A control method of an integrated loading and unloading unmanned transfer system

Abstract

The application discloses a kind of integrated unloading and loading unmanned connection transport system control method.The system includes: unmanned vehicle, the unmanned vehicle is provided with accommodating space;Main conveying mechanism, the main conveying mechanism is used to interface front material conveying line;Material connection device includes: unmanned vehicle, main conveying mechanism, material connection platform, it is arranged at the end of main conveying mechanism, and position has the material connection platform of two layers, the material connection device includes: transverse transfer mechanism, including multiple groups of transverse transfer mechanism, and the distance between adjacent transverse mechanism is adjustable;The transverse transmission belt mechanism includes extendable connection first longitudinal mechanism and second longitudinal mechanism;Jacking mechanism, longitudinal mechanism is arranged at the top of the jacking mechanism, jacking mechanism is used to control the lifting of each layer material connection platform;The main conveying mechanism is also provided with size measuring device, and the size measuring device is used to measure the length, width and height size of material.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and specifically to a control method for an unmanned shuttle transportation system that integrates loading and unloading. Background Technology

[0002] On logistics production lines, it is usually necessary to automatically load goods from automated production lines into unmanned vehicles, or unload material bins from unmanned vehicles onto automated production lines. In most existing technologies, this still requires manual labor to unload each material bin and load it onto the production line. This cannot achieve true automation and can lead to situations where vehicles are waiting for people, reducing unloading efficiency and posing certain safety issues.

[0003] Currently, most mainstream automated loading and unloading solutions use conveyor lines to transfer materials to unmanned vehicles. However, this approach has certain technical limitations: existing unmanned transport vehicles often use fixed rollers, chains, or simple forks as their delivery and carrying mechanisms. These devices typically can only handle goods in single-sized boxes or pallets.

[0004] When dealing with materials in various packaging forms, such as those with inconsistent length, width, and height, the unmanned vehicle's carrying capacity is often not fully utilized due to the inability to stack or effectively plan the access space. This necessitates additional manual assistance or specialized tooling for transfer, preventing truly flexible or adaptive connections. Furthermore, the limited internal space of the unmanned vehicle prevents the addition of complex palletizing devices. Therefore, there is an urgent need for an automated solution that can pre-stack materials rationally based on their dimensions and then uniformly connect them to the unmanned vehicle. Summary of the Invention

[0005] To address the aforementioned deficiencies in existing technologies, this invention provides a control method for an integrated unmanned shuttle transportation system that combines loading and unloading. This method can rationally design stacking or placement schemes based on information such as the dimensions of the material's outer packaging, thereby reducing manual assistance and enabling adaptive unmanned vehicle loading and unloading operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a control method for an unmanned shuttle transportation system integrating loading and unloading, comprising the following steps: Step S1: Obtain the three-dimensional outer packaging size data of the material to be transferred through the size measuring device on the main conveying mechanism; at the same time, obtain the size data of the accommodating space of the target unmanned vehicle and the current occupied status data. Step S2: Input the data obtained in step S1 into the vehicle planning controller, run the three-dimensional packing optimization algorithm, generate the target placement coordinates, stacking layers and placement posture of the material in the containment space, and form the optimal loading scheme. Step S3: According to the optimal loading scheme, control the lifting mechanism in the material receiving platform to move. Depending on whether the current material is located on the upper or lower layer of the stack, raise and lower the corresponding layer of the material receiving platform to the same height as the main conveyor mechanism, and transport the material to the top of the transverse conveyor mechanism through the main conveyor mechanism. Step S4: Control the lifting mechanism to raise or lower the material receiving platform that has been placed with materials, so that the other material receiving platform is at the same height as the main conveyor. Repeat step S3 to transport subsequent materials to the other material receiving platform. In step S5, the lifting mechanism and the lateral conveying mechanism work together to receive the material from the front material conveying line and move it laterally to the unmanned vehicle's storage space, thereby achieving material stacking. Step S6: Based on the material placement coordinates generated in S2, control the first-level and second-level transverse conveying mechanisms of the transverse conveying mechanism to perform relative extension and retraction movements, adjust the effective conveying length, and accurately convey the material to the target coordinate position within the accommodating space. Step S7, Reset and Cycle: After the material leaves the transverse conveyor mechanism, control the lifting mechanism to descend, so that the transverse conveyor mechanism falls back below the gap of the main conveyor mechanism, waiting for the next transfer task.

