Vehicle-mounted in-out cabin mobile platform goods taking system and method

Abstract

The embodiment of the invention discloses a vehicle-mounted in-out cabin mobile platform goods taking system and method. The system comprises a walking mechanism which is used for driving the system to move in the walking direction of a mobile carrier vehicle based on a master-slave wheel track type driving mode, a distributed multi-sensor addressing and positioning strategy and a multi-modal speed control strategy; the lifting mechanism is used for driving the cargoes to move in the vertical direction; the pallet fork mechanism is used for driving cargoes to move in the directions of the two sides of the vehicle width; the driving control unit is used for receiving the control instruction, controlling the walking mechanism, the lifting mechanism and the pallet fork mechanism to move and sending a fault state signal; the comprehensive control unit is used for sending a control instruction to the driving control unit, receiving the fault state signal and carrying out sudden stop and maintenance operation when the system is repaired and maintained; and the hydraulic tail plate is used for bearing the goods when the walking structure, the lifting structure and the pallet fork mechanism move to the corresponding goods placing positions, so that an external operator takes down the goods from the hydraulic tail plate.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-mounted transport platforms, and more specifically, to a vehicle-mounted cargo pickup system and method for a mobile platform for entering and exiting a cabin. Background Art

[0002] Currently, cargo handling and automatic storage on vehicle-mounted transport platforms have always been a difficult point in the field of automation. For cargo that is too heavy for manual handling, the common operation method is to use a mobile transport forklift or install a small crane on the vehicle-mounted platform to cooperate with manual work. However, the automated equipment in this type of method is auxiliary assisted handling, and the control of position accuracy still relies mainly on manual experience, which has poor stability.

[0003] A control method and device for a stacker are disclosed in the related art. The method includes analysis and statistics of stacker operation information, stacker power frequency regulation, motor speed loop analysis and regulation, motor current loop analysis and regulation, and stacker working status early warning feedback. In the related art, the high maneuverability of the stacker is improved through intelligent regulation of the motor power frequency, and high-speed and accurate operation to the target position is achieved. The automatic operation of the motor is achieved through double closed-loop control of the motor, thereby ensuring stable motion control of the stacker, making the stacker run more smoothly and quickly, and improving the working efficiency of the stacker.

[0004] However, the relevant technologies are mainly aimed at automated handling scenarios in warehouses or logistics centers, which are still quite different from those used on vehicle-mounted platforms. The specific vehicle chassis, boarding and disembarking, and entry and exit requirements of the vehicle-mounted platform all restrict the application of traditional stacker cranes. Summary of the Invention

[0005] The object of the present invention is to provide a vehicle-mounted cargo pickup system and method for entering and exiting a cabin on a mobile platform, so as to solve at least one of the problems existing in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides a vehicle-mounted cargo pickup system for a mobile platform for entering and exiting a cabin, the system comprising: A traveling mechanism for driving the system in the traveling direction of the mobile vehicle based on a master-slave wheel-rail driving mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy; Lifting mechanism, used to drive the movement of goods in the vertical direction; Fork mechanism, used to drive the movement of goods in the directions of both sides of the vehicle width; A drive control unit, configured to receive control instructions, control the movement of the traveling mechanism, the lifting mechanism, and the fork mechanism, and send a fault status signal; an integrated control unit, configured to send the control instructions to the drive control unit, receive the fault status signal, and perform emergency stop and maintenance operations when the system is under repair and maintenance; a hydraulic tailboard, configured to carry cargo when the walking structure, the lifting structure, and the fork mechanism move to corresponding cargo placement positions, so that an external operator can remove cargo from the hydraulic tailboard; The walking mechanism adopts a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on the two photoelectric proximity switches installed on each shelf in the cabin; The speed control formula of the walking mechanism using the multi-modal speed control strategy is:

[0007] Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

[0008] Optionally, the traveling mechanism includes a rectangular steel frame body, a driving shaft, a driving wheel, a driven wheel, a motor, a reducer, a gear, a back-pressure wheel and a buffer.

