Loading and unloading system, method and equipment for automatic gallery bridge building and storage medium

Abstract

The invention provides a loading and unloading system, method and equipment for automatic gallery bridge building and a storage medium, and the system comprises at least one gallery bridge robot which is provided with an inclined gallery bridge plate; the loading and unloading conveying assemblies enter or leave the container based on the gallery bridge robot, scan containers in the container in real time and predict the end time; according to the time node when each container truck arrives at the loading and unloading truck space, establishing a get-on time window and a corresponding loading and unloading truck space label, according to the predicted end time, establishing a get-off time window and a corresponding loading and unloading truck space label, and based on the time sequence of the get-on time window and the get-off time window, carrying out sorting to establish a gallery bridge task. And the gallery bridge robot arrives at the corresponding loading and unloading truck position so that the loading and unloading conveying assembly can enter or leave the container. The container can be automatically connected with the ground, the height difference between the container and the ground is overcome, a carrying channel is established, and the loading and unloading efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of container storage, and in particular to a loading and unloading system, method, equipment and storage medium for automatic corridor construction. Background Art

[0002] In traditional logistics unloading scenarios, many companies' low-cost flat warehouses lack automated equipment and platforms, and require multiple people to cooperate in unloading: one person needs to stand in the container of the truck and then pass the goods to the person under the truck. After the person under the truck stacks the goods, he manually drives a forklift to deliver them to the ground storage space in the warehouse.

[0003] Therefore, the present invention provides a loading and unloading system, method, equipment and storage medium for automatic corridor construction. Summary of the Invention

[0004] In response to the problems in the prior art, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium for automatic corridor construction, which overcomes the difficulties of the prior art, can automatically connect containers and the ground, overcome the height difference between containers and the ground, establish a transportation channel, and improve loading and unloading efficiency.

[0005] An embodiment of the present invention provides a loading and unloading device for automatically constructing a covered bridge, comprising:

[0006] At least one corridor robot has an inclined corridor board, one end of which is connected to the ground and the other end of which can be connected to the container of the container truck, together forming a slope;

[0007] Several loading and unloading conveying components, based on the bridge robot entering or leaving the container, the loading and unloading conveying components scan the containers in the container in real time and predict the end time;

[0008] According to the time node of each container truck arriving at the loading and unloading truck location, a boarding time window and a corresponding loading and unloading truck location label are established, and according to the predicted end time, a disembarkation time window and a corresponding loading and unloading truck location label are established. Based on the timing of the boarding time window and the disembarkation time window, a corridor task is established to order the corridor robot to arrive at the loading and unloading truck location corresponding to the current boarding time window or disembarkation time window, so that the loading and unloading conveying component can enter or leave the container.

[0009] Preferably, the corridor robot establishes a sequential path planning based on the time window of the corridor task and the preset spatial position of the corresponding loading and unloading truck bay, so as to reach the corresponding loading and unloading truck bay in each time window.

[0010] Preferably, the loading and unloading conveying assembly includes:

[0011] A loading and unloading robot comprising an AGV and a robotic arm connected to the AGV;

[0012] A flexible chain conveyor line is connected to the rear of the loading and unloading robot. The flexible chain conveyor line includes a head chain trolley, a middle chain and a tail chain trolley connected in sequence. The head chain trolley, the middle chain and the tail chain trolley each have a transmission belt and are interconnected.

[0013] Preferably, the transmission belts of the head chain trolley, the middle chain and the tail chain trolley rotate synchronously, the transmission belt of the head chain trolley can be bent between the head of the transmission belt of the middle chain, and the tail of the transmission belt of the middle chain can be bent between the transmission belt of the tail chain trolley.

[0014] Preferably, when the loading and unloading robot and the head chain trolley enter the container, the tail chain trolley is located on the ground, and the middle chain forms a suspended inclined transmission channel.

[0015] Preferably, the loading and unloading robot has a point cloud acquisition device, which scans the spatial position of a row of containers stacked inside the container and establishes a handling task for each container. The loading and unloading robot transports the containers one by one to the head chain trolley according to the handling task, and transports the containers out through the transmission of the flexible chain conveyor line.

[0016] Preferably, after all the containers in the current row are transported to the flexible chain conveyor line, the loading and unloading robot continues to enter the interior of the container along the length direction of the container and scans the next row of stacked containers again until the end plate of the container is scanned. Based on the number of remaining containers in the current row and the average time of previous handling tasks, the unloading time window is obtained.