[0007] Preferably, step S2 specifically includes: The first optimization objective is to maximize the volume utilization rate of the storage space. The second constraint is that the overall center of gravity of the stacked materials is located at a preset safety threshold. The third constraint is that the unloading order conforms to the first-in-last-out principle. The heuristic search algorithm is used to iteratively solve the problem and output a loading scheme that includes the material placement coordinates, attitude angle and stacking layer number.

[0008] Preferably, step S3 further includes: The spacing of the transverse conveyor is adjusted by controlling the longitudinal movement mechanism to adapt to the width of the material.

[0009] Preferably, step S6 specifically includes: When the material needs to be placed deep within the receiving space, the secondary lateral movement mechanism is extended relative to the primary lateral movement mechanism to increase the effective conveying distance of the lateral movement conveyor; when the material is placed near the entrance, the secondary lateral movement mechanism is retracted to shorten the conveying distance; wherein, the motion speed curves of the primary and secondary lateral movement mechanisms are designed with S-shaped acceleration and deceleration to prevent the material from slipping due to inertia during the conveying process.

[0010] Preferably, after step S7, the method further includes: Using visual sensors or laser rangefinders installed on the top of the unmanned vehicle's storage space, the actual placement position of the current materials is scanned and recorded. The actual position is then compared with the optimal loading plan in S2. If the deviation exceeds the threshold, an alarm is triggered or the placement coordinates of subsequent materials are replanned.

[0011] Preferably, in step S4, if the optimal loading scheme includes multiple layers of stacking, after the lower layer of material is placed, the process returns to step S4 and controls the lifting mechanism to lift to a preset height again to connect and stack the upper layer of material.

[0012] This invention discloses a high-precision unmanned transport system and method for adaptive multi-specification materials. It can fully utilize the internal space of the unmanned vehicle to achieve an adaptive material stacking scheme before docking, and can pre-stack materials before docking, achieving efficient material loading and unloading. Specific technical effects are as follows: 1. It achieves universal connection of materials of various specifications, significantly improving system flexibility. By setting up a lateral conveying mechanism with a width smaller than the gap between the conveyor rollers, in conjunction with retractable primary and secondary lateral conveying mechanisms, the system can overcome conveyor roller obstacles and reach any depth within the unmanned vehicle's carrying space. Regardless of the size of the material, no customized special tooling is required, enabling adaptive acceptance and placement of irregularly shaped and non-standard materials, breaking the limitation of traditional unmanned vehicles that can only handle standard pallets.

[0013] 2. Maximizing loading space utilization while ensuring transportation stability. Based on material data obtained from dimensional measurement devices and combined with 3D packing optimization algorithms, the system can intelligently plan the placement coordinates, orientation, and stacking layers of materials. This solution not only maximizes the volumetric efficiency of the autonomous vehicle's carrying space but also ensures, through a center of gravity constraint algorithm, that the overall center of gravity of stacked materials of various specifications remains within a safe envelope, effectively preventing cargo tipping or slippage during vehicle start-stop or turning. Attached Figure Description

[0014] Figure 1 This is the logic flowchart of the present invention. Detailed Implementation

