Intelligent container loading robot based on multi-sensor fusion and position detection method

Abstract

The invention discloses an intelligent container loading robot based on multi-sensor fusion and a position detection method, and relates to the field of intelligent container loading robots, the intelligent container loading robot comprises a container body used for transferring goods; the docking platform is used for loading and unloading goods, an intelligent loading robot body is arranged above the docking platform, and a lifting portal frame is arranged on the surface of the intelligent loading robot body; the lifting bracket is used for mounting a sensor to measure the position of the robot; the lifting support comprises an installation fixing beam, and the installation fixing beam is movably installed above the lifting portal. According to the invention, the plane steel beam is used as a measurement basis, and through real-time monitoring and intelligent control of multiple sensors, accurate positioning and automatic deviation correction of the robot in the container loading process are realized, the loading efficiency and the regularity of cargo placement are improved, the labor intensity and the loading cost are reduced, and the adaptability of the equipment to containers of different specifications is enhanced at the same time.

Description

Technical Field

[0001] The present invention relates to the field of container intelligent loading robots, and specifically to a container intelligent loading robot based on multi-sensor fusion and a position detection method thereof. Background Art

[0002] In the field of automated loading, container intelligent loading robots, relying on wireless communication, battery energy storage, and AGV technology, can achieve the full-process operation of automatically stacking goods from a platform into a container. Their core depends on intelligent sensors to sense the environment for positioning and path planning, but in practical applications, they face key challenges. When the robot enters the container, the only reference for the carriage sidewall is the corrugated sheet metal structure. The detection signal may fall on the top, groove, or slope area. Coupled with the deformation problems commonly existing in social vehicles, the sensor detection values fluctuate greatly and the reliability is low. This directly leads to deviations in the stopping accuracy of the robot, causing faults such as deviation, scraping the carriage, and skewed stacking of goods, seriously affecting the loading efficiency and safety.

[0003] Currently, the adopted solutions generally reduce the risk of scraping by relaxing the accuracy requirements of the robot, but this will compress the effective cargo space, reduce the utilization rate of the container, and may cause tipping during transportation due to excessive gaps between goods; or deploy more than 4 sensors on one side to take the minimum value to improve reliability, but the hardware cost surges, restricting large-scale applications.

[0004] Therefore, there is an urgent need for a multi-sensor fusion solution that takes into account both detection accuracy and cost efficiency to adapt to the complex structure and deformation problems of the inner wall of the container, ensuring the precise positioning and operation stability of the loading robot. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a container intelligent loading robot based on multi-sensor fusion and a position monitoring method. Taking the planar steel beam as the measurement reference, through real-time monitoring and intelligent control of multiple sensors, precise positioning and automatic deviation correction of the robot during the container loading process are achieved, improving the loading efficiency and the regularity of goods placement, reducing the manual labor intensity and loading cost, and at the same time enhancing the adaptability of the equipment to different specifications of containers.

[0006] To achieve the above objectives, the present invention is realized through the following technical solutions: A container intelligent loading robot based on multi-sensor fusion, including: A container body for transporting goods, wherein the inner wall of the container body is provided with corrugated steel plates, and a planar steel beam is provided on the top of the corrugated steel plates; A docking platform for loading and unloading goods, above which an intelligent loading robot body is provided, and a lifting gantry is provided on the surface of the intelligent loading robot body; Lifting bracket, used to install sensors for measuring the position of the robot; the lifting bracket includes a mounting fixed beam, the mounting fixed beam is movably installed above the lifting gantry, a driving mechanism and a lifting mechanism are arranged on the surface of the mounting fixed beam, a bracket top plate is fixedly installed at the rising end of the lifting mechanism, side distance measuring sensors are arranged on both sides below the bracket top plate, an induction module and a control module are arranged inside the side distance measuring sensors, a top distance measuring sensor is arranged on the surface of the mounting fixed beam, an induction module and a control module are arranged inside the top distance measuring sensor, the control module is electrically connected to the intelligent loading robot body, and the output end of the driving mechanism is connected to the force-bearing end of the lifting mechanism.

