A docking platform that adapts to damaged environments

Abstract

The present invention relates to a docking platform that is self-adaptive to a damaged environment, comprising: a platform body, which is supported by a plurality of supporting legs, and a vehicle walking area is provided on the left and right sides of the platform body; a bottom plate damage detection device, which is used to detect a damaged area on the bottom surface of a container corresponding to the front of the vehicle walking area; a cover plate output device, which is arranged at one end of the platform body close to the container, and is used to output the cover plate; a cover plate conveying device, which is arranged in an area between the two vehicle walking areas corresponding to the platform body, and is used to drive the cover plate into the middle area of ​​the container; a cover plate rotating device, which is arranged at the front end of the cover plate conveying device, and is used to rotate the cover plate so that the cover plate is transferred from the middle position of the container to the position in front of the container corresponding to the vehicle walking area, so that after the cover plate conveying device lowers the cover plate, the cover plate covers the damaged area.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation, and in particular to a docking platform that is adaptive to damaged environments. Background Art

[0002] In automated material handling and transportation, materials are loaded into containers from the supply point and unloaded from the containers to the destination, requiring basic handling and loading functions to meet user requirements. Loading and unloading are crucial links in the logistics process, and with the rapid development of modern cargo loading and transportation technology, more and more users require rapid material loading and transfer.

[0003] The docking platform is an important component in the handling process. It can dock with the corresponding rear end of the container through actions such as lifting or lateral movement, making it convenient for the handling cart to carry the goods from the docking platform into the container. A wooden bottom plate is generally laid inside the container to support the goods and disperse the force exerted by the goods on the container. However, the wooden bottom plate is prone to damage due to local overload or aging. Existing forklifts are heavy, and forklifts generally use tire-type differential forklifts. After the forklift picks up the goods, the force is concentrated on the tires of the forklift. When passing through the damaged area of ​​the bottom plate in the container, the forklift is likely to expand the damage to the bottom plate. At the same time, the tires of the forklift are likely to sink into the damaged area, making it difficult to carry out the handling continuously. Existing loading platforms cannot solve this problem.

[0004] In view of the above problems existing in the prior art, the purpose of the present invention is to design a docking platform that is adaptive to damaged environments and a control method thereof. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a docking platform that is adaptive to damaged environments and a control method thereof, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is:

[0007] A docking platform that is adaptive to a damaged environment, comprising:

[0008] The platform body is supported by a number of supporting legs, and the left and right sides of the platform body are provided with vehicle walking areas;

[0009] Bottom plate damage detection device, used to detect the damaged area on the bottom of the container corresponding to the front of the vehicle body walking area;

[0010] A cover plate output device is provided at one end of the platform body close to the container and is used to output the cover plates;

[0011] The cover conveying device is set in the area between the two vehicle body walking areas of the platform body, and is used to drive the cover into the middle area of ​​the container;

[0012] The cover rotating device is arranged at the front end of the cover conveying device, and is used to rotate the cover so that the cover is transferred from the middle position of the container to the position in front of the container corresponding to the walking area of ​​the vehicle body, so that after the cover conveying device lowers the cover, the cover covers the damaged area.

[0013] Furthermore, the bottom plate damage detection device is one of a camera and a radar, which is arranged above the platform body and faces the interior of the container.

[0014] Furthermore, the bottom plate damage detection device is a distance sensor, which is arranged at the front end of the cover plate conveying device and is arranged obliquely downward. The bottom plate damage detection device follows the cover plate conveying device into the container.

[0015] Furthermore, a cover plate output hole is provided at one end of the platform body close to the container, and the cover plate output device includes a cover plate lifting member and a cover plate transverse moving member. The cover plate transverse moving member is provided on one side of the cover plate lifting member, and the cover plate transverse moving member is used to receive the cover plate input from the outside and move the cover plate transversely to the cover plate lifting member. The cover plate lifting member is provided below the cover plate output hole, and the cover plate lifting member lifts the cover plate and exposes it above the cover plate output hole.

