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

Abstract

The present invention discloses an intelligent container loading robot and a position detection method based on multi-sensor fusion, which relate to the field of intelligent container loading robots, comprising: a container body, which is used for transshipping goods; a docking platform, which is used for loading and unloading goods, an intelligent loading robot body is arranged above the docking platform, and a lifting gantry is arranged on the surface of the intelligent loading robot body; a lifting bracket, which is used for installing sensors to measure the position of the robot; the lifting bracket includes a mounting fixed beam, which is movably installed above the lifting gantry; the present invention uses a plane steel beam as a measurement reference, and through real-time monitoring and intelligent control of multiple sensors, realizes precise positioning and automatic deviation correction of the robot during container loading, improves loading efficiency and regularity of cargo placement, reduces manual labor intensity and loading costs, and enhances the adaptability of the equipment to containers of different specifications.

Description

Technical Field

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

[0002] In the field of automated loading, intelligent container loading robots leverage wireless communication, battery storage, and AGV technology to achieve the entire process, from picking up cargo from the platform to automatically stacking it inside the container. Their core relies on intelligent sensors for environmental positioning and path planning, but they face key challenges in practical application. When the robot enters the container, the only reference wall is the corrugated sheet metal structure. Detection signals may fall on the top, grooves, or slopes. This, combined with the widespread deformation of vehicles, leads to large fluctuations in sensor detection values ​​and low reliability. This directly causes deviations in the robot's stopping accuracy, resulting in problems such as deviation from the container, scratching the container, and crooked cargo stacking, seriously affecting loading efficiency and safety.

[0003] The solutions currently adopted generally reduce the risk of scratches by relaxing the robot's accuracy requirements, but this will compress the effective cargo space, reduce container utilization, and may cause tipping during transportation due to excessive gaps between cargo; or deploy more than four sensors on one side to take the minimum value to improve reliability, but the hardware cost will increase sharply, restricting large-scale application.

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

[0005] In response to the shortcomings of the existing technology, the present invention provides a container intelligent loading robot and position monitoring method based on multi-sensor fusion. Using a flat steel beam as the measurement reference, through real-time monitoring and intelligent control of multiple sensors, the robot can achieve precise positioning and automatic deviation correction during the container loading process, improve loading efficiency and the regularity of cargo placement, reduce manual labor intensity and loading costs, and enhance the adaptability of the equipment to containers of different specifications.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent container loading robot based on multi-sensor fusion, comprising:

[0007] A container body, wherein the container body is used for transshipping goods, wherein the inner wall of the container body is provided with a corrugated steel plate, and a flat steel beam is provided on the top of the corrugated steel plate;

[0008] A docking platform, which is used for loading and unloading goods. An intelligent loading robot body is provided above the docking platform, and a lifting gantry is provided on the surface of the intelligent loading robot body;

[0009] A lifting bracket is used to install sensors to measure the position of the robot; the lifting bracket includes a mounting fixed beam, which is movably installed above the lifting gantry, and a driving mechanism and a lifting mechanism are provided on the surface of the mounting fixed beam. The rising end of the lifting mechanism is fixedly installed with a bracket top plate, and side ranging sensors are provided on both sides below the bracket top plate, and a sensing module and a control module are provided inside the side ranging sensor, and a top ranging sensor is provided on the surface of the mounting fixed beam, and a sensing module and a control module are provided inside the top ranging sensor, and 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.

[0010] Furthermore, a T-shaped guide rail is provided on the side of the mounting fixed beam, a T-shaped guide groove is provided on the lifting gantry, and a cylinder is installed between the lifting bracket and the lifting gantry; the cylinder pushes the lifting bracket to move up and down along the T-shaped guide groove.

[0011] Furthermore, the driving mechanism includes a stepper motor, which is fixedly mounted on the surface of the mounting fixed beam. An electric push rod is fixedly mounted on the output end of the stepper motor, and a receiving rod is fixedly mounted on the end of the electric push rod away from the stepper motor.

[0012] Furthermore, the lifting mechanism is configured as a scissors-type, and the lifting mechanism includes a slide rail, which is fixedly installed on the surface of the fixed beam, a sliding rod is slidably installed inside the slide rail, and a receiving block is fixedly installed on the surface of the sliding rod, and the force-bearing end of the lifting mechanism is rotatably connected to the circumferential surface of the sliding rod.

[0013] Furthermore, the receiving rod slides through the receiving block, and a spring is provided between the receiving block and the electric push rod.