[0007] Further, a T-shaped guide rail is arranged on the side surface of the mounting fixed beam, a T-shaped guide groove is arranged on the lifting gantry, and a cylinder is installed between the lifting bracket and the lifting gantry; the cylinder pushes the lifting bracket to lift along the T-shaped guide groove.

[0008] Further, the driving mechanism includes a stepping motor, the stepping motor is fixedly installed on the surface of the mounting fixed beam, an electric push rod is fixedly installed at the output end of the stepping motor, and a connecting rod is fixedly installed at the end of the electric push rod away from the stepping motor.

[0009] Further, the lifting mechanism is arranged as a scissor type, the lifting mechanism includes a slide rail, the slide rail is fixedly installed on the surface of the mounting fixed beam, a sliding rod is slidably installed inside the slide rail, a connecting block is fixedly installed on the surface of the sliding rod, and the force-bearing end of the lifting mechanism is rotationally connected to the circumferential surface of the sliding rod.

[0010] Further, the connecting rod slidably penetrates through the connecting block, and a spring is arranged between the connecting block and the electric push rod.

[0011] Further, rollers are arranged at both ends of the sliding rod, and the sliding rod drives the lifting mechanism to move in the slide rail through the rollers.

[0012] Further, a friction strip is fixedly installed above the bracket top plate, and the friction strip cooperates with the spring to ensure the stable detection position of the side distance measuring sensor.

[0013] A position monitoring method for a container intelligent loading robot based on multi-sensor fusion, using a container intelligent loading robot based on multi-sensor fusion, includes the following steps: Step 1: After the container body is transported to the side of the docking platform, start the intelligent loading robot body. Before the intelligent loading robot enters the container body, according to the height of the container, push the lifting bracket to adjust to a suitable height through the cylinder, retract the lifting mechanism, avoid the carriage door beam, and make the intelligent loading robot enter the interior of the container body; Step 2: Measure the internal height of the container body using the top distance sensor, and start the stepper motor through the control module; Step 3: The stepper motor outputs a fixed number of turns according to this height, driving the electric push rod to push the lifting mechanism to rise to an accurate and reasonable height value; at this time, with the cooperation of the spring and the friction strip, ensure that the side distance sensor installed on the top plate of the bracket can always irradiate the flat steel beam; Step 4: The side distance sensor continuously detects the change in the distance value between the intelligent loading robot body and the container body, converts this change amount into a deviation correction parameter in a suitable proportion, and drives the intelligent loading robot to adjust its position and keep walking straight.

[0014] The present invention provides an intelligent container loading robot and a position detection method based on multi-sensor fusion; having the following beneficial effects: (1) The present invention uses the flat steel beam at the top of the container side plate as the detection reference, avoiding the signal reflection difference caused by the irregular surface of the corrugated board, keeping the detection surface highly consistent, and significantly improving the stability and reliability of the detection data; the stable detection data provides accurate position feedback for the intelligent loading robot, effectively avoiding the walking deviation caused by detection errors, ensuring that the running trajectory of the robot in the container is accurate, the material placement position is accurate, and at the same time avoiding rubbing against the car door lintel, comprehensively ensuring the safety and stability of the loading operation.

[0015] (2) For this intelligent container loading robot, the sensor on the side can irradiate the flat steel beam at the top of the carriage side wall, and the detected data is fed back to the intelligent loading robot. The intelligent loading robot locates its own position according to the data. If there is a deviation from the theoretical position, precise deviation correction is carried out to ensure that the goods can be accurately placed at the required carriage position, enabling the goods to be stored close to the carriage wall, with a higher loading capacity and stronger adaptability.