[0016] Furthermore, the cover plate conveying device includes front and rear driving cylinders, and there are two front and rear driving cylinders, which are respectively arranged on the left and right sides of the center line of the platform body. Suction cups are provided at the front ends of the front and rear driving cylinders. The cover plate conveying device outputs the cover plate to the bottom of one of the suction cups, and the suction cup is used to adsorb the cover plate conveyed to the front end of the front and rear driving cylinders.

[0017] Furthermore, the platform body is provided with a lifting groove, and the cover conveying device and the cover rotating device are driven by corresponding lifting devices. After the lifting device rises, the cover conveying device and the cover rotating device are lifted above the platform body. After the lifting device descends, the cover conveying device and the cover rotating device are buried under the platform body.

[0018] Furthermore, the cover plate rotating device includes a rotating cylinder, which is arranged at the front end of the front and rear driving cylinders. The suction cup is driven by the rotating cylinder to rotate. After the cover plate output device outputs the cover plate, one of the corners of the cover plate is located under the suction cup. After the cover plate conveying device brings the cover plate into the middle area of ​​the container, the rotating cylinder rotates so that one end of the cover plate is located above the damaged area.

[0019] A control method for a docking platform capable of self-adapting to a damage environment is further provided. The method comprises the following steps:

[0020] S1, controlling the bottom plate damage detection device to detect a damaged area on the bottom of the container corresponding to the front of the vehicle body travel area;

[0021] S2: If there is a damaged area, control the cover output device to output the cover to the cover conveying device, and control the cover conveying device to drive the cover into the middle area of ​​the container;

[0022] S3, control the cover rotating device to rotate the cover so that the cover is transferred from the middle position of the container to the position in front of the container corresponding to the vehicle body walking area, control the cover conveying device to lower the cover so that the cover is separated from the cover conveying device and covers the damaged area.

[0023] Further, the following steps are included:

[0024] S4, record the position of the damaged area. If the next stack of goods is located at the position of the damaged area, control the cover conveying device to move to the cover, control the cover rotating device to rotate the cover in the opposite direction, so that the cover is transferred from the front position of the container corresponding to the walking area of ​​the vehicle body to the middle position of the container, and control the cover conveying device to drive the cover to exit the container.

[0025] Therefore, the present invention provides the following effects and / or advantages:

[0026] The vehicle body of the present application is provided with a cover conveying device, which can drive the cover into the container. After the bottom plate damage detection device detects that there is a damaged area on the bottom plate, the cover can be output at the middle position of the platform body, and the cover is rotated by the cover rotating device so that the cover corresponds to the top of the damaged area. The cover conveying device lowers the cover to cover the damaged area, thereby protecting the damaged area from further damage caused by the pressure loss of the vehicle body, and also preventing the walking device of the vehicle body from falling into the damaged area.

[0027] This application realizes the overall structural design of automatic conveying and automatic covering of the cover to the damaged area by designing the specific structure of the cover conveying device and the cover rotating device, as well as their mutual connection relationship and setting position.

[0028] The present application uses a control method to realize the action of automatically covering the damaged area in steps, and can also reversely control the actions of the cover conveying device and the cover rotating device so that the cover can be withdrawn from the container after completing the covering of the damaged area to facilitate the passage of the trolley.

[0029] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0030] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the docking platform of the present invention.

[0032] Figure 2 It is a structural schematic diagram of the cover plate output device of the present invention.

[0033] Figure 3 Schematic diagram showing the cover being positioned above the damaged area after the cover is transferred by the cover rotating device.