[0017] An embodiment of the present invention further provides a method for loading and unloading cargo using an automatic gallery bridge, which uses the above-mentioned loading and unloading device for the automatic gallery bridge, comprising the following steps:

[0018] S110, establishing a boarding time window and a corresponding loading and unloading space label based on the time node of each container truck arriving at the loading and unloading space, and establishing a disembarking time window and a corresponding loading and unloading space label based on the predicted end time; and

[0019] S120. Establish a corridor bridge task based on the sequence of the boarding time window and the alighting time window, and make the corridor bridge robot arrive at the loading and unloading truck position corresponding to the current boarding time window or the alighting time window, so that the loading and unloading conveying component can enter or leave the container.

[0020] An embodiment of the present invention further provides a loading and unloading device for automatically constructing a covered bridge, comprising:

[0021] processor;

[0022] a memory storing executable instructions for the processor;

[0023] Wherein, the processor is configured to execute the steps of the above-mentioned method for loading and unloading cargo for automatic corridor construction by executing the executable instructions.

[0024] An embodiment of the present invention further provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the above-mentioned method for loading and unloading cargo in the automatic corridor construction.

[0025] The purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium for automatic corridor construction, which can automatically connect containers and the ground, overcome the height difference between the containers and the ground, establish a transportation channel, and improve loading and unloading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0027] Figure 1 It is a schematic diagram of a loading and unloading device constructed by operating the automatic corridor bridge of the present invention.

[0028] Figure 2 It is a schematic diagram of the construction of a loading and unloading device for the automatic corridor bridge of the present invention.

[0029] Figure 3 It is a top view of the construction of the loading and unloading device of the automatic corridor bridge of the present invention.

[0030] Figure 4 It is a schematic diagram of the loading and unloading device constructed by the automatic corridor bridge of the present invention heading towards the corridor bridge.

[0031] Figure 5 It is a schematic diagram of a loading and unloading device constructed by the automatic corridor bridge of the present invention in a container transporting a container.

[0032] Figure 6 It is a time sequence table of the corridor bridge tasks of the loading and unloading device built by the automatic corridor bridge of the present invention.

[0033] Figure 7 It is a flow chart of the loading and unloading method of the automatic corridor bridge construction of the present invention.

[0034] Figure 8 It is a structural schematic diagram of the loading and unloading equipment constructed by the automatic corridor bridge of the present invention.

[0035] Figure 9 It is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

[0036] Reference numerals

[0037] 10 sets of cards

[0038] 11 Container

[0039] 12 containers

[0040] 2 Bridge Robot

[0041] 20 loading and unloading spaces

[0042] 21 Bridge Board

[0043] 3 Loading and unloading robots

[0044] 4 Flexible chain conveyor line

[0045] 41 Head chain trolley

[0046] 42 middle chain

[0047] 43 Tail chain trolley DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0049] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0050] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means 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 this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0052] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0053] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0054] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0055] Although the terms first, second, etc. are used in some instances herein to represent various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in this article, the singular forms "one," "an," and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise," "include," and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0056] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0057] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0058] Figure 1 It is a schematic diagram of a loading and unloading device constructed by operating the automatic corridor bridge of the present invention. Figure 2 It is a schematic diagram of the construction of a loading and unloading device for the automatic corridor bridge of the present invention. Figure 3 It is a top view of the construction of the loading and unloading device of the automatic corridor bridge of the present invention. Figure 4 It is a schematic diagram of the loading and unloading device constructed by the automatic corridor bridge of the present invention heading towards the corridor bridge. Figure 5 This is a schematic diagram of the loading and unloading device constructed by the automatic corridor bridge of the present invention in the container transport. Figures 1 to 5 As shown, the automatic corridor bridge loading and unloading device of the present invention includes: at least one corridor bridge robot 2 and several loading and unloading conveyor components. At least one corridor bridge robot 2 has an inclined corridor bridge deck 21, one end of which is connected to the ground and the other end can be connected to the container 11 of a container truck 10, forming a slope. The several loading and unloading conveyor components scan the containers 12 in the container 11 in real time and predict the end time based on the corridor bridge robot 2 entering or leaving the container 11. Based on the time point at which each container truck 10 arrives at the loading and unloading bay 20, a loading time window and a corresponding loading and unloading bay 20 tag are established. Based on the predicted end time, a disembarkation time window and a corresponding loading and unloading bay 20 tag are established. A corridor bridge task is established based on the timing of the loading and disembarkation time windows, directing the corridor bridge robot 2 to the loading and unloading bay 20 corresponding to the current loading or disembarkation time window, allowing the loading and unloading conveyor components to enter or leave the container 11. The present invention can manage the needs of loading and unloading containers of loading and unloading conveying components of multiple loading and unloading bays through a small number of bridge robots. According to task requirements, a bridge is automatically established between the container and the ground to overcome the height difference between the container and the ground, establish a transportation channel, and improve the loading and unloading efficiency and equipment utilization.