[0016] (3) The top distance measuring sensor of the present invention perceives the change in the internal height of the container in real time and transmits the data to the control system. The stepping motor accurately outputs the corresponding number of turns according to the preset algorithm, driving the electric push rod to push the scissor lift mechanism to rise smoothly to the optimal working height. During this process, the spring and the lift mechanism form an adaptive buffer adjustment system: when the lift mechanism touches an uneven place on the roof of the vehicle, the spring automatically compensates for the height error through elastic deformation to ensure that the top plate of the bracket remains stable; ensuring that the side distance measuring sensor installed on the top plate of the bracket can always irradiate on the flat steel beam. According to the height of the container, the lifting of the lifting bracket can be adjusted by the cylinder to adjust the appropriate height of the lifting bracket. The entire adjustment process does not require manual intervention or component replacement, can quickly adapt to various application scenarios such as standard containers and non-standard boxes, effectively avoid problems such as equipment collision and operation stagnation caused by improper height adaptation, significantly improve the versatility and operation flexibility of the equipment, and greatly reduce the equipment investment and operation and maintenance costs of logistics enterprises. Brief Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the lifting bracket of the present invention; Figure 3 For the present invention Figure 2 is an enlarged schematic diagram of part A in; Figure 4 is a schematic diagram of the structure of the lifting bracket of the present invention; Figure 5 is a schematic diagram of the connection structure between the lifting bracket and the lifting gantry of the present invention.

[0018] In the figure: 1, container body; 101, corrugated steel plate; 102, flat steel beam; 2, docking platform; 201, intelligent loading robot body; 202, lifting gantry; 3, lifting bracket; 301, installation fixing beam; 302, top plate of the bracket; 303, side distance measuring sensor; 304, top distance measuring sensor; 305, friction strip; 401, driving mechanism; 402, stepping motor; 403, electric push rod; 404, connecting rod; 501, lifting mechanism; 502, slide rail; 503, sliding rod; 504, connecting block; 505, spring; 506, roller; 6, T-shaped guide rail; 7, T-shaped guide groove; 8, cylinder. Detailed Description of the Invention

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1 - 5 , an embodiment of the present invention is: a container intelligent loading robot based on multi-sensor fusion, including: Container body 1, the container body 1 is used for transporting goods, the inner wall of the container body 1 is provided with corrugated steel plates 101, and a flat steel beam 102 is arranged on the top of the corrugated steel plates 101; the flat steel beam 102 serves as a detection reference; Docking platform 2, the docking platform 2 is used for loading and unloading goods, an intelligent loading robot body 201 is arranged above the docking platform 2, and a lifting gantry 202 is arranged on the surface of the intelligent loading robot body 201; Lifting bracket 3, used to install sensors to measure the position of the robot; the lifting bracket 3 includes a mounting fixed beam 301, the mounting fixed beam 301 is movably installed above the lifting gantry 202, a driving mechanism 401 and a lifting mechanism 501 are arranged on the surface of the mounting fixed beam 301, a bracket top plate 302 is fixedly installed at the rising end of the lifting mechanism 501, side distance measuring sensors 303 are arranged on both sides below the bracket top plate 302, an induction module and a control module are arranged inside the side distance measuring sensors 303, a top distance measuring sensor 304 is arranged on the surface of the mounting fixed beam 301, an induction module and a control module are arranged inside the top distance measuring sensor 304, the control module is electrically connected to the intelligent loading robot body 201, and the output end of the driving mechanism 401 is connected to the force receiving end of the lifting mechanism 501.

[0021] A T-shaped guide rail 6 is arranged on the side of the mounting fixed beam 301, a T-shaped guide groove 7 is arranged on the lifting gantry 202, and a cylinder 8 is installed between the lifting bracket 3 and the lifting gantry 202; the cylinder 8 pushes the lifting bracket 3 to lift along the T-shaped guide groove 7; according to the height of the container, the cylinder 8 can be used to push the lifting bracket 3 to lift and lower to adjust the appropriate height of the lifting bracket 3.

[0022] The driving mechanism 401 includes a stepping motor 402, the stepping motor 402 is fixedly installed on the surface of the mounting fixed beam 301, an electric push rod 403 is fixedly installed at the output end of the stepping motor 402, and a connecting rod 404 is fixedly installed at the end of the electric push rod 403 away from the stepping motor 402.

[0023] The lifting mechanism 501 is arranged as a scissor type. The lifting mechanism 501 includes a slide rail 502 which is fixedly installed on the surface of the installation and fixing beam 301. A slide bar 503 is slidably installed inside the slide rail 502. There are two slide bars 503. A bearing block 504 is arranged between the two slide bars 503. One of the scissor structures of the lifting mechanism 501 is hinged on the installation and fixing beam 301, and the other is rotatably connected to the circumferential surface of the inner slide bar 503. The outer slide bar 503 is connected to the electric push rod 403.

