponding to points O, C, and E are fixed. The coordinates of points O, C, and E are respectively positioned as (x O , y O ), (x C , y C ), (x E , y E )

[0085] According to the current pulses of the first lifting servo 52 and the second lifting servo 53, the rotation angles at points C and E can be obtained as α and β respectively.

[0086] Then, according to the formula, the coordinates of point D can be calculated as x D = x C + l CD × cosα, y D = y C + l CD × sinα

[0087] Similarly, the coordinates at point F can be calculated as x F = x E + l EF × cosβ, y F = y E + l EF × sinβ

[0088] Use the following method to calculate the length of OD

[0089]

[0090] According to the aforementioned method, given the coordinates of points O and D and the lengths of OB, OD, and BD, the coordinates of point B can be calculated.

[0091] After calculating the coordinates of point B, the coordinates of point A can be calculated using the same method.

[0092] Calculate the length of AF

[0093]

[0094] Calculate the coordinates of point G based on the coordinates of points A and F, the length of AF, the length of AG, and the length of FG.

[0095] Similarly, the coordinates of point M can be calculated.

[0096] When the automatic cargo loading device detects a front-back inclination angle (an inclination sensor is installed on the moving chassis 1), the position of point M in the coordinate system of the automatic cargo loading device will change. When the inclination angle is θ, the final coordinate position change is as follows:

[0097] x MNew = x MOld × cos(θ) - y MOld × sinθ

[0098] y MNew = x MOld × sin(θ) + y MOld × cosθ

[0099] When the turntable base 2 rotates, it will cause a displacement of point M in the Z-axis direction, and the Z-axis coordinate will change. If the turntable base 2 rotates by γ angle, the coordinates of the rotated point M (the fifth three-dimensional coordinate) are as follows:

[0100] x M1 = x MNew × cosγ

[0101] y M1 = y MNew

[0102] z M1 = x MNew × sinγ

[0103] According to the above method, the inverse operation can be performed to obtain the sixth three-dimensional coordinates (S11, S21, S31, S41, S51) of each drive servo when point M is at a specific position (i.e., the fifth three-dimensional coordinate).

[0104] Step 7: Repeat the operations in Steps 4 to 6 for each cargo on the current layer, then the sixth three-dimensional coordinates corresponding to each cargo can be calculated for each drive servo. For example, if there are 40 cargos on the current layer, 40 sets of coordinate values of the sixth three-dimensional coordinates (s1, s2, s3, s4, s5) can be obtained.

[0105] Step 8: Control each drive servo to move to the sixth three-dimensional coordinates of the first group, pack the first piece of cargo, and then successively walk to the positions corresponding to the sixth three-dimensional coordinates of the remaining 39 pieces of cargo behind to complete the packing of the current layer.

[0106] Step 9: After the automatic loading of one layer of cargo is completed, the cargo automatic loading device moves backward a preset distance, and then starts the automatic loading of the next layer of cargo. The preset distance is the thickness of the cargo of the corresponding layer, and then repeat the above Steps 4 to 8 to complete the packing of the second layer. Step back gradually until the packing of all the cargo is completed.

[0107] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An automatic cargo loading device, used for transporting cargo along a loading direction and loading cargo into a carriage, characterized in that: include: Mobile chassis; A turntable base, rotatably connected to the mobile chassis; a first conveyor belt, connected to the mobile chassis, for conveying goods along the loading direction; a second conveyor belt, the second conveyor belt being connected end to end with the first conveyor belt and used for conveying goods along the loading direction, the second conveyor belt comprising a conveyor belt body and a conveyor belt end, the conveyor belt end being rotatably and liftably connected to the conveyor belt body; A distance measuring component, provided at the end of the conveyor belt, for locating the position of the end of the conveyor belt in the carriage; A posture adjustment component is arranged on the turntable base, and the posture adjustment component includes a plurality of drive servos, and the output ends of the plurality of drive servos are connected to the second conveyor belt for driving the end of the conveyor belt to move to a preset position in the carriage.

2. The automatic cargo loading device according to claim 1, characterized in that: Multiple driving servos include a whole-machine rotation servo, a first lifting servo, a second lifting servo, an end rotation servo, and an end lifting servo. The output end of the whole-machine rotation servo is connected to the turntable base. The first lifting servo and the second lifting servo are both arranged on the turntable base, and the output ends of the first lifting servo and the second lifting servo are both connected to the second conveyor belt. The end rotation servo is arranged at the end of the conveyor belt body and connected to the end of the conveyor belt. The end rotation servo is used to drive the end of the conveyor belt to rotate. The end lifting servo is arranged at the end of the conveyor belt body and connected to the end of the conveyor belt. The end lifting servo is used to drive the end of the conveyor belt to rise and fall.

