An air logistics collaborative transportation system and method for packaging box stacking

Abstract

The present application provides an air logistics collaborative transportation system and method for packaging box stacking, which comprises a feeding area, a suspension rail assembly, a conveying trolley and a bearing basket arranged below the conveying trolley, and a discharging docking station with a drum having an insertion gap. In view of the pain point of insufficient docking accuracy in large-fall suspension conveying, the system introduces a suspension reverse addressing master control module to execute multi-stage precision coupling logic: the conveying trolley stops and lowers the bearing basket based on a coarse positioning module with a first parking precision; when approaching the docking station, the horizontal deviation is obtained by using the high-precision vision module at the bottom of the bearing basket, and the upper vehicle body is reversely driven for horizontal micro-motion, so that the bottom end of the bearing basket converges to a second alignment precision which is more stringent than the first precision. The present application utilizes reverse compensation and deflection feedforward to overcome the suspension flexibility swing and rail mechanical error, ensures that the bearing basket insertion rod component is accurately inserted into the gap without interference, and realizes efficient cross-line lossless docking of flexible stacking.

Description

Technical Field

[0001] This invention belongs to the technical field of automated logistics, and specifically relates to an aerial logistics collaborative transportation system and method for packaging box stacking. Background Technology

[0002] In the production of food, beverage, and fast-moving consumer goods packaging, flexible, flat, and stackable materials such as cardboard sheets and packaging boxes need to be supplied frequently and continuously to the starting loading end of multiple parallel production lines. Current workshop logistics largely rely on manual forklift or AGV ground transport, which not only severely occupies ground logistics channels but also poses a significant risk of spatial interference between densely packed production lines.

[0003] To free up ground space, some companies are attempting to introduce suspended aerial logistics equipment such as EMS (Electric Monorail System) for cross-line transportation. However, for materials like stacked packaging boxes—characterized by "high-speed, lightweight construction and lack of rigid outer casing"—existing conventional suspended logistics systems suffer from the following insurmountable technical drawbacks: Aerial trolleys typically rely on reading barcodes or address codes on the track for parking and positioning. However, in actual operation, the suspended track undergoes microscopic bending deformation due to its large span; simultaneously, when the load-bearing mechanism extends downwards a considerable distance carrying material, the track tilt and the flexible sway of the long chain are significantly amplified. This results in the trolley's parking accuracy not being equivalent to the actual landing accuracy of the material on the ground, easily leading to a landing drift of several centimeters.

[0004] Existing technologies typically employ a conservative strategy to address suspension sway by stopping the vehicle and waiting for the sway to naturally decay before lowering it. However, for high-speed, fast-moving consumer goods production lines, the time required for a single round trip is extremely high (e.g., a single round trip must be completed within 100 seconds). Waiting for the sway to naturally decay wastes a significant amount of time, making it impossible for the aerial logistics system to meet the material loading throughput of multiple production lines.

[0005] In summary, existing technologies lack an aerial logistics system that can completely eliminate mechanical accumulation errors and structural sway under high-speed operation and long-stroke flexible deployment conditions, and achieve millimeter-level interlaced non-destructive connection. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, this application provides an aerial logistics collaborative transportation system and method for packaging box stacking, thereby resolving the aforementioned technical deficiencies.