[0009] Optionally, the walking mechanism adopts a master-slave wheel-rail drive mode to cross the gap between the guide rails of the cabin section and the guide rails of the cabin section to complete the entry and exit of the system in and out of the cabin.

[0010] Optionally, the lifting mechanism includes a rolling guide rail, a driving device, an encoder, a hanging basket, a limiting mechanism and a protective cover.

[0011] Optionally, the driving device includes a motor, a commutator, a worm gear reducer, a ball screw pair and shaft system components.

[0012] Optionally, the limiting mechanism includes electrical limiting and mechanical limiting.

[0013] Optionally, the fork mechanism includes a second motor, a reducer, a gear, a chain, a sprocket, a roller, an upper fork plate, a middle fork plate, a lower fork plate and a position switch.

[0014] Optionally, the drive control unit includes a servo controller, a servo driver, a digital input and output board, an input and output filter, a relay, a contactor and a fan.

[0015] Optionally, the system further comprises a human-machine interaction module for controlling the movement of the hydraulic tailgate in response to actions of an external operator.

[0016] A second aspect of the present invention provides a method for picking up cargo on a vehicle-mounted mobile platform for entering and exiting a cabin, the method comprising: The system is driven to move in the direction of travel of the mobile vehicle by utilizing a traveling mechanism based on a master-slave wheel-rail driving mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy; Use the lifting mechanism to drive the movement of goods in the vertical direction; Use the fork mechanism to drive the movement of goods in the directions of both sides of the vehicle width; Using a drive control unit to receive control instructions, and control the walking mechanism, the lifting mechanism and the fork mechanism to move, and send a fault status signal; Using an integrated control unit to send the control instructions to the drive control unit, and receive the fault status signal, and perform emergency stop and maintenance operations when the system is repaired and maintained; Using a hydraulic tailboard to carry cargo when the walking structure, the lifting structure, and the fork mechanism move to corresponding cargo placement positions, so that an external operator can remove cargo from the hydraulic tailboard; The walking mechanism adopts a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on the two photoelectric proximity switches installed on each shelf in the cabin; The speed control formula of the walking mechanism using the multi-modal speed control strategy is:

[0017] Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

[0018] The beneficial effects of the present invention are as follows: The technical solution described in the present invention realizes the automatic placement and loading and unloading of large-load cargo when the cabin height of the whole vehicle meets the requirements of road transportation, and finally realizes a vehicle-mounted cabin entry and exit mobile platform cargo picking system with strong versatility, simple algorithm, and easy engineering implementation, which realizes the automatic handling of heavy objects and high-precision and high-reliability control under the vehicle-mounted platform. The principle of the present invention is simple, convenient and practical, and reduces development costs, and can be promoted and applied to vehicle-mounted storage equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Figure 1 A schematic structural diagram of a vehicle-mounted cargo pickup system for entering and exiting a cabin on a mobile platform provided by an embodiment of the present invention is shown.

[0021] Figure 2 A schematic diagram showing the sensor arrangement corresponding to the addressing method of a single cargo location of the vehicle-mounted in-and-out mobile platform cargo pickup system provided by an embodiment of the present invention is shown.

[0022] Figure 3 A schematic diagram of a speed switching curve of a vehicle-mounted in-and-out cabin mobile platform cargo pickup system provided by an embodiment of the present invention is shown.

[0023] Figures 4 to 11 A schematic diagram of the cargo picking process of the vehicle-mounted in-and-out cabin mobile platform cargo picking system provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the present invention, the present invention will be further described below in conjunction with the embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the following specific description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0025] The relevant technologies are mainly aimed at automated handling scenarios in warehouses or logistics centers, which are still quite different from those used on vehicle-mounted platforms. The specific vehicle chassis, boarding and disembarking, and entry and exit requirements of the vehicle-mounted platform all restrict the application of traditional stacker cranes.