[0024] The bearing rod 404 slidably penetrates through the bearing block 504, and a spring 505 is arranged between the bearing block 504 and the electric push rod 403.

[0025] Rollers 506 are arranged at both ends of the slide bar 503, and the slide bar 503 drives the lifting mechanism 501 to move in the slide rail 502 through the rollers 506.

[0026] A friction strip 305 is fixedly installed above the support top plate 302, and the friction strip 305 cooperates with the spring 505 to ensure the stable detection position of the side distance measuring sensor 303.

[0027] A position monitoring method for a container intelligent loading robot based on multi-sensor fusion, using a container intelligent loading robot based on multi-sensor fusion, includes the following steps: Step 1: After the container body 1 is transported to the side of the docking platform 2, start the intelligent loading robot body 201. Before the intelligent loading robot enters the container body 1, according to the height of the container, adjust the lifting bracket 3 to a suitable height through the cylinder 8, retract the lifting mechanism 501, avoid the carriage door beam, and enable the intelligent loading robot to enter the interior of the container body 1. Step 2: Use the top distance measuring sensor 304 to measure the internal height of the container body 1, and start the stepping motor 402 through the control module. Step 3: The stepping motor 402 outputs a fixed number of turns according to this height, drives the electric push rod 403 to push the lifting mechanism 501 to rise to an accurate reasonable height value; at this time, by the combined action of the spring 505 and the friction strip 305, ensure that the side distance measuring sensor 303 installed on the support top plate 302 can always irradiate on the flat steel beam 102. Step 4: The side distance measuring sensor 303 continuously detects the change in the distance value between the intelligent loading robot body 201 and the container body 1, converts this change amount into a deviation correction parameter with a suitable ratio, and drives the intelligent loading robot to adjust its position and keep moving straight.

[0028] During the operation of this embodiment: After the container body 1 is transported beside the docking platform 2, the intelligent loading robot body 201 is started. The intelligent loading robot body 201 will move into the interior of the container body 1. At this time, the internal height of the container body 1 is measured by the top distance measuring sensor 304, and the stepping motor 402 is started through the control module. The output end of the stepping motor 402 moves to drive the electric push rod 403 to move. The movement of the electric push rod 403 drives the receiving rod 404 to move. The movement of the receiving rod 404 drives the receiving block 504 to move. The movement of the receiving block 504 drives the sliding rod 503 to move. The movement of the sliding rod 503 realizes the rising of the lifting mechanism 501. The rising of the lifting mechanism 501 drives the support top plate 302 to move upward. The upward movement of the support top plate 302 drives the friction strip 305 to move upward and close to the top of the container body 1. Since there is a flat steel beam 102 at the top end of the side of the standard container body 1 and the flat steel beam 102 will not deform, at this time, the side distance measuring sensor 303 irradiates the position of the flat steel beam 102, the detection surface has consistency, the detected size is stable, reliable and has high precision, corrects and locates the position of the intelligent loading robot body 201, and automatically guides the intelligent loading robot body 201 to correct deviation and move forward, and accurately places the goods at the appropriate position in the carriage.

[0029] When the intelligent loading robot body 201 moves, it will drive the support top plate 302 to move. When the top of the inner wall of the container body 1 is uneven, the inner wall of the container body 1 will squeeze the support top plate 302 to move downward. The downward movement of the support top plate 302 will drive the receiving block 504 to move and squeeze the spring 505 to contract, so that the lifting support 3 has the function of elastically sticking to the top. And through the friction strip 305 designed on the top of the support, it does not affect the walking and operation of the intelligent loading robot when sticking to the top.