3. The automatic cargo loading device according to claim 2, characterized in that: It also includes a first joint arm, a second joint arm, a third joint arm, a fourth joint arm and a fifth joint arm, one end of the first joint arm is rotatably connected to the conveyor belt body, the other end of the first joint arm is rotatably connected to the turntable base, one end of the second joint arm is connected to the first joint arm, the other end of the second joint arm is connected to the third joint arm, the end of the third joint arm is connected to the output end of the first lifting servo, the output end of the second lifting servo is connected to one end of the fourth joint arm, the other end of the fourth joint arm is connected to one end of the fifth joint arm, and one end of the fifth joint arm is connected to the conveyor belt body.

4. The automatic cargo loading device according to claim 1, characterized in that: The distance measuring component includes an ultrasonic radar and a laser rangefinder.

5. A method for automatic cargo loading, characterized in that: The automatic cargo loading method is implemented by the automatic cargo loading device according to any one of claims 1 to 4, and comprises the following steps: S1, the end of the conveyor belt moves to the inside of the carriage, and the first three-dimensional coordinates of the end of the conveyor belt in the carriage coordinate system are obtained by the distance measuring component, the second three-dimensional coordinates of the nth cargo to be loaded position in the carriage coordinate system are obtained, and the coordinate offset between the first three-dimensional coordinates and the second three-dimensional coordinates is calculated; S2, calculating the fourth three-dimensional coordinates of the conveyor belt end in the coordinate system of the automatic cargo loading device according to the third three-dimensional coordinates of the plurality of drive servos in the coordinate system of the automatic cargo loading device; S3, combining the fourth three-dimensional coordinate with the coordinate offset to obtain the fifth three-dimensional coordinate of the nth cargo to-be-loaded position in the coordinate system of the cargo automatic loading device; S4. According to the fifth three-dimensional coordinates, inverse calculation is performed to obtain sixth three-dimensional coordinates of the plurality of drive servos in the coordinate system of the automatic cargo loading device; S5, starting from n=1, repeating steps S1 to S4, with the value of n increasing by 1 each time until n=m, where n≥1 and n is a positive integer, and m is the total number of goods to be loaded, to obtain m sets of sixth three-dimensional coordinates; S6. In order of precedence, drive the multiple drive servos to move to the corresponding sixth three-dimensional coordinates in sequence, and transport the m goods to the corresponding sixth three-dimensional coordinates along the first conveyor belt and the second conveyor belt respectively, thereby completing the automatic loading of the goods.

6. The automatic cargo loading method according to claim 5, characterized in that: A plurality of drive servos are respectively installed at fixed points, and their output ends are rotationally connected to the second conveyor belt through a plurality of articulated arms. According to the third three-dimensional coordinates of the plurality of drive servos in the coordinate system of the automatic cargo loading device, the fourth three-dimensional coordinates of the conveyor belt end in the coordinate system of the automatic cargo loading device are calculated, including the following steps: Obtaining encoding values ​​corresponding to a plurality of driving servos, and calculating the rotation angle of the corresponding driving servos according to the encoding value angle conversion formula; According to the coordinates of the fixed points of the plurality of drive servos, the rotation angle of the corresponding drive servos and the length of the articulated arm, the fourth three-dimensional coordinates of the conveyor belt end in the coordinate system of the automatic cargo loading device are calculated.

7. The automatic cargo loading method according to claim 6, characterized in that: The output ends of the plurality of drive servos are respectively provided with absolute value encoders, and the code values ​​of the encoders corresponding to the respective drive servos are acquired in real time through the absolute value encoders.

8. The automatic cargo loading method according to claim 7, characterized in that: The coding value angle conversion formula is: α=(CZ)*360 / (A*B); Among them, Z is the code value of the absolute encoder when it is at the zero position. The rotation angle of the drive servo corresponding to the zero position is 0 degrees. A is the number of pulses per revolution of the absolute encoder. B is the reduction ratio of the reducer connected to the drive servo. C is the code value of the absolute encoder at the corresponding moment. α is the rotation angle of the current drive servo.

9. The automatic cargo loading method according to claim 5, characterized in that: According to the size of the corresponding goods and the preset placement position of the corresponding goods in the carriage, the second three-dimensional coordinates of the position to be loaded with the corresponding goods in the carriage coordinate system are obtained.

10. The automatic cargo loading method according to claim 5, characterized in that: The following steps are also included: After completing the automatic loading of one layer of goods, the automatic goods loading device moves backwards by a preset distance and then starts the automatic loading of the next layer of goods. The preset distance is the thickness of the corresponding layer of goods.

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