Full-automatic trailer loading and unloading device and method

Abstract

The invention discloses a full-automatic trailer loading and unloading device and method, and the device comprises an intelligent positioning module which is used for accurately positioning an automatic driving tractor and a target trailer; the intelligent traction seat module is used for docking the automatic driving tractor with the target trailer and comprises an automatic height adjusting system used for adjusting the height of the target trailer to be matched with the height of a traction seat of the automatic driving tractor, and an automatic alignment system used for aligning the height of the target trailer with the height of the traction seat of the automatic driving tractor. The automatic traction seat system is used for aligning the connection position of the automatic driving tractor and the target trailer, and the automatic sliding traction seat system is used for adjusting the position of the traction seat so as to ensure the reasonable butt joint position of the traction seat and the trailer interface of the target trailer; and the control system is electrically connected with the intelligent positioning module and the intelligent traction seat module so as to realize full-automatic loading, unloading and traction of the trailer.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics, and in particular relates to a device and method for fully automatic loading and unloading a tractor trailer. Background Art

[0002] Similar fully automated loading and unloading technologies for tractor trailers exist both domestically and internationally. Fully automated loading and unloading systems are widely used in the logistics and transportation industries of many countries. These systems typically utilize robotic arms, suction cups, and other devices to automatically connect and disconnect trailers, thereby improving loading and unloading efficiency. In these systems, when a trailer enters the loading and unloading area, sensors or guide wires guide it to a designated location. The loading and unloading equipment then automatically connects to the trailer's towing point to perform unloading or loading operations. The application of these technologies significantly reduces the need for manual operation and improves operational efficiency and safety.

[0003] However, the existing technology has also exposed some defects in practical applications. First, the fixing method of the connecting device may be unstable, which may lead to a loose connection and the risk of the trailer falling off during transportation. Secondly, the position adjustment of the trailer depends on sensors or guide wires, but these systems are easily affected by external environmental factors, such as bad weather or environmental dust, which leads to inaccurate positioning of the loading and unloading positions. In addition, the loading and unloading equipment of the existing technology has limited adaptability to trailers of different types and sizes, and sometimes manual intervention is required to adjust the device, which affects the effect of automated loading and unloading. These problems restrict the further improvement of the fully automatic loading and unloading system and the expansion of its application scope. Summary of the Invention

[0004] The purpose of the present invention is to provide a device and method for fully automatic loading and unloading of a tractor trailer to solve the above problems. To this end, the technical solution adopted by the present invention is as follows:

[0005] According to a first aspect of the present invention, there is provided a device for fully automatic loading and unloading a tractor trailer, which may include:

[0006] An intelligent positioning module for accurately locating the autonomous tractor and target trailer;

[0007] An intelligent fifth wheel module, used to dock the autonomous tractor with the target trailer, comprising:

[0008] An automatic height adjustment system is used to adjust the height of the target trailer to match the height of the fifth wheel of the self-driving tractor.

[0009] an automatic alignment system for aligning the self-driving tractor with the connection position of the target trailer, and

[0010] An automated sliding fifth wheel system for adjusting the position of the fifth wheel to ensure proper docking position of the fifth wheel with the trailer interface of the target trailer; and

[0011] A control system is electrically connected to the intelligent positioning module and the intelligent fifth wheel module to achieve fully automatic loading and unloading of the tractor trailer.

[0012] Furthermore, the intelligent positioning module includes a laser radar and a camera. The laser radar is used to scan the position and outline of the target trailer in real time, and the camera is used to monitor the target trailer in real time. By fusing the data of the laser radar and the camera, the optimal loading and unloading position is obtained.

[0013] Furthermore, the automatic height adjustment system includes a first sensor, which is installed on the traction seat and is used to detect the height difference between the target trailer and the automatic driving tractor. The control system controls the height adjustment device of the target trailer to adjust the height of the target trailer according to the height difference.

[0014] Furthermore, the first sensor is an ultrasonic sensor or a laser sensor.

[0015] Furthermore, the automatic alignment system includes a second sensor, which is installed at the connection position between the self-driving tractor and the target trailer, and is used to detect the positional relationship between the target trailer and the self-driving tractor. The control system calculates the relative position and deviation between the target trailer and the self-driving tractor based on the collected position data, and controls the self-driving tractor to adjust its position based on the calculation results so that it automatically aligns with the connection position between the target trailer and the self-driving tractor.

[0016] Furthermore, the second sensor is an infrared sensor or a camera.

[0017] Furthermore, the automated sliding traction shoe system includes a slide rail and a driving device, and the traction shoe is slidably engaged on the slide rail and is driven by the driving device to move along the slide rail.

[0018] Furthermore, the driving device is an electric or hydraulic driving device.