[0026] In view of this, one embodiment of the present invention provides a vehicle-mounted in-and-out cargo pickup system for a mobile platform, the system comprising: a traveling mechanism for driving the system in the direction of travel of the mobile vehicle based on a master-slave wheel-rail drive mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy; a lifting mechanism for driving the movement of the cargo in the vertical direction; a fork mechanism for driving the movement of the cargo in the directions of both sides of the vehicle width; a drive control unit for receiving control instructions and controlling the movement of the traveling mechanism, the lifting mechanism, and the fork mechanism, and sending a fault status signal; an integrated control unit for sending the control instructions to the driving control unit, receiving the fault status signal, and performing emergency stop and maintenance operations when the system is repaired and maintained; a hydraulic tailgate for carrying the cargo when the traveling mechanism, the lifting structure, and the fork mechanism move to the corresponding cargo placement position, so that an external operator can remove the cargo from the hydraulic tailgate; wherein the traveling mechanism adopts a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on two photoelectric proximity switches installed on each shelf in the cabin; the speed control formula of the traveling mechanism using the multi-modal speed control strategy is:

[0027] Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

[0028] This embodiment realizes the automatic placement and loading and unloading of large loads of cargo at a cabin height that meets the requirements of road transportation. Ultimately, it realizes a vehicle-mounted cabin entry and exit mobile platform cargo picking system with strong versatility, simple algorithm, and easy engineering implementation, and realizes the automated handling of heavy objects and high-precision and high-reliability control under the vehicle-mounted platform.

[0029] In a specific example, Figure 1As shown, the system is mainly composed of a walking mechanism, a lifting mechanism, a fork mechanism, a limit mechanism, a drive control combination (i.e., a drive control unit), an integrated control terminal (i.e., an integrated control unit), a hydraulic tailgate, etc. The system is suitable for use in scenarios where materials are put in and out of the cabin of a mobile transport vehicle-mounted platform. It mainly solves problems such as the heavy load of manual handling of heavy objects on the vehicle-mounted platform, the difficulty in controlling manual forklift loading and unloading, and the messy arrangement of goods on and off the vehicle.

[0030] Furthermore, the system has three degrees of freedom of movement. Under the condition that there is no absolute distance sensor in the walking direction, it adopts a master-slave wheel-rail drive mode and a distributed multi-sensor position recognition mode, and proposes a multi-modal speed control strategy, which can enable the mobile platform cargo picking system to smoothly complete the movement in and out of the cabin through the track gap and achieve high-precision positioning. It can realize automatic picking and loading and unloading of large loads of goods when the cabin height of the whole vehicle meets the requirements of road transportation. Finally, a vehicle-mounted mobile platform cargo picking system for entering and exiting the cabin is realized with strong versatility and easy engineering implementation. The principle of the present invention is simple, convenient and practical, and reduces development costs. It can be promoted and applied to vehicle-mounted storage equipment.

[0031] In a specific example, the system is different from the stacker crane application scenario in a fixed warehouse. The system mainly completes the automatic entry and exit requirements of goods under the mobile vehicle platform, including the completion of the high-precision movement of the picking system in three degrees of freedom in the walking direction of the mobile vehicle, the directions on both sides of the vehicle width, and the vertical up and down directions, the up and down movement of the hydraulic tailgate, and the realization of the overall automated process of picking and placing goods.

[0032] In a possible implementation, the walking mechanism adopts a master-slave wheel-rail drive mode to cross the gap between the guide rails of the cabin section and the guide rails of the cabin section, thereby completing the entry and exit of the system in and out of the cabin.

[0033] In a specific example, the design architecture of the picking system takes into account the three requirements of automatic loading and unloading, entering and exiting the cabin, and ensuring high positioning accuracy, which cannot be met by the stacker crane or crane arm of the high-bay warehouse.

[0034] Furthermore, the most prominent feature of this system is that the entire drive system moves on the track in the direction of the vehicle length. The master-slave wheel-rail drive method can cross the large gap between the guide rails inside the cabin and the guide rails outside the cabin, and complete the entry and exit of the mobile platform cargo pickup system in and out of the cabin under certain tolerance conditions (up and down, left and right, and front and back directions).