[0030] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The intelligent container loading robot based on multi-sensor fusion is characterized in that Including: A container body (1) for transporting goods. The inner wall of the container body (1) is provided with corrugated steel plates (101), and a flat steel beam (102) is arranged on the top of the corrugated steel plates (101). A docking platform (2) for loading and unloading goods. An intelligent loading robot body (201) is arranged above the docking platform (2), and a lifting gantry (202) is arranged on the surface of the intelligent loading robot body (201). A lifting bracket (3) for installing sensors to measure the position of the robot. The lifting bracket (3) includes a mounting fixed beam (301) movably installed above the lifting gantry (202). A driving mechanism (401) and a lifting mechanism (501) are arranged on the surface of the mounting fixed beam (301). A bracket top plate (302) is fixedly installed at the rising end of the lifting mechanism (501). Side distance measuring sensors (303) are arranged on both sides below the bracket top plate (302). An induction module and a control module are arranged inside the side distance measuring sensors (303). A top distance measuring sensor (304) is arranged on the surface of the mounting fixed beam (301). An induction module and a control module are arranged inside the top distance measuring sensor (304). The control module is electrically connected to the intelligent loading robot body (201), and the output end of the driving mechanism (401) is connected to the force-bearing end of the lifting mechanism (501).

2. The container intelligent loading robot based on multi-sensor fusion according to claim 1, wherein: A T-shaped guide rail (6) is arranged on the side surface of the mounting fixed beam (301), a T-shaped guide groove (7) is arranged on the lifting gantry (202), and a cylinder (8) is installed between the lifting bracket (3) and the lifting gantry (202). The cylinder (8) pushes the lifting bracket (3) to lift along the T-shaped guide groove (7).

3. The intelligent container loading robot based on multi-sensor fusion according to claim 2, wherein: The driving mechanism (401) includes a stepping motor (402) fixedly installed on the surface of the mounting fixed beam (301). An electric push rod (403) is fixedly installed at the output end of the stepping motor (402), and a connecting rod (404) is fixedly installed at the end of the electric push rod (403) away from the stepping motor (402).

4. The intelligent container loading robot based on multi-sensor fusion according to claim 3, characterized in that: The lifting mechanism (501) is arranged as a scissor type. The lifting mechanism (501) includes a slide rail (502) fixedly installed on the surface of the mounting fixed beam (301). A sliding rod (503) is slidably installed inside the slide rail (502). A connecting block (504) is fixedly installed on the surface of the sliding rod (503). The force-bearing end of the lifting mechanism (501) is rotationally connected to the circumferential surface of the sliding rod (503).

5. The intelligent container loading robot based on multi-sensor fusion according to claim 4, characterized in that: The connecting rod (404) slidably penetrates through the connecting block (504), and a spring (505) is arranged between the connecting block (504) and the electric push rod (403).

6. The intelligent container loading robot based on multi-sensor fusion according to claim 5, wherein: Both ends of the sliding rod (503) are provided with rollers (506), and the sliding rod (503) drives the lifting mechanism (501) to move in the slide rail (502) through the rollers (506).

7. The intelligent container loading robot based on multi-sensor fusion according to claim 6, wherein: A friction strip (305) is fixedly installed above the support top plate (302), and the friction strip (305) cooperates with the spring (505) to ensure the stable detection position of the side distance sensor (303).

8. A position monitoring method for a container intelligent loading robot based on multi-sensor fusion, using the container intelligent loading robot based on multi-sensor fusion according to any one of claims 1-7, characterized in that, It includes the following steps: Step 1: After the container body (1) is transported beside the docking platform (2), start the intelligent loading robot body (201). Before the intelligent loading robot enters the container body (1), according to the height of the container, push the lifting bracket (3) to an appropriate height through the cylinder (8), retract the lifting mechanism (501), avoid the carriage door beam, and make the intelligent loading robot enter the inside of the container body (1). Step 2: Use the top distance sensor (304) to measure the internal height of the container body (1), and start the stepping motor (402) through the control module. Step 3: The stepping motor (402) outputs a fixed number of turns according to this height, drives the electric push rod (403) to push the lifting mechanism (501) to rise to an accurate and reasonable height value; at this time, with the cooperation of the spring (505) and the friction strip (305), ensure that the side distance sensor (303) installed on the support top plate (302) can always irradiate on the flat steel beam (102). Step 4: The side distance sensor (303) continuously detects the change in the distance value between the intelligent loading robot body (201) and the container body (1), converts this change amount into a deviation correction parameter with an appropriate ratio, and drives the intelligent loading robot to adjust its position and keep moving straight.

Images