[0059] In a preferred embodiment, the corridor robot 2 establishes a sequential path planning based on the time window of the corridor task and the preset spatial position of the corresponding loading and unloading truck bay 20, so as to reach the corresponding loading and unloading truck bay 20 in each time window.

[0060] In a preferred embodiment, the loading and unloading conveyor assembly comprises:

[0061] A loading and unloading robot 3 has an AGV car and a robotic arm connected to the AGV car (AGV is Automated Guided Vehicle, abbreviated as AGV, the main function of the AGV car is to automatically move and transfer logistics).

[0062] A flexible chain conveyor line 4 is connected to the rear of the loading and unloading robot 3. The flexible chain conveyor line 4 includes a head chain trolley 41, a middle chain 42 and a tail chain trolley 43 connected in sequence. The head chain trolley 41, the middle chain 42 and the tail chain trolley 43 each have a transmission belt and are interconnected, so that the flexible chain conveyor line 4 can establish a stable transmission channel between the container and the ground in a segmented manner, but not limited to this.

[0063] In a preferred embodiment, the transmission belts of the head chain trolley 41, the middle chain 42 and the tail chain trolley 43 rotate synchronously, the transmission belt of the head chain trolley 41 and the head of the transmission belt of the middle chain 42 can be bent, and the tail of the transmission belt of the middle chain 42 and the transmission belt of the tail chain trolley 43 can be bent, but not limited to this.

[0064] In a preferred embodiment, when the loading and unloading robot 3 and the head chain trolley 41 enter the container, the tail chain trolley 43 is located on the ground, and the middle chain 42 forms a suspended inclined transmission channel, but not limited to this.

[0065] In a preferred embodiment, the loading and unloading robot 3 has a point cloud acquisition device, which scans the spatial position of a row of containers 12 stacked inside the container and establishes a handling task for each container 12. The loading and unloading robot 3 transports the containers 12 one by one to the head chain trolley 41 according to the handling task, and transports them out of the container 11 through the transmission of the flexible chain conveyor line 4. In this embodiment, the existing laser point cloud scanning method is used to obtain the point cloud data of the scheduled containers, and then the dividing line grid between the containers can be easily obtained by processing the point cloud data (obviously each grid is a container) to distinguish each container but not limited to this.

[0066] In a preferred embodiment, after all the containers 12 in the current row are transported to the flexible chain conveyor line 4, the loading and unloading robot 3 continues to enter the container along the length direction of the container and scans the next row of stacked containers 12 again until the end plate of the container is scanned. Based on the number of remaining containers 12 in the current row and the average time of previous handling tasks, the unloading time window is obtained, but not limited to this.

[0067] Specific embodiments of the present invention include:

[0068] Figure 6 This is a time sequence table of the corridor tasks of the loading and unloading device of the automatic corridor construction of the present invention. Figures 1 to 6 As shown, the present invention's automatic corridor bridge loading and unloading device includes a corridor bridge robot 2 with an inclined corridor bridge deck 21. One end of the corridor bridge deck 21 is connected to the ground, and the other end can be connected to the container 11 of a container truck 10, forming a slope. Several loading and unloading conveyor components scan the containers 12 inside the container 11 in real time and predict the end time when the corridor bridge robot 2 enters or leaves the container 11. Based on the arrival times of three container trucks 10 at three loading and unloading bays 20, a loading window and corresponding loading and unloading bay 20 tags are established. Based on the predicted end time, a disembarkation window and corresponding loading and unloading bay 20 tags are established. A corridor bridge task is established based on the timing of the loading and disembarkation windows, directing the corridor bridge robot 2 to the loading and unembarkation bay 20 corresponding to the current loading and unembarkation window, allowing the loading and unembarkation conveyor components to enter or leave the container 11. Each loading and unembarkation conveyor component includes a loading and unloading robot 3 with an automated guided vehicle (AGV) and a robotic arm connected to the AGV. A flexible chain conveyor line 4 is connected to the rear of the loading and unloading robot 3. The flexible chain conveyor line 4 includes a head chain trolley 41, a middle chain 42 and a tail chain trolley 43 connected in sequence. The head chain trolley 41, the middle chain 42 and the tail chain trolley 43 each have a transmission belt and are interconnected, so that the flexible chain conveyor line 4 can establish a stable transmission channel between the container and the ground in a segmented manner.

