A fully automatic device and method for loading and unloading a trailer

Abstract

The application discloses a device and method for full-automatic loading and unloading of a towing trailer, which comprises: an intelligent positioning module for accurately positioning an automatic driving towing vehicle and a target trailer; an intelligent towing seat module for connecting the automatic driving towing vehicle and the target trailer, which comprises: a height automatic adjustment system for adjusting the height of the target trailer to match the height of a towing seat of the automatic driving towing vehicle, an automatic alignment system for aligning the connection position of the automatic driving towing vehicle and the target trailer, and an automatic sliding towing seat system for adjusting the position of the towing seat to ensure the reasonable docking position of the towing seat and a trailer interface of the target trailer; and a control system electrically connected with the intelligent positioning module and the intelligent towing seat module to realize full-automatic loading and unloading of the towing trailer.

Description

Technical Field

[0001] This invention belongs to the field of logistics technology, and specifically relates to a fully automatic device and method for loading and unloading tractor-trailers. Background Technology

[0002] Similar fully automated loading and unloading technologies for tractor-trailers already 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 employ 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, it is guided to a designated position by sensors or guide lines. Then, the loading and unloading equipment 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, improving operational efficiency and safety.

[0003] However, existing technologies have also revealed some shortcomings in practical applications. First, the fixing method of the connecting device may be unstable, potentially leading to a weak connection and the risk of the trailer falling off during transportation. Second, trailer positioning relies on sensors or guide lines, but these systems are susceptible to external environmental factors, such as inclement weather or dust, resulting in inaccurate loading and unloading positioning. Furthermore, existing loading and unloading equipment has limited adaptability to different types and sizes of trailers, sometimes requiring manual intervention to adjust the device, which affects the efficiency of automated loading and unloading. These problems restrict the further improvement and expansion of the application scope of fully automated loading and unloading systems. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated device and method for loading and unloading trailers, in order to solve the aforementioned problems. Therefore, the technical solution adopted by this invention is as follows:

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

[0006] The intelligent positioning module is used to accurately locate the autonomous driving tractor and the target trailer;

[0007] Intelligent towing module, used to dock the autonomous driving tractor with the target trailer, includes:

[0008] An automatic height adjustment system is used to adjust the height of the target trailer to match the height of the towing seat of the autonomous driving tractor.

[0009] An automatic alignment system is used to align the connection position of the automated driving tractor with the target trailer, and

[0010] An automated sliding tow hitch system is used to adjust the position of the tow hitch to ensure a proper docking position between the tow hitch and the trailer interface of the target trailer; and

[0011] The control system is electrically connected to the intelligent positioning module and the intelligent traction seat module to realize fully automatic loading and unloading of tractor trailers.

[0012] Furthermore, the intelligent positioning module includes a lidar and a camera. The lidar 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 from the lidar and the camera, the optimal loading and unloading position is obtained.

[0013] Furthermore, the automatic height adjustment system includes a first sensor mounted on the towing seat for detecting 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 based on 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 installed at the connection position between the autonomous driving tractor and the target trailer. The second sensor is used to detect the positional relationship between the target trailer and the autonomous driving tractor. The control system calculates the relative position and deviation between the target trailer and the autonomous driving tractor based on the collected position data, and controls the autonomous driving tractor to adjust its position according to the calculation results, so that it automatically aligns with the connection position between the target trailer and the autonomous driving tractor.

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

[0017] Furthermore, the automated sliding traction seat system includes a slide rail and a drive unit, wherein the traction seat is slidably engaged on the slide rail and driven by the drive unit to move along the slide rail.

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

[0019] Furthermore, the intelligent towing seat module also includes an automatic unlocking mechanism for releasing the lock between the towing seat and the trailer interface, so that the autonomous driving tractor and the target trailer can be detached.

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

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

[0022] Provide the apparatus as described above;

[0023] The autonomous tractor entered the docking area;

[0024] Accurately position the autonomous driving tractor and the target trailer;

[0025] The height of the target trailer is automatically adjusted to match the height of the towing seat of the autonomous driving tractor.

[0026] Automatically align the connection position of the autonomous driving tractor with the target trailer;

[0027] The position of the towing seat is automatically adjusted to ensure a proper docking position between the towing seat and the trailer interface of the target trailer;

[0028] The autonomous driving tractor unit automatically docks with the target trailer.

[0029] This invention can improve the safety and stability of loading and unloading tractor trailers, increase loading and unloading efficiency, reduce manual intervention, increase adaptability to different types and sizes of trailers, achieve a higher degree of automation, and improve the system's adaptability and ease of operation. Attached Figure Description

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

[0031] Figure 2 This is a flowchart of a fully automated loading and unloading method for tractor-trailers according to an embodiment of the present invention. Detailed Implementation

[0032] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

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

[0034] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0035] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0036] Figure 1 A schematic block diagram of a fully automated loading and unloading device for tractor-trailers according to an embodiment of the present invention is shown. The device includes an intelligent positioning module 1, an intelligent towing seat module 2, and a control system 3. The intelligent positioning module 1 is used to accurately position the automated driving tractor-trailer to the target trailer; the intelligent towing seat module 2 is used to dock the automated driving tractor-trailer with the target trailer; and the control system 3 is electrically connected to the intelligent positioning module and the intelligent towing seat module, and is used to control the automated driving tractor-trailer to operate according to sensor signals on the intelligent positioning module 1 and the intelligent towing seat module 2, thereby achieving fully automated loading and unloading of the tractor-trailer. The intelligent positioning module 1, the intelligent towing seat module 2, and the control system 3 are described in detail below.