[0014] Furthermore, rollers are provided at both ends of the sliding rod, and the sliding rod drives the lifting mechanism to move within the sliding rail via the rollers.

[0015] Furthermore, a friction strip is fixedly installed above the top plate of the bracket, and the friction strip cooperates with the spring to ensure the stable detection position of the side ranging sensor.

[0016] A method for monitoring the position of 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:

[0017] Step 1: After the container is transported to the docking platform, the intelligent loading robot is started. Before the intelligent loading robot enters the container, the cylinder pushes the lifting bracket to the appropriate height according to the height of the container, and the lifting mechanism is retracted to avoid the door beam of the compartment, allowing the intelligent loading robot to enter the interior of the container.

[0018] Step 2: Use the top distance sensor to measure the internal height of the container body and start the stepper motor through the control module;

[0019] Step 3: The stepper motor outputs a fixed number of turns according to the height, driving the electric push rod to push the lifting mechanism up to a precise and reasonable height value; at this time, the spring and friction strip cooperate to ensure that the side distance sensor installed on the top plate of the bracket can always illuminate the flat steel beam;

[0020] Step 4: The side distance measuring sensor detects the change in the distance between the intelligent loading robot and the container in real time, converts the change into a correction parameter of appropriate proportion, and drives the intelligent loading robot to adjust its position and keep it straight.

[0021] The present invention provides a container intelligent loading robot and position detection method based on multi-sensor fusion, which has the following beneficial effects:

[0022] (1) The present invention uses the flat steel beam at the top of the container side panel as the detection reference, avoiding the signal reflection difference caused by the irregular surface of the corrugated board, so that the detection surface maintains a high degree of consistency, and significantly improves 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 the robot's accurate running trajectory in the container and the accurate placement of materials, while avoiding scratches with the carriage door lintel, and comprehensively ensuring the safety and stability of the loading operation.

[0023] (2) The intelligent container loading robot can illuminate the flat steel beam on the top of the side wall of the carriage through the side sensing sensor, and feed the detected data back to the intelligent loading robot. The intelligent loading robot locates its own position based on the data. If there is a deviation from the theoretical position, it will accurately correct the deviation to ensure that the goods can be accurately placed in the required carriage position, so that the goods can be stored close to the carriage wall, with higher loading capacity and stronger adaptability.

[0024] (3) The top distance measuring sensor of the present invention senses the height changes inside the container in real time and transmits the data to the control system. The stepper motor accurately outputs the corresponding number of turns according to the preset algorithm, driving the electric push rod to push the scissor-type lifting mechanism to rise smoothly to the optimal working height. During this process, the spring and the lifting mechanism form an adaptive buffer adjustment system: when the lifting mechanism contacts the uneven part of the roof, the spring automatically compensates for the height error through elastic deformation to ensure that the bracket top plate remains stable; and ensures that the side distance measuring sensor installed on the bracket top plate can always illuminate the flat steel beam. According to the height of the container, the lifting bracket can be pushed up and down by the cylinder to adjust the appropriate height of the lifting bracket. The entire adjustment process does not require manual intervention or replacement of parts. It can quickly adapt to various application scenarios such as standard containers and non-standard boxes, effectively avoiding problems such as equipment collision and operation stagnation caused by improper height adaptation, significantly improving the versatility and operation flexibility of the equipment, and greatly reducing the equipment investment and operation and maintenance costs of logistics companies. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the lifting bracket structure of the present invention;

[0027] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure of part A;

[0028] Figure 4 This is a schematic structural diagram of the lifting bracket of the present invention;

[0029] Figure 5 It is a schematic diagram of the connection structure between the lifting bracket and the lifting gantry of the present invention.

[0030] 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. Mounting fixed beam; 302. Bracket top plate; 303. Side distance sensor; 304. Top distance sensor; 305. Friction strip; 401. Driving mechanism; 402. Stepper motor; 403. Electric push rod; 404. Support rod; 501. Lifting mechanism; 502. Slide rail; 503. Sliding rod; 504. Support block; 505. Spring; 506. Roller; 6. T-shaped guide rail; 7. T-shaped guide groove; 8. Cylinder. DETAILED DESCRIPTION

[0031] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] See also Figure 1-Figure 5 One embodiment of the present invention is: an intelligent container loading robot based on multi-sensor fusion, comprising:

[0033] A container body 1 is used for transshipping goods. The inner wall of the container body 1 is provided with a corrugated steel plate 101. A flat steel beam 102 is provided on the top of the corrugated steel plate 101. The flat steel beam 102 serves as a detection reference.