[0034] Description of reference numerals:

[0035] Cover conveying device 3, front and rear driving cylinders 31, suction cup 32, platform body 7, vehicle walking area 71, cover output hole 72, cover output device 8, cover lifting part 81, cover transverse moving part 82, cover rotating device 9. DETAILED DESCRIPTION

[0036] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the embodiments and the accompanying drawings:

[0037] refer to Figure 1-2 , a docking platform that adapts to damage environments, including:

[0038] The platform body 7 is supported by a plurality of supporting legs, and a vehicle walking area 71 is provided on the left and right sides of the platform body 7;

[0039] In this embodiment, the platform body 7 is used to provide a moving path for the vehicle body. The front end of the vehicle body can be provided with a fork, etc., so that the vehicle body can pick up the cargo by the fork and drive into the container from the platform body 7. Among them, the platform body 7 can realize the actions of lifting, sliding, etc. through the support legs, so as to correspond to the height and left and right position of the container and accurately access the container. Among them, the basic structure of the platform body 7 is the existing technology, and reference can be made to the existing technology with publication number CN119774318A, which is named a high-precision loading system. The vehicle body walking area 71 can be a long strip or rectangular area located on the left and right sides of the platform body 7. When the vehicle body walks on the platform body 7, the wheels of the vehicle body fall on this area.

[0040] A bottom plate damage detection device (not shown) for detecting a damaged area on the bottom surface of the container corresponding to the front of the vehicle body walking area 71;

[0041] In this embodiment, damage to the container bottom can be determined by inspecting its shape for dents, cracks, or defects. Furthermore, because the force on the vehicle body is concentrated on the wheels when the vehicle body is forking cargo, this embodiment only detects damage in the area in front of the vehicle body's travel area 71. Furthermore, the cover conveying device 3 and cover rotating device 9 in this embodiment are both located in the center of the platform body 7, avoiding the wheels of the trolley and preventing collision with the trolley's chassis and other components.

[0042] A cover plate output device 8 is provided at one end of the platform body 7 close to the container and is used for outputting the cover plates;

[0043] In this embodiment, the cover plate output device 8 can output the cover plates in sequence, or store a plurality of cover plates.

[0044] The cover plate conveying device 3 is provided in the area between the two vehicle body walking areas 71 of the platform body 7, and is used to drive the cover plates into the middle area of ​​the container;

[0045] In this embodiment, since the platform body 7 is used for the movement of the trolley, the wheels and other parts of the trolley's bottom need to contact the platform body 7. Therefore, only by arranging the cover conveyor device 3 in the middle of the platform body 7 can it avoid interfering with the normal movement of the trolley. The cover conveyor device 3 can pick up and release the cover. After picking up the cover, the cover conveyor device 3 can extend the cover along the middle area of ​​the platform body 7 into the middle area of ​​the container. At this time, the cover is located in the side area in front of the vehicle body movement area 71.

[0046] The cover plate rotating device 9 is arranged at the front end of the cover plate conveying device 3, and is used to rotate the cover plate so that the cover plate is transferred from the middle position of the container to the position in front of the container corresponding to the vehicle walking area 71, so that after the cover plate conveying device 3 lowers the cover plate, the cover plate covers the damaged area.

[0047] As mentioned above, the cover conveying device 3 is set in the middle position of the platform body 7. At this time, the extension direction of the cover conveying device 3 is not located in front of the vehicle walking area 71. In order to cover the damaged area in front of the vehicle walking area 71, this embodiment is provided with a cover rotating device 9 for transferring the cover to the area in front of the corresponding vehicle walking area 71 in the container. Figure 3 As shown, the dotted line in the figure indicates the front of the container bottom plate corresponding to the vehicle body walking area 71, and the discount in the figure indicates the damaged area, so that after the cover conveying device 3 releases the cover plate, the cover plate can fall over the damaged area to cover the damaged area.

[0048] Furthermore, the bottom plate damage detection device is a camera or a radar, which is arranged above the platform body 7 and faces the interior of the container.

[0049] Furthermore, the bottom plate damage detection device is a distance sensor, which is arranged at the front end of the cover plate conveying device 3 and is arranged obliquely downward. The bottom plate damage detection device follows the cover plate conveying device 3 into the container.