[0035] In a specific example, a distributed multi-sensor addressing and positioning strategy is designed without installing an absolute distance sensor to avoid asymmetry between left and right shelves.

[0036] Furthermore, two photoelectric proximity switches are installed on each side of the shelves for the walking mechanism to complete position detection and speed planning.

[0037] In a specific example, Figure 2 As shown, due to the master-slave wheel-rail travel system used in the vehicle loading direction, an absolute multi-turn encoder cannot achieve good measurement results due to factors such as movement in and out of the cabin, gaps in the guide rail splicing, wheel-rail slippage, and compact installation dimensions. Therefore, a distributed photoelectric switch addressing solution was selected for the vehicle loading direction. During target handling, the vehicle loading mechanism needs to complete positioning at the hydraulic tailgate and six positions within the cabin. At each position, the installed in-position switch signals determine whether the vehicle has moved into position. Drive speed planning is then used to ensure repeatable positioning accuracy in the vehicle loading direction.

[0038] Furthermore, considering the vehicle's directional freedom, the pickup system must accelerate from zero speed to high speed over a limited 8-meter distance, then quickly decelerate from high speed back to zero. This entire process requires smooth acceleration and deceleration while maintaining a certain level of positioning accuracy. This requires absolute positioning, coordinated with detection switches on each shelf. To avoid asymmetry in the direction of travel, two photoelectric switches are installed on each shelf, which serve as the pickup system's position detection and speed planning.

[0039] In a specific example, Figure 3 As shown in the figure, the multimodal speed control strategy includes: the length of each shelf is a fixed value L, the distance between the two photoelectric switches and the trigger plate is M, if the shelves are numbered 1, 2, 3, 4, 5, 6, 7 in the loading direction, then the difference between the starting position of the picking system and the target shelf position number is N. In order to take into account the running time and start-stop stability, a speed sub-modal control strategy is adopted. Let the time be t and the speed control be V.

[0040] Furthermore, when 6 ≥ N ≥ 3, the system smoothly accelerates (acceleration a1) to maximum speed V1. When the photoelectric switch is triggered when N = 2, this serves as the first deceleration point, and the system smoothly decelerates (acceleration a2) to the second-speed speed V2. When the photoelectric switch is triggered when N = 1, this serves as the second deceleration point, and the system smoothly decelerates (acceleration a3) to the third-speed speed V3. Finally, the stop switch is triggered at this speed, and the system decelerates (acceleration a4) to stop. Both switches are fully triggered when the system stops. When N = 2, the system smoothly accelerates (acceleration a1) to the second-speed speed V2. When the photoelectric switch is triggered when N = 1, this serves as the first deceleration point, and the system smoothly decelerates (acceleration a3) to the third-speed speed V3. Finally, the stop switch is triggered at this speed, and the system decelerates (acceleration a4) to stop. Both switches are fully triggered when the system stops. When N = 1, the system smoothly accelerates to the third-speed speed V3, and finally, the stop switch is triggered at this speed, and the system decelerates (acceleration a4) to stop. Both switches are fully triggered when the system stops.

[0041] The speed control strategy in this embodiment not only meets the positioning accuracy of movement from different starting positions to the same position, but also ensures the working efficiency of the overall system movement, takes into account the running time and start-stop stability, and realizes high-precision positioning control in the direction of the walking mechanism.

[0042] In a possible implementation, the traveling mechanism includes a rectangular steel frame body, a driving shaft, a driving wheel, a driven wheel, a motor, a reducer, a gear, a counter-pressure wheel, and a buffer.

[0043] In a specific example, the walking mechanism is mainly composed of a rectangular steel frame body, a driving shaft, a driving wheel, a driven wheel, a motor, a reducer, large and small gears, a back-pressure wheel, a buffer, etc. Its main function is to drive the entire system to move on the track in the direction of the vehicle length.