[0034] A docking platform 2, which is used for loading and unloading goods. An intelligent loading robot body 201 is provided above the docking platform 2, and a lifting gantry 202 is provided on the surface of the intelligent loading robot body 201;

[0035] The lifting bracket 3 is used to install sensors to measure the position of the robot; the lifting bracket 3 includes a mounting fixed beam 301, which is movably installed above the lifting gantry 202. The surface of the mounting fixed beam 301 is provided with a driving mechanism 401 and a lifting mechanism 501. The rising end of the lifting mechanism 501 is fixedly installed with a bracket top plate 302. Side ranging sensors 303 are provided on both sides below the bracket top plate 302. The side ranging sensors 303 are internally provided with a sensing module and a control module. The surface of the mounting fixed beam 301 is provided with a top ranging sensor 304. The top ranging sensor 304 is internally provided with a sensing module and a control module. 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.

[0036] A T-shaped guide rail 6 is provided on the side of the mounting fixed beam 301, and a T-shaped guide groove 7 is provided on the lifting gantry 202. A cylinder 8 is installed between the lifting bracket 3 and the lifting gantry 202; the cylinder 8 pushes the lifting bracket 3 to move up and down along the T-shaped guide groove 7; according to the height of the container, the lifting bracket 3 can be pushed up and down by the cylinder 8 to adjust the appropriate height of the lifting bracket 3.

[0037] The driving mechanism 401 includes a stepper motor 402 , which is fixedly mounted on the surface of the mounting fixed beam 301 . An electric push rod 403 is fixedly mounted on the output end of the stepper motor 402 , and a receiving rod 404 is fixedly mounted on one end of the electric push rod 403 away from the stepper motor 402 .

[0038] The lifting mechanism 501 is configured as a scissors-type structure, and the lifting mechanism 501 includes a slide rail 502, which is fixedly mounted on the surface of the mounting fixed beam 301. A sliding rod 503 is slidably mounted inside the slide rail 502. Two sliding rods 503 are provided, and a receiving block 504 is provided between the two sliding rods 503. One of the scissors-type structures of the lifting mechanism 501 is hinged on the mounting fixed beam 301, and the other is rotatably connected to the circumferential surface of the inner sliding rod 503. The outer sliding rod 503 is connected to the electric push rod 403.

[0039] The receiving rod 404 slides through the receiving block 504 , and a spring 505 is provided between the receiving block 504 and the electric push rod 403 .

[0040] Rollers 506 are provided at both ends of the sliding rod 503 , and the sliding rod 503 drives the lifting mechanism 501 to move within the sliding rail 502 via the rollers 506 .

[0041] A friction strip 305 is fixedly mounted above the bracket top plate 302 , and the friction strip 305 cooperates with the spring 505 to ensure a stable detection position of the side distance sensor 303 .

[0042] A method for monitoring the position of 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:

[0043] Step 1: After the container body 1 is transported to the docking platform 2, the intelligent loading robot body 201 is started. Before the intelligent loading robot enters the container body 1, the cylinder 8 pushes the lifting bracket 3 to an appropriate height according to the height of the container, and the lifting mechanism 501 is retracted to avoid the door beam of the carriage, so that the intelligent loading robot can enter the interior of the container body 1;

[0044] 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;

[0045] Step 3: The stepper motor 402 outputs a fixed number of revolutions according to the height, driving the electric push rod 403 to push the lifting mechanism 501 up to a precise and reasonable height value; at this time, the spring 505 and the friction strip 305 cooperate to ensure that the side distance sensor 303 installed on the bracket top plate 302 can always illuminate the flat steel beam 102;

[0046] Step 4: The side distance measuring sensor 303 detects the distance change between the intelligent loading robot body 201 and the container body 1 in real time, converts the change into a correction parameter of appropriate proportion, and drives the intelligent loading robot to adjust its position and keep it straight.

[0047] When this embodiment is working: after the container body 1 is transported to the side of the docking platform 2, the intelligent loading robot body 201 is started, and 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 will be measured by the top distance measuring sensor 304, and the stepping motor 402 will be started through the control module. The output end of the stepping motor 402 moves to drive the electric push rod 403 to move, and the electric push rod 403 moves to drive the receiving rod 404 to move. The receiving rod 404 moves to drive the receiving block 504 to move. The receiving block 504 moves to drive the sliding rod 503 to move, and the sliding rod 503 moves to realize lifting. The mechanism 501 rises, and the lifting mechanism 501 rises, driving the bracket top plate 302 to move upward. The upward movement of the bracket 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 on the top of the side of the standard container body 1, the flat steel beam 102 will not be deformed. At this time, the side ranging sensor 303 illuminates the position of the flat steel beam 102, the detection surface is consistent, the detection size is stable, reliable and accurate, the position of the intelligent loading robot body 201 is corrected and positioned, and the intelligent loading robot body 201 is automatically guided to correct the deviation and move forward, and the goods are accurately placed in the appropriate position of the carriage.