[0050] In this embodiment, if the floor damage detection device is a camera or radar, the floor damage detection device is fixed. The camera or radar can be installed above the platform body 7 using a fixing rod or other structure, and pointed diagonally downward into the container, thereby detecting the condition of the container floor. By combining algorithms such as shape recognition and image recognition, the damaged area of ​​the container floor can be calculated.

[0051] Alternatively, the bottom plate damage detection device is a distance sensor, which can follow the cover plate conveying device 3 into the container. During the initialization stage, the cover plate conveying device 3 first extends the distance sensor completely into the container, thereby scanning the bottom plate in front of the corresponding vehicle walking area 71 in the entire container. When the distance between the distance sensor and the bottom plate is greater than a preset value, it is judged that there is a damaged area.

[0052] Furthermore, a cover plate output hole position 72 is provided at one end of the platform body 7 close to the container, and the cover plate output device 8 includes a cover plate lifting member 81 and a cover plate transverse moving member 82. The cover plate transverse moving member 82 is provided on one side of the cover plate lifting member 81. The cover plate transverse moving member 82 is used to receive the cover plate input from the outside and move the cover plate transversely to the cover plate lifting member 81. The cover plate lifting member 81 is provided below the cover plate output hole position 72. The cover plate lifting member 81 lifts the cover plate and exposes it above the cover plate output hole position 72.

[0053] refer to Figure 2 In this embodiment, the cover plate transverse moving member 82 may include a cover plate temporary storage station, a transverse conveyor rail, and a suction cup driven by the transverse conveyor rail. The cover plate temporary storage station can receive and temporarily store external covers. The transverse conveyor rail then drives the suction cup to the top of the cover plate. The transverse conveyor rail then drives the suction cup downward and absorbs the cover plate, moving it transversely to the cover plate lifting member 81. The cover plate lifting member 81 may be an electric cylinder, which lifts the cover plate upward and outputs it above the cover plate output hole 72 through the lifting action of the electric cylinder.

[0054] In addition, in this embodiment, the number of cover lifting members 81 can be two, corresponding to the corresponding positions below the front ends of the left and right front and rear driving cylinders 31 respectively. By placing the cover on one of the cover lifting members 81, the cover can correspond to the position of one of the front and rear driving cylinders 31 after being lifted.

[0055] Furthermore, the cover plate conveying device 3 includes front and rear driving cylinders 31, and the number of the front and rear driving cylinders 31 is two, which are respectively arranged on the left and right sides of the center line of the platform body 7. A suction cup 32 is provided at the front end of the front and rear driving cylinders 31. The cover plate conveying device 3 outputs the cover plate to the bottom of one of the suction cups 32, and the suction cup 32 is used to adsorb the cover plate conveyed to the front end of the front and rear driving cylinders 31.

[0056] In this embodiment, there are two front and rear drive cylinders 31. The front and rear drive cylinder 31 located on the left side of the platform body 7 cooperates with the cover plate rotating device 9 to control the cover plate to fall in front of the vehicle body walking area 71 on the left side of the platform body 7. The front and rear drive cylinder 31 located on the right side of the platform body 7 cooperates with the cover plate rotating device 9 to control the cover plate to fall in front of the vehicle body walking area 71 on the right side of the platform body 7. The suction cup 32 can effectively absorb the cover plate, thereby transporting it into the container. The suction cup 32 can also absorb the cover plate from the container and remove it.

[0057] The front end of the cover conveying device 3 is arranged on the left and right sides of the platform body 7 and the cover output device 8. After the cover is output, it can fall just below the front end of the cover conveying device 3, making it convenient for the cover conveying device 3 to pick up the cover.

[0058] Furthermore, the platform body 7 is provided with a lifting groove, and the cover plate conveying device 3 and the cover plate rotating device 9 are driven by corresponding lifting devices. After the lifting device rises, the cover plate conveying device 3 and the cover plate rotating device 9 are lifted above the platform body 7. After the lifting device descends, the cover plate conveying device 3 and the cover plate rotating device 9 are buried under the platform body 7.