[0044] In a specific example, the vehicle body is mainly formed by welding rectangular steel pipes and is the structural basis of the intelligent pickup system. Other devices are installed on the vehicle body. The vehicle drive mechanism is a master-slave wheel-rail drive type. A gear transmission is used between the drive motor and the driving shaft to ensure the accuracy of the transmission. The driving shaft is coaxially driven with two driving wheels, and two driven wheels are on the other end. Steel wheels are used, and the wheels roll on the C-shaped track. The driving wheels driven by the motor rely on the friction generated by the contact surface between the wheels and the track to drive the intelligent pickup system along the track. A pair of counter-pressure wheels are designed near the driving wheel and the driven wheel, respectively, which act in the opposite direction on the inner side of the track to prevent the vehicle body from overturning. When the vehicle body has an overturning force, the counter-pressure wheels provide counter-pressure to offset the overturning force, thereby ensuring the safe operation of the intelligent pickup system.

[0045] In one possible implementation, the lifting mechanism includes a rolling guide rail, a drive device, an encoder, a hanging basket, a limit mechanism and a protective cover; the drive device includes a motor, a commutator, a worm gear reducer, a ball screw pair and shaft system components; the limit mechanism includes electrical limit and mechanical limit.

[0046] In a specific example, the lifting mechanism consists of rolling guide rails, a drive device (including a motor, a commutator, a worm gear reducer, a ball screw pair and shaft system components), an encoder, a hanging basket, a limit mechanism (including electrical limit and mechanical limit), a protective cover, etc., which mainly drives the hanging basket to carry the load to complete the vertical movement in the up and down directions.

[0047] Furthermore, the servo motor (operating at 3000 rpm) reverses its rotational motion through a commutator, simultaneously converting it into two outputs. The outputs at both ends of the commutator are connected to the input of the worm gear reducer via transition shafts. The transition shafts have an independent shaft system to ensure high speed and position accuracy.

[0048] In one possible implementation, the fork mechanism includes a second motor, a reducer, a gear, a chain, a sprocket, a roller, an upper fork plate, a middle fork plate, a lower fork plate, and a position switch.

[0049] In a specific example, the fork mechanism is composed of a motor, a reducer, gears, a chain, a sprocket, a roller, an upper fork plate, a middle fork plate, a lower fork plate, a position switch, etc., and is mainly used to complete the movement of the fork to drive the loaded cargo in the left and right lateral directions of the vehicle width.

[0050] Furthermore, the telescopic fork is designed to consist of a bottom fork, a middle fork, an upper fork, a two-stage gear drag system, and a drive system located below, all installed symmetrically. The three fork sections are mounted together by horizontal sliding rails. The middle fork is embedded with a two-stage conveyor belt drag system, and the middle fork's tooth plate engages with the drive system below. One end of the two-stage drag system is connected to the bottom fork, and the other end bypasses the gear assembly to connect to the upper fork. When the middle fork, driven by the drive system below, moves relative to the bottom fork, the gear assembly of the middle fork moves at the same speed, then drags the upper fork in the same direction at twice the differential speed, completing the long-distance telescopic operation of the fork.

[0051] In this embodiment, the fork mechanism generally adopts a three-stage linear differential structure, and the sprocket chain transmission fork has a compact structure, a small overall thickness, accurate transmission and low noise.

[0052] In a possible implementation, the drive control unit includes a servo controller, a servo driver, a digital input and output board, an input and output filter, a relay, a contactor, and a fan.

[0053] In a specific example, the drive control assembly (i.e., the drive control unit) is placed at the front end of the mobile platform and the pickup mechanism body and hung on the frame. It must complete all functions of walking, lifting, and fork control and drive, receive control instructions from the integrated control terminal, and report fault status.

[0054] Furthermore, the drive control assembly (i.e., the drive control unit) consists of a servo controller, three servo drivers, four digital input and output boards, input and output filters, relays, contactors, and a fan.

[0055] In a possible implementation, the system further includes a human-machine interaction module, configured to control the movement of the hydraulic tailgate in response to actions of an external operator.