[0037] Intelligent positioning module 1 is a positioning system based on LiDAR and cameras. LiDAR and cameras are installed at appropriate locations in the loading and unloading area to cover all trailers within the area. LiDAR is used to scan the position and outline of trailers in real time, accurately determining their precise location. Then, combined with cameras, the trailers are monitored in real time to ensure more accurate position adjustments during loading and unloading. Finally, the LiDAR and camera data are fused, and the optimal loading and unloading position is calculated using a corresponding intelligent algorithm (e.g., shortest path optimization algorithm). The autonomous driving tractor will travel to the optimal loading and unloading position of the target trailer according to the optimal path found by this intelligent algorithm, ready for docking. Both LiDAR and cameras are commercially available. Improving the positioning system with LiDAR and cameras can enhance the accuracy and precision of the loading and unloading process.

[0038] The intelligent tow seat module 2 is divided into three subsystems: an automatic height adjustment system 21, an automatic alignment system 22, and an automated sliding tow seat system 23. This design enables the sliding tow seat to automatically adjust its position according to the height of the trailer interface, improving operational convenience and accuracy, while also enhancing the intelligence and automation level of the tow seat.

[0039] The automatic height adjustment system 21 may include a first sensor mounted on the tow seat 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, which are commercially available. Those skilled in the art can select an appropriate sensor type based on 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 trailer's height, ensuring that the trailer interface matches the height of the tow seat of the autonomous tractor, thereby achieving a smooth connection.

[0040] The automatic alignment system 22 includes a second sensor installed at the connection point between the trailer and the automated guided vehicle (AGV) to detect the positional relationship between the target trailer and the AGV. The second sensor can employ infrared sensors, cameras, or other distance sensors to acquire accurate positional information. The positional information collected by the second sensor is transmitted to the control system 3 for processing and analysis. Based on the positional data collected by the second sensor, the control system 3 calculates the relative position and deviation between the trailer and the AGV. According to the calculated positional deviation, the control system 3 controls the AGV to adjust its position, automatically aligning it with the connection point of the target trailer and the AGV. The automatic adjustment device should travel along a planned path to ensure the accuracy and stability of the connection.

[0041] The automated sliding tow saddle system 23 may include a slide rail and a drive unit. The tow saddle is slidably engaged on the slide rail and driven by the drive unit to move along the slide rail. A third sensor is installed on the slide rail to detect the position of the tow saddle. The third sensor may be a Hall sensor or an infrared sensor, etc. 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 tow saddle based on the feedback from the third sensor to ensure a proper docking position between the tow saddle and the trailer interface, achieving the optimal load ratio of the semi-trailer, thereby improving driving efficiency and economy. For example, when the signal from the third sensor is high, it indicates that the tow saddle has been adjusted to a proper position.

[0042] The drive unit can be electrically or hydraulically driven to achieve automatic adjustment of the traction seat's position. Electric drive uses a motor to drive the traction seat to slide along the slide rail, 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 rail, achieving automatic adjustment. The hydraulic system can be used in conjunction with sensors and control systems to achieve automated adjustment functions.

[0043] The automated sliding tow tractor system 23 may also include a fourth sensor mounted on the tow tractor for detecting whether the automated tractor is docked with the target trailer. The fourth sensor may be a contact switch or a proximity switch (Hall effect type), etc. Based on the feedback from the fourth sensor, the control system 3 determines whether the automated sliding tow tractor 23 is disengaged or docked with the trailer. For example, a high-level signal from the fourth sensor indicates that the automated tractor is docked with the target trailer; while a low-level signal indicates that the automated tractor is disengaged or not docked with the target trailer.

[0044] In addition, the intelligent tow hitch module may include an automatic unlocking mechanism for releasing the tow hitch from the trailer interface, allowing the autonomous tractor and trailer to detach. The automatic unlocking mechanism can be electrically or hydraulically driven. For example, a motor could disengage the locking pin on the tow hitch from the trailer interface.

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

[0046] Figure 2 A flowchart illustrating a fully automated method for loading and unloading tractor-trailers according to an embodiment of the present invention is shown. The method includes the following steps:

[0047] S1. A device for automatically loading and unloading tractor-trailers as described above.

[0048] S2. The autonomous driving tractor enters the docking area; specifically, after the manually driven tractor arrives at the designated position in the docking area, the manually driven tractor separates from the trailer, the manually driven tractor leaves, and the autonomous driving 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, i.e. 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 towing seat of the autonomous driving tractor. Specifically, this is accomplished by the automatic height adjustment system 21. The control system controls the 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 towing seat of the autonomous driving tractor, thereby achieving a smooth connection.