[0069] In this embodiment, based on Figure 1 From left to right, the container trucks are divided into container truck A, container truck B and container truck C. The current time is T. Before time T, container truck C has entered the corresponding loading and unloading truck position 20 ( Figure 1 The loading and unloading truck position 20 on the right side of the middle) is established, and a loading and unloading time window C1 is established. In the loading and unloading time window C1, the bridge robot 2 has been connected to the container truck C, and a loading and unloading conveyor component enters the container of the container truck C for unloading (refer to Figure 5), the transmission belts of the head chain trolley 41, the middle chain 42 and the tail chain trolley 43 rotate synchronously, the transmission belt of the head chain trolley 41 and the head of the transmission belt of the middle chain 42 can be bent, and the tail of the transmission belt of the middle chain 42 and the transmission belt of the tail chain trolley 43 can be bent. When the loading and unloading robot 3 and the head chain trolley 41 enter the container, the tail chain trolley 43 is located on the ground, and the middle chain 42 forms a suspended inclined transmission channel.

[0070] At time T, truck A enters the corresponding loading and unloading truck position 20 ( Figure 1 The left loading and unloading truck space 20 is set up, and the boarding time window A1 is established, so that the bridge robot 2 drives to the left loading and unloading truck space 20 based on the boarding time window A1 to connect the container of the container truck A with the ground, allowing another loading and unloading conveyor component to enter the container of the container truck A for unloading (refer to Figure 4 The corridor robot 2 establishes a sequential path planning based on the time window of the corridor task and the preset spatial position of the corresponding loading and unloading truck position 20, so as to reach the corresponding loading and unloading truck position 20 in each time window.

[0071] Then, the truck B enters the corresponding loading and unloading truck position 20 ( Figure 1 The middle loading and unloading truck space 20 is located in the middle, and a boarding time window B1 is established, so that the corridor robot 2 drives to the left loading and unloading truck space 20 based on the boarding time window B1, so that the third loading and unloading conveying component (not shown in the figure) can enter the container of the container truck A for unloading.

[0072] Subsequently, the loading and unloading robot in truck C uses its point cloud acquisition device to scan the next row of stacked containers 12. If it detects the end plate of the scanned container, it determines a disembarkation window C3 based on the number of remaining containers 12 in the current row of truck C and the average time of previous handling tasks. (Window C2 between C1 and C3 is the time window for the loading and unloading robot to handle truck C's containers.) It then instructs bridge robot 2 to establish a bridge between truck C's containers and the ground before disembarkation window C3. After the loading and unloading conveyor assembly leaves truck C, truck C can depart from loading and unloading bay 20.

[0073] Next, the loading and unloading robot in truck A scans the next row of stacked containers 12 using its point cloud acquisition device. If it detects the end plate of the scanned container, it determines a disembarkation window A3 based on the number of remaining containers 12 in the current row of truck A and the average time of previous handling tasks. (Window A2 between A1 and A3 is the time window for the loading and unloading robot to move truck A's containers.) It then instructs the bridge robot 2 to establish a bridge between truck A's containers and the ground before disembarkation window A3. After the loading and unloading conveyor assembly leaves truck A, truck A can depart from loading and unloading bay 20.

[0074] Finally, the loading and unloading robot in truck B scans the next row of stacked containers 12 using its point cloud acquisition device. It detects the end plate of the scanned container and, based on the number of remaining containers 12 in the current row of truck B and the average time of previous handling tasks, determines a time window for unloading (B3). (The window B2 between B1 and B3 is the time window for the loading and unloading robot to handle truck B's containers.) It then instructs bridge robot 2 to establish a bridge between truck B's containers and the ground before time window B3. After the loading and unloading conveyor assembly leaves truck B, truck A can depart from loading and unloading bay 20.

[0075] Based on the above process, it is possible to match the unloading tasks of multiple loading and unloading truck spaces 20 with only one corridor robot 2, flexibly build a corridor between the container and the ground, overcome the height difference between the container and the ground, establish a transportation channel, and improve the loading and unloading efficiency.