[0056] In a specific example, the hydraulic tailgate can be automatically opened and closed, and the load can be moved up and down on the tailgate, with a control or communication interface being provided between the tailgate and the drive control assembly.

[0057] In one possible implementation, the integrated control terminal (i.e., the integrated control unit) primarily meets the personnel monitoring and operation requirements during the target handling process, including: control operations of the mobile platform and the pickup system, sending instructions to the drive control combination; key status monitoring of the mobile platform and the pickup system, receiving the return status of the drive control combination; and completing emergency stop and maintenance operations during repair and maintenance.

[0058] In one possible implementation, Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 The basic process for operators to pick up goods from outside the cabin is as follows: Step S1: In the initial state, the mobile platform cargo picking system is located in the locked position inside the cabin, the hydraulic tailgate outside the cabin is in the closed state, and the cargo is arranged on each shelf inside the cabin; Step S2: Operate the human-machine interaction module to rotate the hydraulic tailgate outside the cabin 90 degrees from the closed state to the open state. Two I-shaped tracks are arranged on the tailgate, and a certain clearance tolerance is provided between the tailgate and the tracks inside the cabin to facilitate the stowage and opening of the tailgate. Step S3: Control the mobile platform pickup system to move the lifting mechanism to the corresponding lifting and pickup position on the shelf in the cabin, extend the fork to the side pickup position, fine-tune the lifting mechanism so that the cargo is separated from the shelf and completely falls onto the fork. The fork with the cargo is retracted to the middle zero position, and the walking mechanism moves out of the cabin. Step S4, controlling the mobile platform cargo picking system to pass through the gap between the cabin track and the hydraulic tailgate track in the cabin walking direction, and the walking mechanism moves to the tailgate shelf outside the cabin and stops; Step S5: The lifting mechanism and fork mechanism of the mobile platform cargo picking system move to the corresponding cargo placement position, placing the cargo on the hydraulic tailgate rack. The fork is then retracted to the middle zero position, and the traveling mechanism drives the cargo picking system back to the cabin position. Step S6, controlling the hydraulic tail lift to lower the cargo to the ground; Step S7, an external operator removes the cargo from the hydraulic tailgate; Step S8: The hydraulic tailgate rises to a horizontal position, and the mobile platform pickup system returns to its initial position, completing the pickup.

[0059] Another embodiment of the present invention provides a method for picking up cargo on a vehicle-mounted mobile platform for entering and exiting a cabin, the method comprising: utilizing a walking mechanism based on a master-slave wheel-rail drive mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy to drive the system to move in the direction of travel of the mobile vehicle; utilizing a lifting mechanism to drive the cargo to move in the vertical direction; utilizing a fork mechanism to drive the cargo to move in the directions on both sides of the vehicle width; utilizing a drive control unit to receive control instructions and control the movement of the walking mechanism, the lifting mechanism, and the fork mechanism, and to send a fault status signal; utilizing an integrated control unit to send the control instructions to the drive control unit, receive the fault status signal, and perform emergency stop and maintenance operations when the system is repaired and maintained; utilizing a hydraulic tailgate to carry the cargo when the walking structure, the lifting structure, and the fork mechanism move to a corresponding cargo placement position, so that an external operator can remove the cargo from the hydraulic tailgate; wherein the walking mechanism utilizes a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on two photoelectric proximity switches installed on each shelf in the cabin; the speed control formula of the walking mechanism using the multi-modal speed control strategy is:

[0060] Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

[0061] This embodiment realizes the automatic placement and loading and unloading of large-load cargo at a cabin height that meets the requirements of road transportation. Ultimately, a vehicle-mounted mobile platform for entering and exiting the cabin is realized to pick up cargo, which is highly versatile, has a simple algorithm, and is easy to implement in engineering. It realizes the automated handling of heavy objects and high-precision and high-reliability control under the vehicle-mounted platform. The principle of the present invention is simple, convenient and practical, and reduces development costs. It can be promoted and applied to vehicle-mounted storage equipment.