[0019] Furthermore, the intelligent fifth wheel module also includes an automatic unlocking mechanism for releasing the lock between the fifth wheel and the trailer interface, so that the self-driving tractor and the target trailer can be disengaged.

[0020] Furthermore, the control system includes a human-machine interface for operators to monitor and control the automatic loading and unloading process.

[0021] According to another aspect of the present invention, a method for fully automatic loading and unloading a tractor trailer is provided, which may include the following steps:

[0022] Providing the apparatus as described above;

[0023] The autonomous tractor enters the docking area;

[0024] Accurately positioning the autonomous tractor and the target trailer;

[0025] Automatically adjusting the height of the target trailer to match the height of the fifth wheel of the autonomous tractor;

[0026] Automatically aligning the connection position of the self-driving tractor with the target trailer;

[0027] Automatically adjust the position of the fifth wheel to ensure a reasonable docking position between the fifth wheel and the trailer interface of the target trailer;

[0028] Automatically dock the self-driving tractor with the target trailer.

[0029] The present invention can improve the safety and stability of loading and unloading tractor trailers, improve loading and unloading efficiency, reduce manual intervention, increase adaptability to trailers of different types and sizes, achieve a higher degree of automation, and enhance the system's adaptability and ease of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a principle block diagram of a device for fully automatic loading and unloading a tractor trailer according to an embodiment of the present invention;

[0031] Figure 2 4 is a flow chart of a method for fully automatic loading and unloading a tractor trailer according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the present invention can be more clearly understood. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0033] In the following description, for the purpose of illustrating the various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0034] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0035] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0036] Figure 1 The following is a block diagram showing the principle of a device for fully automatic loading and unloading of a tractor trailer according to an embodiment of the present invention. The device for fully automatic loading and unloading of a tractor trailer includes an intelligent positioning module 1, an intelligent fifth wheel module 2, and a control system 3. The intelligent positioning module 1 is used to accurately position the autonomous tractor and the target trailer; the intelligent fifth wheel module 2 is used to dock the autonomous tractor with the target trailer; and the control system 3 is electrically connected to the intelligent positioning module and the intelligent fifth wheel module, and is used to control the movement of the autonomous tractor according to the sensor signals on the intelligent positioning module 1 and the intelligent fifth wheel module 2, so as to achieve fully automatic loading and unloading of the tractor trailer. The intelligent positioning module 1, the intelligent fifth wheel module 2, and the control system 3 are described in detail below.

[0037] The intelligent positioning module 1 is a positioning system based on laser radar and cameras. The laser radar and camera are installed at appropriate locations in the loading and unloading area to cover all trailers in the entire loading and unloading area. The laser radar is used to scan the position and outline of the trailer in real time to accurately determine the exact position of the trailer; then, combined with the camera, the trailer is monitored in real time to ensure that the position adjustment during the loading and unloading process is more accurate; finally, the laser radar and camera data are fused, and the optimal loading and unloading position is calculated through the corresponding intelligent algorithm (for example, the shortest path optimization algorithm). The self-driving tractor will drive to the optimal loading and unloading position of the target trailer according to the optimal path found by the intelligent algorithm, and prepare for docking. Both laser radars and cameras are commercially available. Improving the positioning system with laser radar and cameras can improve the accuracy and precision of the loading and unloading process.

[0038] The intelligent fifth wheel module 2 is divided into three subsystems: an automatic height adjustment system 21, an automatic alignment system 22, and an automated sliding fifth wheel system 23. This design enables the sliding fifth wheel to be automated, automatically adjusting its position based on the height of the trailer interface, improving operational convenience and accuracy while also enhancing the fifth wheel's intelligence and automation capabilities.

[0039] The automatic height adjustment system 21 may include a first sensor mounted on the fifth wheel of the autonomous tractor to detect the height difference between the target trailer and the autonomous tractor in real time. The first sensor may be an ultrasonic sensor or a laser sensor, etc., which are commercially available. Those skilled in the art may select the appropriate sensor type based on the specific circumstances. The signal from the first sensor is transmitted to the control system 3, which performs calculations and judgments based on the height difference information fed back by the sensor. Based on the height difference detected by the first sensor, the control system 3 controls the automatic adjustment device of the trailer's support frame, such as an electric or hydraulic device, to automatically adjust the height of the trailer to ensure that the trailer interface matches the height of the fifth wheel of the autonomous tractor, thereby achieving a smooth connection.