[0076] Figure 7 This is a flow chart of the method for loading and unloading cargoes in the automatic corridor bridge of the present invention. Figure 7 As shown, the loading and unloading method for the automatic corridor bridge construction of the present invention adopts the above-mentioned AGV robot, comprising:

[0077] S110, establishing a boarding time window and a corresponding loading and unloading truck bay 20 tag based on the time node of each container truck 10 arriving at the loading and unloading truck bay 20, and establishing a disembarkation time window and a corresponding loading and unloading truck bay 20 tag based on the predicted end time; and

[0078] S120. Establish a corridor bridge task based on the sequence of the boarding time window and the alighting time window, so that the corridor bridge robot 2 arrives at the loading and unloading truck position 20 corresponding to the current boarding time window or the alighting time window, so that the loading and unloading conveying component can enter or leave the container 11.

[0079] In a preferred embodiment, the corridor robot 2 establishes a sequential path planning based on the time window of the corridor task and the preset spatial position of the corresponding loading and unloading truck location 20, so as to reach the corresponding loading and unloading truck location 20 in each time window, but is not limited to this.

[0080] In a preferred embodiment, the loading and unloading robot 3 has a point cloud acquisition device, which scans the spatial position of a row of containers 12 stacked inside the container and establishes a handling task for each container 12. The loading and unloading robot 3 transports the containers 12 one by one to the head chain trolley 41 according to the handling task, and transports them out of the container 11 through the transmission of the flexible chain conveyor line 4. After all the containers 12 in the current row are transported to the flexible chain conveyor line 4, the loading and unloading robot 3 continues to enter the container along the length direction of the container and scans the next row of stacked containers 12 again until the end plate of the container is scanned. Based on the number of remaining containers 12 in the current row and the average time of the previous handling tasks, the unloading time window is obtained, but not limited to this.

[0081] The loading and unloading method of the automatic corridor bridge construction of the present invention can automatically connect the container and the ground, overcome the height difference between the container and the ground, establish a transportation channel, and improve the loading and unloading efficiency.

[0082] An embodiment of the present invention further provides a loading and unloading device for automatic corridor construction, comprising a processor and a memory storing executable instructions for the processor. The processor is configured to execute the executable instructions to perform the steps of a method for loading and unloading automatic corridor construction.

[0083] As shown above, the loading and unloading device constructed by the automatic corridor of the present invention in this embodiment can automatically connect the container and the ground, overcome the height difference between the container and the ground, establish a transportation channel, and improve the loading and unloading efficiency.

[0084] Those skilled in the art will appreciate that various aspects of the present invention may be implemented as systems, methods, or program products. Accordingly, various aspects of the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, microcode, etc.), or in a combination of hardware and software, collectively referred to herein as "circuits," "modules," or "platforms."

[0085] Figure 8 This is a structural diagram of the loading and unloading equipment built by the automatic corridor bridge of the present invention. Figure 8 An electronic device 600 according to this embodiment of the present invention will be described. Figure 8 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0086] like Figure 8As shown, electronic device 600 is implemented as a general-purpose computing device. Components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0087] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present invention described in the electronic prescription circulation processing method section of this specification. For example, the processing unit 610 can execute the following steps: Figure 6 Follow the steps shown in .

[0088] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0089] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0090] Bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0091] The electronic device 600 can also communicate with one or more external devices 700 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 600, and / or any device that enables the electronic device 600 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 650. Furthermore, the electronic device 600 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 660. The network adapter 660 can communicate with other modules of the electronic device 600 via the bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 600, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0092] An embodiment of the present invention further provides a computer-readable storage medium for storing a program that, when executed, implements the steps of a method for loading and unloading cargo during automated corridor construction. In some possible implementations, various aspects of the present invention may also be implemented as a program product, comprising program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the aforementioned electronic prescription circulation processing method section of this specification.

[0093] As shown above, the loading and unloading device constructed by the automatic corridor of the present invention in this embodiment can automatically connect the container and the ground, overcome the height difference between the container and the ground, establish a transportation channel, and improve the loading and unloading efficiency.

[0094] Figure 9 Schematic diagram of the structure of the computer readable storage medium of the present invention. Figure 9 , a program product 800 for implementing the above method according to an embodiment of the present invention is described. The program product 800 may be a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0095] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0096] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0097] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0098] In summary, the purpose of the present invention is to provide a loading and unloading system, method, equipment and storage medium for automatic corridor construction, which can automatically connect containers and the ground, overcome the height difference between containers and the ground, establish a transportation channel, and improve loading and unloading efficiency.