[0059] In this embodiment, by setting the cover plate conveying device 3 and the cover plate rotating device 9 as a liftable structure, it can be applied to different vehicle bodies. If the vehicle body is a crawler vehicle, or the chassis of the vehicle body is too low to leave space for the cover plate conveying device 3 and the cover plate rotating device 9 to pass through, the liftable structure can be used to raise the cover plate conveying device 3 and the cover plate rotating device 9 and work when the damaged area needs to be covered, and sink the cover plate conveying device 3 and the cover plate rotating device 9 for storage at other times.

[0060] Furthermore, the cover plate rotating device 9 includes a rotating cylinder, which is arranged at the front end of the front and rear driving cylinders 31. The suction cup 32 is driven by the rotating cylinder to rotate. After the cover plate output device 8 outputs the cover plate, one of the corners of the cover plate is located below the suction cup 32. After the cover plate conveying device 3 brings the cover plate into the middle area of ​​the container, the rotating cylinder rotates so that one end of the cover plate is located above the damaged area.

[0061] In this embodiment, the displacement of the cover output device 8 can be controlled, thereby accurately controlling the relative position of the cover and the suction cup 32 after output. In addition, in order to maximize the position of the transferred cover when the cover rotating device 9 rotates, the cover conveying device 3 is in a retracted state, and the front end of the cover conveying device 3 is located to the left or right rear of the cover output device 8. Therefore, after the cover is output, the left or right rear corner of the cover is exactly located at the front end of the cover conveying device 3. At this time, the rotary cylinder drives the cover to rotate around the suction point as the axis to accurately cover the damaged area.

[0062] A control method for a docking platform capable of self-adapting to a damage environment is further provided. The method comprises the following steps:

[0063] S1, controlling the bottom plate damage detection device to detect a damaged area on the bottom surface of the container corresponding to the front of the vehicle body walking area 71;

[0064] S2, if there is a damaged area, controlling the cover plate output device 8 to output the cover plate to the cover plate conveying device 3, and controlling the cover plate conveying device 3 to drive the cover plate into the middle area of ​​the container;

[0065] S3, control the cover rotating device 9 to rotate the cover so that the cover is transferred from the middle position of the container to the position in front of the container corresponding to the vehicle walking area 71, and control the cover conveying device 3 to lower the cover so that the cover is separated from the cover conveying device 3 and covers the damaged area.

[0066] Furthermore, a cover plate recovery device is included, comprising the following steps:

[0067] S4, record the position of the damaged area. If the next stack of goods is located at the position of the damaged area, control the cover conveying device 3 to move to the cover, control the cover rotating device 9 to rotate the cover in reverse, so that the cover is transferred from the position in front of the container corresponding to the vehicle walking area 71 to the middle position of the container, and control the cover conveying device 3 to drive the cover to exit the container.

[0068] In this embodiment, if the next stack of goods is located at the position of the damaged area, if the cover plate is not recovered, the cover plate will be shipped together with the goods, so it is necessary to recover the cover plate.