[0040] The automatic alignment system 22 includes a second sensor installed at the connection position between the trailer and the self-driving tractor, and is used to detect the positional relationship between the target trailer and the self-driving tractor. The second sensor can use technologies such as infrared sensors, cameras, or other distance sensors to obtain accurate position information. The position information collected by the second sensor is transmitted to the control system 3 for processing and analysis. The control system 3 calculates the relative position and deviation between the trailer and the self-driving tractor based on the position data collected by the second sensor. The control system 3 controls the self-driving tractor to adjust its position based on the calculated position deviation so that it automatically aligns with the connection position between the target trailer and the self-driving tractor. The automatic adjustment device should travel along the planned path to ensure the accuracy and stability of the connection.

[0041] The automated sliding fifth wheel system 23 may include a slide rail and a drive unit. The fifth wheel slides along the rail and is driven by the drive unit. A third sensor is mounted on the rail to detect the position of the fifth wheel. The third sensor may be a Hall effect sensor or an infrared sensor, for example. The signal from the third sensor is transmitted to the control system, which controls the drive unit to automatically adjust the position. Specifically, the control system 3 adjusts the position of the fifth wheel based on feedback from the third sensor to ensure the proper docking position between the fifth wheel and the trailer interface, achieving an optimal load ratio for the semi-trailer and, consequently, achieving efficient and economical driving. For example, when the signal from the third sensor is high, it indicates that the fifth wheel has been adjusted to the proper position.

[0042] The drive can be electric or hydraulic, enabling automatic position adjustment of the fifth wheel. Electric drive uses a motor to drive the fifth wheel along the slide rails, controlling its position. The motor can be a servo motor. Hydraulic drive uses a hydraulic system to control the extension and retraction of the slide rails, achieving automatic adjustment. The hydraulic system can be combined with sensors and control systems to implement automated adjustment capabilities.

[0043] The automated sliding fifth wheel system 23 may also include a fourth sensor, mounted on the fifth wheel, for detecting whether the automated tractor is docked with the target trailer. This fourth sensor may be a contact switch or a proximity switch (Hall-type). Based on the feedback from the fourth sensor, the control system 3 determines whether the automated sliding fifth wheel 23 is docked or disconnected from the trailer. For example, a high signal from the fourth sensor indicates that the automated tractor is docked with the target trailer; a low signal indicates that the automated tractor is docked or undocked.

[0044] The intelligent fifth wheel module may also include an automatic unlocking mechanism for releasing the lock between the fifth wheel and the trailer interface, allowing the autonomous tractor and trailer to disengage. The automatic unlocking mechanism can be electrically or hydraulically driven. For example, a motor could drive a locking pin on the fifth wheel to disengage from the trailer interface.

[0045] Control system 3 is installed on the self-driving tractor to control the self-driving tractor to automatically complete the loading and unloading process with the trailer. Control system 3 may include a human-machine interface, through which an operator can monitor and control the automatic loading and unloading process of the self-driving tractor, for example, through a touch screen or voice commands. The human-machine interface can be a dedicated handheld controller or a portable computer (e.g., a laptop or tablet computer) installed with dedicated software.

[0046] Figure 2 A flow chart of a method for fully automatic loading and unloading a tractor trailer according to an embodiment of the present invention is shown. The method comprises the following steps:

[0047] S1. Provide the fully automatic loading and unloading device for tractor trailers as described above.

[0048] S2. The autonomous tractor enters the docking area. Specifically, after the manually driven tractor arrives at the designated location of the docking area, the manually driven tractor separates from the trailer, the manually driven tractor leaves, and the autonomous tractor enters.

[0049] S3. Accurately position the autonomous driving tractor and the target trailer. Specifically, this is accomplished through the intelligent positioning module 1. The control system 3 determines whether the positioning is accurate, that is, whether the autonomous driving tractor has reached the optimal docking position. If so, docking begins.

[0050] S4. Automatically adjust the height of the target trailer to match the height of the fifth wheel of the autonomous tractor. Specifically, this is accomplished by the automatic height adjustment system 21. The control system controls an automatic adjustment device of the trailer's support frame, such as an electric or hydraulic device, based on the height difference detected by the first sensor to automatically adjust the height of the trailer to ensure that the trailer interface matches the height of the fifth wheel of the autonomous tractor, thereby achieving a smooth connection.

[0051] S5. Automatically align the autonomous tractor with the connection position of the target trailer. Specifically, this is accomplished by the automatic alignment system 22. The control system 3 calculates the relative position and deviation between the trailer and the autonomous tractor based on the position data collected by the second sensor. Based on the calculated position deviation, the autonomous tractor adjusts its position to automatically align with the connection position of the trailer and the autonomous tractor.

[0052] S6. Automatically adjust the position of the fifth wheel to ensure proper docking between the fifth wheel and the trailer interface of the target trailer. Specifically, this is accomplished through the automated sliding fifth wheel system 23. Based on feedback from the third sensor, the control system 3 drives the fifth wheel along the slide rails to a specified position, ensuring proper docking between the fifth wheel and the trailer interface, achieving an optimal load ratio for the semi-trailer, and thereby ensuring efficient and economical driving.