[0099] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A loading and unloading device for an automatic corridor bridge, characterized in that: include: At least one corridor robot (2) has an inclined corridor board (21), one end of the corridor board (21) is connected to the ground, and the other end can be connected to the container (11) of the container truck (10), together forming a slope; A plurality of loading and unloading conveying components, based on the bridge robot (2) entering or leaving the container (11), the loading and unloading conveying components scan the container (12) in the container (11) in real time and predict the end time; According to the time node of each container truck (10) arriving at the loading and unloading truck position (20), a boarding time window and a corresponding loading and unloading truck position (20) label are established, and according to the predicted end time, a disembarkation time window and a corresponding loading and unloading truck position (20) label are established. Based on the timing of the boarding time window and the disembarkation time window, a corridor task is established by sorting, and the corridor robot (2) is directed to arrive at the loading and unloading truck position (20) corresponding to the current boarding time window or disembarkation time window, so that the loading and unloading conveying component can enter or leave the container (11).

2. The loading and unloading device for the automatic corridor bridge as claimed in claim 1, characterized in that: The corridor robot (2) establishes a time sequence path planning based on the time window of the corridor task and the preset spatial position of the corresponding loading and unloading truck position (20), so as to reach the corresponding loading and unloading truck position (20) in each time window.

3. The loading and unloading device for the automatic corridor bridge as claimed in claim 1, characterized in that: The loading and unloading conveying component includes: a loading and unloading robot (3) comprising an AGV trolley and a mechanical arm connected to the AGV trolley; A flexible chain conveyor line (4) is connected to the rear of the loading and unloading robot (3), and the flexible chain conveyor line (4) includes a head chain trolley (41), a middle chain (42), and a tail chain trolley (43) connected in sequence. The head chain trolley (41), the middle chain (42), and the tail chain trolley (43) each have a transmission belt and are connected to each other.

4. The loading and unloading device for the automatic corridor bridge as claimed in claim 3, characterized in that: The transmission belts of the head chain trolley (41), the middle chain (42) and the tail chain trolley (43) rotate synchronously. The transmission belt of the head chain trolley (41) and the head of the transmission belt of the middle chain (42) can be bent, and the tail of the transmission belt of the middle chain (42) and the transmission belt of the tail chain trolley (43) can be bent.

5. The loading and unloading device for the automatic corridor bridge as claimed in claim 3, characterized in that: When the loading and unloading robot (3) and the head chain trolley (41) enter the container, the tail chain trolley (43) is located on the ground, and the middle chain (42) forms a suspended inclined transmission channel.

6. The loading and unloading device for the automatic corridor bridge as claimed in claim 3, characterized in that: The loading and unloading robot (3) has a point cloud acquisition device, which scans the spatial position of a row of containers (12) stacked inside the container and establishes a handling task for each container (12). The loading and unloading robot (3) transports the containers (12) one by one to the head chain trolley (41) according to the handling task, and transports the containers (12) out of the container (11) through the transmission of the flexible chain conveyor line (4).

7. The loading and unloading device for the automatic corridor as claimed in claim 6, characterized in that: After all the containers (12) in the current row are transported to the flexible chain conveyor line (4), the loading and unloading robot (3) continues to enter the interior of the container along the length direction of the container and scans the next row of stacked containers (12) again until the end plate of the container is scanned. Based on the number of remaining containers (12) in the current row and the average time of the previous transport tasks, the unloading time window is obtained.

8. A method for loading and unloading cargo by constructing an automatic corridor bridge, characterized in that: The loading and unloading device constructed using the automatic corridor bridge according to claim 1 comprises the following steps: S110, establishing a boarding time window and a corresponding loading and unloading truck space (20) label according to the time node of each container truck (10) arriving at the loading and unloading truck space (20), and establishing a disembarkation time window and a corresponding loading and unloading truck space (20) label according to the predicted end time; and S120, establishing a corridor task based on the sequence of the boarding time window and the disembarking time window, and directing the corridor robot (2) to arrive at the loading and unloading truck position (20) corresponding to the current boarding time window or disembarking time window, so that the loading and unloading conveying component can enter or leave the container (11).

9. An automatic bridge-built loading and unloading equipment, characterized in that: include: processor; a memory storing executable instructions for the processor; Wherein, the processor is configured to execute the steps of the loading and unloading method for automatic corridor construction of claim 8 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that: When the program is executed by the processor, the steps of the loading and unloading method for automatic corridor construction as claimed in claim 8 are implemented.

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