[0051] S5. Automatically align the connection position of the autonomous driving tractor with 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 driving tractor based on the position data collected by the second sensor, and then controls the autonomous driving tractor to adjust its position according to the calculated position deviation, so that it automatically aligns with the connection position of the trailer and the autonomous driving tractor.

[0052] S6. Automatically adjust the position of the towing seat to ensure a proper docking position between the towing seat and the trailer interface of the target trailer. Specifically, this is accomplished by the automated sliding towing seat system 23. Based on feedback from the third sensor, the control system 3 drives the towing seat to move along the slide rail to the designated position, ensuring a proper docking position between the towing seat and the trailer interface, achieving the optimal load ratio of the semi-trailer, and thus improving driving efficiency and economy.

[0053] S7. Automatically dock the autonomous driving tractor with the target trailer. Specifically, after determining the docking position, the autonomous driving tractor begins to reverse and approach the target trailer for docking. When the fourth sensor detects that the autonomous driving tractor and the target trailer have completed docking, the autonomous driving tractor is controlled to leave the docking area. After automatically completing the docking, the electrical and pneumatic circuits of the autonomous driving tractor and the target trailer are then connected. Preferably, the connection of the electrical and pneumatic circuits can be automatically completed by a robotic arm.

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

[0055] This invention proposes a fully automated method for loading and unloading trailer-trailer tractors. During the loading and unloading process, the trailer's position is first located using lidar. Then, an intelligent towing system connects the tractor and trailer. Finally, throughout the entire docking and unloading process, personnel can monitor the entire process through the control system, which adjusts its operation based on real-time data to ensure efficient and safe docking and unloading operations. This integrated solution not only overcomes the shortcomings of existing technologies but also improves the performance and usability of fully automated trailer-trailer loading and unloading systems.

[0056] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings, those skilled in the art can make various alterations or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A fully automatic device for loading and unloading tractor-trailers, characterized in that, include: The intelligent positioning module is used to accurately locate the autonomous driving tractor and the target trailer. The intelligent positioning module includes a lidar and a camera. The lidar and camera are positioned at appropriate locations in the loading and unloading area to cover all trailers in the entire loading and unloading area. The lidar 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 from the lidar and the camera, the optimal loading and unloading position is obtained. Intelligent towing module, used to dock the autonomous driving tractor with the target trailer, includes: An automatic height adjustment system is used to adjust the height of the target trailer to match the height of the towing seat of the automated driving tractor. The automatic height adjustment system includes a first sensor mounted on the towing seat, used to detect the height difference between the target trailer and the automated driving tractor. The control system controls the height adjustment device of the target trailer to adjust the height of the trailer based on the height difference. An automatic alignment system is used to align the connection position of the autonomous driving tractor with the target trailer. The automatic alignment system includes a second sensor installed at the connection position of the autonomous driving tractor and the target trailer to detect the positional relationship between the target trailer and the autonomous driving tractor. Based on the collected position data, the control system calculates the relative position and deviation between the target trailer and the autonomous driving tractor, and controls the autonomous driving tractor to adjust its position according to the calculation results, so that it automatically aligns with the connection position between the target trailer and the autonomous driving tractor. An automated sliding towing system is used to adjust the position of the towing seat to ensure a proper docking position between the towing seat and the trailer interface of the target trailer. The automated sliding towing system includes a slide rail and a drive unit. The towing seat is slidably engaged on the slide rail and driven by the drive unit to move along the slide rail. A third sensor is installed on the slide rail for detecting the position of the towing seat. The automated sliding towing system also includes a fourth sensor, which is installed on the towing seat for detecting whether the automated driving towing vehicle has docked with the target trailer. as well as The control system is electrically connected to the intelligent positioning module and the intelligent traction seat module to realize fully automatic loading and unloading of tractor trailers.

2. The fully automatic loading and unloading device for tractor-trailers as described in claim 1, characterized in that, The first sensor is an ultrasonic sensor or a laser sensor.

3. The fully automatic loading and unloading device for tractor-trailers as described in claim 1, characterized in that, The second sensor is an infrared sensor or a camera.

4. The fully automatic loading and unloading device for tractor-trailers as described in claim 1, characterized in that, The drive device is an electric or hydraulic drive device.

5. The fully automatic loading and unloading device for tractor-trailers as described in claim 1, characterized in that, The intelligent towing seat module also includes an automatic unlocking mechanism for releasing the lock between the towing seat and the trailer interface, so that the autonomous driving tractor and the target trailer can be detached.

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

7. A fully automated method for loading and unloading tractor-trailers, characterized in that, Includes the following steps: Provide a fully automated device for loading and unloading tractor-trailers as described in any one of claims 1-6; The autonomous tractor entered the docking area; Accurately position the autonomous driving tractor and the target trailer; The height of the target trailer is automatically adjusted to match the height of the towing seat of the autonomous driving tractor. Automatically align the connection position of the autonomous driving tractor with the target trailer; The position of the towing seat is automatically adjusted to ensure a proper docking position between the towing seat and the trailer interface of the target trailer; The autonomous driving tractor unit automatically docks with the target trailer.

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