[0053] S7. Automatically dock the autonomous tractor with the target trailer. Specifically, after determining the docking position, the autonomous tractor begins to back up toward the target trailer for docking. When the fourth sensor detects that the autonomous tractor and the target trailer have docked, the autonomous tractor is controlled to exit the docking area. After the docking is automatically completed, the electrical and gas circuits of the autonomous tractor and the target trailer are docked. Preferably, the docking of the electrical and gas circuits can be automatically performed by a robotic arm.

[0054] In addition, the method may further include step S8, after the autonomous driving tractor pulls the target trailer to the destination, automatically disconnecting the autonomous driving tractor from the target trailer, thereby completing the unloading.

[0055] This invention proposes a fully automated method for loading and unloading trailers and tractors. During the loading and unloading process, the trailer's position is first located using a laser radar. An intelligent fifth wheel system is then used to connect the tractor and trailer. Finally, throughout the docking and loading process, personnel can monitor the entire process through a control system, which adjusts operations based on real-time data to ensure efficient and safe docking and loading. This integrated solution not only addresses the shortcomings of existing technologies but also improves the performance and effectiveness of fully automated tractor-trailer loading and unloading systems.

[0056] While the preferred embodiments of the present invention have been described in detail above, it should be understood that, after reading the above teachings of the present invention, those skilled in the art may make various changes or modifications to the present invention. Such equivalents also fall within the scope defined by the appended claims.

Claims

1. A fully automatic loading and unloading device for tractor trailers, characterized in that: include: An intelligent positioning module for accurately locating the autonomous tractor and target trailer; An intelligent fifth wheel module, used to dock the autonomous tractor with the target trailer, comprising: An automatic height adjustment system is used to adjust the height of the target trailer to match the height of the fifth wheel of the self-driving tractor. an automatic alignment system for aligning the self-driving tractor with the connection position of the target trailer, and An automated sliding fifth wheel system for adjusting the position of the fifth wheel to ensure a proper docking position between the fifth wheel and the trailer interface of the target trailer; as well as A control system is electrically connected to the intelligent positioning module and the intelligent fifth wheel module to achieve fully automatic loading and unloading of the tractor trailer.

2. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The intelligent positioning module includes a laser radar and a camera. The laser radar is used to scan the position and outline of the target trailer in real time, and the camera is used to monitor the target trailer in real time. By fusing the data of the laser radar and the camera, the optimal loading and unloading position is obtained.

3. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The automatic height adjustment system includes a first sensor, which is installed on the fifth wheel and is used to detect the height difference between the target trailer and the automatic driving tractor. The control system controls the height adjustment device of the target trailer to adjust the height of the trailer according to the height difference.

4. The fully automatic loading and unloading device for tractor trailers according to claim 3, characterized in that: The first sensor is an ultrasonic sensor or a laser sensor.

5. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The automatic alignment system includes a second sensor, which is installed at the connection position between the self-driving tractor and the target trailer, and is used to detect the positional relationship between the target trailer and the self-driving tractor. The control system calculates the relative position and deviation between the target trailer and the self-driving tractor based on the collected position data, and controls the self-driving tractor to adjust its position based on the calculation results so that it automatically aligns with the connection position between the target trailer and the self-driving tractor.

6. The fully automatic loading and unloading device for tractor trailers according to claim 5, characterized in that: The second sensor is an infrared sensor or a camera.

7. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The automated sliding traction shoe comprises a slide rail and a driving device. The traction shoe is slidably engaged on the slide rail and is driven by the driving device to move along the slide rail.

8. The fully automatic loading and unloading device for tractor trailers according to claim 7, characterized in that: The driving device is an electric or hydraulic driving device.

9. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The intelligent fifth wheel module also includes an automatic unlocking mechanism for releasing the lock between the fifth wheel and the trailer interface so that the self-driving tractor and the target trailer can be disengaged.

10. The fully automatic loading and unloading device for tractor trailers according to claim 1, characterized in that: The control system includes a human-machine interaction interface for operators to monitor and control the loading and unloading process.

11. A method for fully automatic loading and unloading of a tractor trailer, characterized in that: The following steps are involved: Provided is a fully automatic loading and unloading device for a tractor trailer according to any one of claims 1 to 10; The autonomous tractor enters the docking area; Accurately positioning the autonomous tractor and the target trailer; Automatically adjusting the height of the target trailer to match the height of the fifth wheel of the autonomous tractor; Automatically aligning the connection position of the self-driving tractor with the target trailer; Automatically adjust the position of the fifth wheel to ensure a reasonable docking position between the fifth wheel and the trailer interface of the target trailer; Automatically dock the self-driving tractor with the target trailer.

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