[0062] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0063] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0064] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in this field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A vehicle-mounted cargo pickup system for entering and exiting a cabin, characterized in that: The system includes: A traveling mechanism for driving the system in the traveling direction of the mobile vehicle based on a master-slave wheel-rail driving mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy; Lifting mechanism, used to drive the movement of goods in the vertical direction; Fork mechanism, used to drive the movement of goods in the directions of both sides of the vehicle width; A drive control unit, configured to receive control instructions, control the movement of the traveling mechanism, the lifting mechanism, and the fork mechanism, and send a fault status signal; an integrated control unit, configured to send the control instructions to the drive control unit, receive the fault status signal, and perform emergency stop and maintenance operations when the system is under repair and maintenance; a hydraulic tailboard, configured to carry cargo when the walking structure, the lifting structure, and the fork mechanism move to corresponding cargo placement positions, so that an external operator can remove cargo from the hydraulic tailboard; The walking mechanism adopts a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on the two photoelectric proximity switches installed on each shelf in the cabin; The speed control formula of the walking mechanism using the multi-modal speed control strategy is: Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

2. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 1, characterized in that: The traveling mechanism comprises a rectangular steel frame body, a driving shaft, a driving wheel, a driven wheel, a motor, a speed reducer, a gear, a counter-pressure wheel and a buffer.

3. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 2, characterized in that: The walking mechanism adopts a master-slave wheel-rail drive mode to cross the gap between the guide rails in the cabin section and the guide rails outside the cabin section, thereby completing the system's entry and exit in and out of the cabin.

4. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 3, characterized in that: The lifting mechanism comprises a rolling guide rail, a driving device, an encoder, a hanging basket, a limiting mechanism and a protective cover.

5. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 4, characterized in that: The driving device includes a motor, a commutator, a worm gear reducer, a ball screw pair and shaft system components.

6. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 5, characterized in that: The limiting mechanism includes electrical limiting and mechanical limiting.

7. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 6, characterized in that: The fork mechanism includes a second motor, a reducer, a gear, a chain, a sprocket, a roller, an upper fork plate, a middle fork plate, a lower fork plate and a position switch.

8. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 7, characterized in that: The drive control unit includes a servo controller, a servo driver, a digital input and output board, an input and output filter, a relay, a contactor and a fan.

9. The vehicle-mounted cargo pickup system for entering and exiting a cabin via a mobile platform according to claim 8, characterized in that: The system further includes a human-machine interaction module for controlling the movement of the hydraulic tailgate in response to actions of an external operator.

10. A method for picking up goods using a vehicle-mounted mobile platform for entering and exiting a cabin, characterized in that: The method includes: The system is driven to move in the direction of travel of the mobile vehicle by utilizing a traveling mechanism based on a master-slave wheel-rail driving mode, a distributed multi-sensor addressing and positioning strategy, and a multi-modal speed control strategy; Use the lifting mechanism to drive the movement of goods in the vertical direction; Use the fork mechanism to drive the movement of goods in the directions of both sides of the vehicle width; Using a drive control unit to receive control instructions, and control the walking mechanism, the lifting mechanism and the fork mechanism to move, and send a fault status signal; Using an integrated control unit to send the control instructions to the drive control unit, and receive the fault status signal, and perform emergency stop and maintenance operations when the system is repaired and maintained; Using a hydraulic tailboard to carry cargo when the walking structure, the lifting structure, and the fork mechanism move to corresponding cargo placement positions, so that an external operator can remove cargo from the hydraulic tailboard; The walking mechanism adopts a distributed multi-sensor addressing and positioning strategy to complete position detection and speed planning based on the two photoelectric proximity switches installed on each shelf in the cabin; The speed control formula of the walking mechanism using the multi-modal speed control strategy is: Where, is the motion speed of the system; is the movement time of the system; the difference between the system's starting position and the target shelf position number is N; is the first acceleration; It is the first gear speed, i.e. the maximum speed; is the second acceleration; It is the second gear speed; is the third acceleration; It is the third speed; is the fourth acceleration.

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