[0015] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0016] like Figure 1 As shown, the present invention provides a control method for an integrated unmanned shuttle transportation system for loading and unloading, comprising the following steps: The present invention provides a control method for an unmanned shuttle transportation system integrating loading and unloading, comprising the following steps: Step S1: Obtain the three-dimensional outer packaging size data of the material to be transferred through the size measuring device on the main conveying mechanism; at the same time, obtain the size data of the accommodating space of the target unmanned vehicle and the current occupied status data. Step S2: Input the data obtained in step S1 into the vehicle planning controller, run the three-dimensional packing optimization algorithm, generate the target placement coordinates, stacking layers and placement posture of the material in the containment space, and form the optimal loading scheme. Step S3: According to the optimal loading scheme, control the lifting mechanism in the material receiving platform to move. Depending on whether the current material is located on the upper or lower layer of the stack, raise and lower the corresponding layer of the material receiving platform to the same height as the main conveyor mechanism, and transport the material to the top of the transverse conveyor mechanism through the main conveyor mechanism. Step S4: Control the lifting mechanism to raise or lower the material receiving platform that has been placed with materials, so that the other material receiving platform is at the same height as the main conveyor. Repeat step S3 to transport subsequent materials to the other material receiving platform. In step S5, the lifting mechanism and the lateral conveying mechanism work together to receive the material from the front material conveying line and move it laterally to the unmanned vehicle's storage space, thereby achieving material stacking. Step S6: Based on the material placement coordinates generated in S2, control the first-level and second-level transverse conveying mechanisms of the transverse conveying mechanism to perform relative extension and retraction movements, adjust the effective conveying length, and accurately convey the material to the target coordinate position within the accommodating space. Step S7, Reset and Cycle: After the material leaves the transverse conveyor mechanism, control the lifting mechanism to descend, so that the transverse conveyor mechanism falls back below the gap of the main conveyor mechanism, waiting for the next transfer task.

[0017] Preferably, step S2 specifically includes: The first optimization objective is to maximize the volume utilization rate of the storage space. The second constraint is that the overall center of gravity of the stacked materials is located at a preset safety threshold. The third constraint is that the unloading order conforms to the first-in-last-out principle. The heuristic search algorithm is used to iteratively solve the problem and output a loading scheme that includes the material placement coordinates, attitude angle and stacking layer number.

[0018] Preferably, step S3 further includes: The spacing of the transverse conveyor is adjusted by controlling the longitudinal movement mechanism to adapt to the width of the material.

[0019] Preferably, step S6 specifically includes: When the material needs to be placed deep within the receiving space, the secondary lateral movement mechanism is extended relative to the primary lateral movement mechanism to increase the effective conveying distance of the lateral movement conveyor; when the material is placed near the entrance, the secondary lateral movement mechanism is retracted to shorten the conveying distance; wherein, the motion speed curves of the primary and secondary lateral movement mechanisms are designed with S-shaped acceleration and deceleration to prevent the material from slipping due to inertia during the conveying process.

[0020] Preferably, after step S7, the method further includes: Using visual sensors or laser rangefinders installed on the top of the unmanned vehicle's storage space, the actual placement position of the current materials is scanned and recorded. The actual position is then compared with the optimal loading plan in S2. If the deviation exceeds the threshold, an alarm is triggered or the placement coordinates of subsequent materials are replanned.

[0021] Preferably, in step S4, if the optimal loading scheme includes multiple layers of stacking, after the lower layer of material is placed, the process returns to step S4 and controls the lifting mechanism to lift to a preset height again to connect and stack the upper layer of material.

[0022] Specifically, the unmanned shuttle transportation system integrating loading and unloading of goods according to the present invention further includes: The system includes: An unmanned vehicle, which is equipped with a storage space; The main conveyor mechanism is used to connect to the upstream material conveyor line. A material receiving platform is located at the end of the main conveying mechanism, and has two layers. The material receiving device includes: The transverse conveyor mechanism includes multiple sets of transverse conveyor mechanisms, and the distance between adjacent transverse conveyor mechanisms is adjustable; the transverse transmission belt mechanism includes a primary longitudinal conveyor mechanism and a secondary longitudinal conveyor mechanism that can be extended and connected. The longitudinal transfer mechanism is connected to the transverse transfer mechanism, and the longitudinal transfer mechanism drives the transverse transfer mechanism to translate along the conveying direction of the main transfer mechanism; A lifting mechanism and a longitudinal movement mechanism are located on top of the lifting mechanism. The lifting mechanism is used to control the lifting and lowering of each layer of the material receiving platform. The main conveying mechanism is also equipped with a size measuring device, which is used to measure the length, width and height of the material.