[0048] When the intelligent loading robot body 201 moves, it will drive the bracket top plate 302 to move. When the top of the inner wall of the container body 1 becomes uneven, the inner wall of the container body 1 will squeeze the bracket top plate 302 to move downward. The downward movement of the bracket top plate 302 will drive the receiving block 504 to move and squeeze the spring 505 to contract, so that the lifting bracket 3 has the function of elastically sticking to the top, and through the friction strip 305 designed on the top of the bracket, it will not affect the walking and operation of the intelligent loading robot when sticking to the top.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. The intelligent container loading robot based on multi-sensor fusion is characterized by: include: A container body (1), the container body (1) being used for transshipping goods, the inner wall of the container body (1) being provided with a corrugated steel plate (101), and the top of the corrugated steel plate (101) being provided with a flat steel beam (102); A docking platform (2), the docking platform (2) being used for loading and unloading goods, an intelligent loading robot body (201) being provided above the docking platform (2), and a lifting gantry (202) being provided on the surface of the intelligent loading robot body (201); A lifting bracket (3) is used to install a sensor for measuring 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 provided on the surface of the mounting fixed beam (301), a bracket top plate (302) is fixedly installed on the rising end of the lifting mechanism (501), side distance measuring sensors (303) are provided on both sides below the bracket top plate (302), a sensing module and a control module are provided inside the side distance measuring sensors (303), a top distance measuring sensor (304) is provided on the surface of the mounting fixed beam (301), a sensing module and a control module are provided 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); A T-shaped guide rail (6) is provided on the side of the mounting fixed beam (301), a T-shaped guide groove (7) is provided 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 move up and down along the T-shaped guide groove (7); The driving mechanism (401) includes a stepping motor (402), the stepping motor (402) being fixedly mounted on the surface of the mounting fixed beam (301), an electric push rod (403) being fixedly mounted on the output end of the stepping motor (402), and a receiving rod (404) being fixedly mounted on one end of the electric push rod (403) away from the stepping motor (402); The lifting mechanism (501) is configured as a scissor-type lifting mechanism (501), comprising a slide rail (502), the slide rail (502) being fixedly mounted on the surface of the mounting fixed beam (301), a slide rod (503) being slidably mounted inside the slide rail (502), a receiving block (504) being fixedly mounted on the surface of the slide rod (503), and a force-bearing end of the lifting mechanism (501) being rotatably connected to the circumferential surface of the slide rod (503); The receiving rod (404) slides through the receiving block (504), and a spring (505) is provided between the receiving block (504) and the electric push rod (403); Rollers (506) are provided at both ends of the sliding rod (503), and the sliding rod (503) drives the lifting mechanism (501) to move within the sliding rail (502) via the rollers (506); A friction strip (305) is fixedly mounted above the bracket top plate (302), and the friction strip (305) cooperates with a spring (505) to ensure a stable detection position of the side distance sensor (303).

2. A method for monitoring the position of a container intelligent loading robot based on multi-sensor fusion, using the container intelligent loading robot based on multi-sensor fusion according to claim 1, characterized in that: The following steps are involved: Step 1: After the container body (1) is transported to the docking platform (2), the intelligent loading robot body (201) is started. Before the intelligent loading robot enters the container body (1), the lifting bracket (3) is pushed to a suitable height by the cylinder (8) according to the height of the container, and the lifting mechanism (501) is retracted to avoid the door beam of the carriage, so that the intelligent loading robot enters the interior of the container body (1); Step 2: Using the top distance measuring sensor (304) to measure the internal height of the container body (1), and starting the stepping motor (402) through the control module; Step 3: The stepper motor (402) outputs a fixed number of turns according to the height, driving the electric push rod (403) to push the lifting mechanism (501) to a precise and reasonable height value; at this time, the spring (505) and the friction strip (305) cooperate to ensure that the side distance sensor (303) installed on the bracket top plate (302) can always illuminate the flat steel beam (102); Step 4: The side distance measuring sensor (303) detects the distance change between the intelligent loading robot body (201) and the container body (1) in real time, converts the change into a correction parameter of appropriate proportion, and drives the intelligent loading robot to adjust its position and keep it straight.

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