[0069] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0070] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0071] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0072] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. A docking platform that is adaptive to damaged environments, characterized by: include: A platform body (7), the platform body (7) being supported by a plurality of supporting legs, and a vehicle body walking area (71) being provided on the left and right sides of the platform body (7); A bottom plate damage detection device for detecting a damaged area on the bottom surface of the container corresponding to the front of the vehicle body walking area (71); A cover plate output device (8) is provided at one end of the platform body (7) close to the container and is used for outputting the cover plates; A cover plate conveying device (3) is provided in the area between the two vehicle body walking areas (71) corresponding to the platform body (7), and is used to drive the cover plate into the middle area of ​​the container; A cover plate rotating device (9) is provided at the front end of the cover plate conveying device (3) and is used to rotate the cover plate so as to transfer the cover plate from the middle position of the container to a position in front of the container corresponding to the vehicle body walking area (71), so that after the cover plate conveying device (3) lowers the cover plate, the cover plate covers the damaged area; The control method includes the following steps: S1, controlling the bottom plate damage detection device to detect a damaged area on the bottom surface of the container corresponding to the front of the vehicle body walking area (71); S2, if there is a damaged area, controlling the cover plate output device (8) to output the cover plate to the cover plate conveying device (3), and controlling the cover plate conveying device (3) to drive the cover plate into the middle area of ​​the container; S3, controlling the cover plate rotating device (9) to rotate the cover plate so that the cover plate is transferred from the middle position of the container to a position in front of the container corresponding to the vehicle body walking area (71), and controlling the cover plate conveying device (3) to lower the cover plate so that the cover plate is separated from the cover plate conveying device (3) and covers the damaged area.

2. The damage-adaptive docking platform according to claim 1, characterized in that: The bottom plate damage detection device is a camera or a radar, which is arranged above the platform body (7) and faces the interior of the container.

3. The damage-adaptive docking platform according to claim 1, characterized in that: The bottom plate damage detection device is a distance sensor, which is arranged at the front end of the cover plate conveying device (3) and is arranged obliquely downward. The bottom plate damage detection device follows the cover plate conveying device (3) into the container.

4. The damage-adaptive docking platform according to claim 1, characterized in that: The platform body (7) is provided with a cover plate output hole (72) at one end close to the container, and the cover plate output device (8) includes a cover plate lifting member (81) and a cover plate transverse moving member (82). The cover plate transverse moving member (82) is provided on one side of the cover plate lifting member (81). The cover plate transverse moving member (82) is used to receive the cover plate input from the outside and transversely move the cover plate to the cover plate lifting member (81). The cover plate lifting member (81) is provided below the cover plate output hole (72). The cover plate lifting member (81) lifts the cover plate and exposes it above the cover plate output hole (72).

5. The damage-adaptive docking platform according to claim 1, characterized in that: The cover plate conveying device (3) includes two front and rear drive cylinders (31), which are respectively arranged on the left and right sides of the center line of the platform body (7). A suction cup (32) is provided at the front end of the front and rear drive cylinders (31). The cover plate conveying device (3) outputs the cover plate to the bottom of one of the suction cups (32), and the suction cup (32) is used to absorb the cover plate conveyed to the front end of the front and rear drive cylinders (31).

6. The damage-adaptive docking platform according to claim 1, characterized in that: The platform body (7) is provided with a lifting groove, and the cover plate conveying device (3) and the cover plate rotating device (9) are driven by corresponding lifting devices. After the lifting device rises, the cover plate conveying device (3) and the cover plate rotating device (9) are lifted to above the platform body (7). After the lifting device descends, the cover plate conveying device (3) and the cover plate rotating device (9) are buried under the platform body (7).

7. The damage-adaptive docking platform according to claim 5, characterized in that: The cover plate rotating device (9) includes a rotating cylinder, which is arranged at the front end of the front and rear driving cylinders (31). The suction cup (32) is driven by the rotating cylinder to rotate. After the cover plate output device (8) outputs the cover plate, one of the corners of the cover plate is located below the suction cup (32). After the cover plate conveying device (3) brings the cover plate into the middle area of ​​the container, the rotating cylinder rotates so that one end of the cover plate is located above the damaged area.

8. The damage-adaptive docking platform according to claim 1, characterized in that: The following steps are involved: S4, recording the position of the damaged area, if the next stack of goods is located at the position of the damaged area, controlling the cover conveying device (3) to move to the cover, controlling the cover rotating device (9) to rotate the cover in the reverse direction, so that the cover is transferred from the position in front of the container corresponding to the vehicle body walking area (71) to the middle position of the container, and controlling the cover conveying device (3) to drive the cover to exit the container.

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