[0023] Both the primary and secondary longitudinal transfer mechanisms employ a single conveyor belt device, and the primary and secondary longitudinal transfer mechanisms are slidably connected to form an extendable conveyor belt mechanism for transporting materials to unmanned vehicles.

[0024] The unmanned vehicle's storage space is equipped with several parallel conveyor rollers arranged on the bottom of the support frame, and the gap between adjacent support frames is greater than the width of the transverse conveyor mechanism.

[0025] The longitudinal movement mechanism includes at least two sets of guide rail synchronous belt mechanisms. Each guide rail synchronous belt mechanism includes at least a guide rail, a synchronous belt pulley set, and a slide block. The lifting mechanism is mounted on the slide block.

[0026] This invention discloses a high-precision unmanned transport system and method for adaptive multi-specification materials. It can fully utilize the internal space of the unmanned vehicle to achieve an adaptive material stacking scheme before docking, and can pre-stack materials before docking, achieving efficient material loading and unloading. Specific technical effects are as follows: This system enables universal material handling across various specifications, significantly enhancing its flexibility. By incorporating a lateral conveying mechanism with a width smaller than the gap between the conveyor rollers, along with retractable primary and secondary lateral conveying mechanisms, the system can overcome conveyor roller obstacles and reach any depth within the unmanned vehicle's storage space. Regardless of material size, no customized tooling is required; it can adaptively accept and place irregularly shaped or non-standard materials, breaking the limitation of traditional unmanned vehicles that can only handle standard pallets.

[0027] Maximizing the use of loading space while ensuring transportation stability. Based on material data acquired by a dimensional measurement device and combined with a 3D packing optimization algorithm, the system can intelligently plan the placement coordinates, orientation, and stacking layers of materials. This solution not only maximizes the volumetric efficiency of the autonomous vehicle's carrying space but also ensures, through a center of gravity constraint algorithm, that the overall center of gravity of stacked materials of various specifications remains within a safe envelope, effectively preventing cargo tipping or slippage during vehicle start-stop or turning.

[0028] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A control method for an integrated loading and unloading unmanned shuttle transportation system, characterized in that, Includes the following steps: Step S1: Obtain the three-dimensional outer packaging size data of the material to be transferred through the size measuring device on the main conveying mechanism; at the same time, obtain the size data of the accommodating space of the target unmanned vehicle and the current occupied status data. Step S2: Input the data obtained in step S1 into the vehicle planning controller, run the three-dimensional packing optimization algorithm, generate the target placement coordinates, stacking layers and placement posture of the material in the containment space, and form the optimal loading scheme. Step S3: According to the optimal loading scheme, control the lifting mechanism in the material receiving platform to move. Depending on whether the current material is located on the upper or lower layer of the stack, raise and lower the corresponding layer of the material receiving platform to the same height as the main conveyor mechanism, and transport the material to the top of the transverse conveyor mechanism through the main conveyor mechanism. Step S4: Control the lifting mechanism to raise or lower the material receiving platform that has been placed with materials, so that the other material receiving platform is at the same height as the main conveyor. Repeat step S3 to transport subsequent materials to the other material receiving platform. In step S5, the lifting mechanism and the lateral conveying mechanism work together to receive the material from the front material conveying line and move it laterally to the unmanned vehicle's storage space, thereby achieving material stacking. Step S6: Based on the material placement coordinates generated in S2, control the first-level and second-level transverse conveying mechanisms of the transverse conveying mechanism to perform relative extension and retraction movements, adjust the effective conveying length, and accurately convey the material to the target coordinate position within the accommodating space. Step S7, Reset and Cycle: After the material leaves the transverse conveyor mechanism, control the lifting mechanism to descend, so that the transverse conveyor mechanism falls back below the gap of the main conveyor mechanism, waiting for the next transfer task.

2. The method according to claim 1, characterized in that, The S2 step specifically includes: The first optimization objective is to maximize the volume utilization rate of the storage space. The second constraint is that the overall center of gravity of the stacked materials is located at a preset safety threshold. The third constraint is that the unloading order conforms to the first-in-last-out principle. The heuristic search algorithm is used to iteratively solve the problem and output a loading scheme that includes the material placement coordinates, attitude angle and stacking layer number.

3. The method according to claim 1, characterized in that, The S3 step also includes: The spacing of the transverse conveyor is adjusted by controlling the longitudinal movement mechanism to adapt to the width of the material.

4. The method according to claim 1, characterized in that, Step S6 specifically includes: When the material needs to be placed deep within the receiving space, the secondary lateral movement mechanism is extended relative to the primary lateral movement mechanism to increase the effective conveying distance of the lateral movement conveyor; when the material is placed near the entrance, the secondary lateral movement mechanism is retracted to shorten the conveying distance; wherein, the motion speed curves of the primary and secondary lateral movement mechanisms are designed with S-shaped acceleration and deceleration to prevent the material from slipping due to inertia during the conveying process.

5. The method according to claim 1, characterized in that, Following step S7, the following is also included: Using visual sensors or laser rangefinders installed on the top of the unmanned vehicle's storage space, the actual placement position of the current materials is scanned and recorded. The actual position is then compared with the optimal loading plan in S2. If the deviation exceeds the threshold, an alarm is triggered or the placement coordinates of subsequent materials are replanned.

6. The method according to claim 1, characterized in that, In step S4, if the optimal loading scheme includes multiple layers of stacking, after the lower layer of material is placed, return to step S4 and control the lifting mechanism to lift to a preset height again to connect and stack the upper layer of material.

7. The unmanned shuttle transportation system integrating loading and unloading according to claim 1, characterized in that, The system includes: An unmanned vehicle, which is equipped with a storage space; The main conveyor mechanism is used to connect to the upstream material conveyor line. A material receiving platform is located at the end of the main conveying mechanism, and has two layers. The material receiving device includes: The transverse conveyor mechanism includes multiple sets of transverse conveyor mechanisms, and the distance between adjacent transverse conveyor mechanisms is adjustable; the transverse transmission belt mechanism includes a primary longitudinal conveyor mechanism and a secondary longitudinal conveyor mechanism that can be extended and connected. The longitudinal transfer mechanism is connected to the transverse transfer mechanism, and the longitudinal transfer mechanism drives the transverse transfer mechanism to translate along the conveying direction of the main transfer mechanism; A lifting mechanism and a longitudinal movement mechanism are located on top of the lifting mechanism. The lifting mechanism is used to control the lifting and lowering of each layer of the material receiving platform. The main conveying mechanism is also equipped with a size measuring device, which is used to measure the length, width and height of the material.

8. The method according to claim 7, characterized in that, Both the primary and secondary longitudinal transfer mechanisms employ a single conveyor belt device, and the primary and secondary longitudinal transfer mechanisms are slidably connected to form an extendable conveyor belt mechanism for transporting materials to unmanned vehicles.

9. The method according to claim 7, characterized in that, The unmanned vehicle's storage space is equipped with several parallel conveyor rollers arranged on the bottom of the support frame, and the gap between adjacent support frames is greater than the width of the transverse conveyor mechanism.

10. The method according to claim 7, characterized in that, The longitudinal movement mechanism includes at least two sets of guide rail synchronous belt mechanisms. Each guide rail synchronous belt mechanism includes at least a guide rail, a synchronous belt pulley set, and a slide block. The lifting mechanism is mounted on the slide block.

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