[0007] According to one aspect of the present invention, an aerial logistics collaborative transportation system for stacking packaging boxes is proposed, comprising a material supply area, a material unloading dock located at the starting loading end of the target production line, a suspended track assembly spanning the production line to be crossed, and a conveying trolley; the material unloading dock includes a roller conveyor with multiple rollers, with an insertion gap formed between adjacent rollers; the conveying trolley includes a vehicle body movably disposed on the suspended track assembly, a lifting drive, and a support basket connected below the lifting drive; the bottom of the support basket is provided with a support rod for lifting materials; the system further includes: A coarse positioning module, located on the vehicle body, is used to read the positioning mark on the suspension track assembly to enable the transport trolley to park. A high-precision visual feedback module is arranged at the lower end of the carrying basket to obtain the relative horizontal displacement deviation with respect to the feeding dock; The suspended reverse addressing main control module is communicatively connected to the walking drive component of the conveying trolley, the lifting drive component, and the aforementioned positioning modules; The suspended reverse addressing main control module is configured to execute staggered feeding logic based on multi-level precision coupling: controlling the conveying trolley to stop at the dynamic compensation parking target point with a first parking accuracy based on the signal from the coarse positioning module and lowering the carrying basket; when the lowering stroke enters the preset visual guide distance, the deviation obtained by the high-precision visual feedback module is used as a negative feedback control quantity to reverse drive the walking drive component of the vehicle body above the track to perform horizontal compensation micro-motion until the bottom landing point of the carrying basket converges to a second alignment accuracy; the second alignment accuracy is higher than the first parking accuracy, so that the insertion rod component extends into the corresponding insertion gap. By setting the suspended reverse addressing main control module, the high-precision visual deviation at the bottom of the carrying basket is used as negative feedback to reverse drive the top vehicle body to perform micro-motion. By using spatiotemporal inversion compensation, the influence of track mechanical installation errors and flexible amplification caused by long-stroke lowering is fundamentally eliminated, and the high-precision alignment requirements across space are met in a breakthrough manner with a minimalist hardware architecture.

[0008] In some specific embodiments, the carrying basket includes a top plate and multiple U-shaped rods, the multiple U-shaped rods being spaced apart along the inlet and outlet direction of the stacked materials, and the insert rod component being the bottom crossbar of the U-shaped rods; the multi-level precision coupling includes: defining the width dimension of the bottom crossbar of the U-shaped rod as... The insertion gap width between two adjacent rollers is ,in The physical safety tolerance limit for the load-bearing basket to extend into the insertion gap without interference is defined as follows: The suspension reverse addressing main control module is configured such that the absolute value of the system static error of the first parking accuracy is greater than the physical safety tolerance limit. The maximum permissible deviation of the second alignment accuracy is less than the physical safety tolerance limit. This design ensures that the insert component can be precisely inserted.

[0009] In some specific embodiments, when generating the dynamic compensation parking target point, the suspension reverse addressing main control module calculates the real-time deflection angle of the suspension track assembly based on the current track mid-span position and load parameters of the transport trolley. ; and descend according to the target altitude Calculate the horizontal projection offset of the bottom of the vertical line. The horizontal projection offset The coordinates are superimposed onto the theoretical parking coordinates in reverse to reduce the initial error of the first parking accuracy. This setting greatly reduces the initial landing point deviation and shortens the time required for subsequent visual micro-motion correction.

[0010] In some specific embodiments, the suspension reverse addressing main control module has a built-in dynamic speed limiting and anti-shake logic based on the lowering depth: when the driving component of the upper vehicle body performs horizontal compensation micro-motion to approach the second alignment accuracy, the main control module extracts the current Z-axis lowering stroke length of the lifting drive component as an adjustment parameter, and calculates and updates the maximum operating speed and acceleration limit parameters of the driving component in real time; the limit parameters are configured such that the maximum allowable acceleration and maximum allowable speed of the driving component decrease proportionally with the increase of the Z-axis lowering stroke length; the main control module takes the real-time deviation of the high-precision visual feedback module as input, and under the control of the limit parameters, drives the driving component to perform a smooth and flexible approximation action, thereby making the load-bearing basket smoothly converge to less than the physical safety tolerance limit without triggering macroscopic swaying of the flexible suspension structure. The second alignment accuracy. This setting avoids secondary oscillations in the lower support basket caused by the horizontal fine-tuning of the upper trolley. By clamping the acceleration and deceleration boundaries of the upper trolley in real time through the Z-axis downward depth, a smooth and flexible approximation is achieved, solving the control pain point of the suspension system swaying with the slightest movement and becoming more shaky with each adjustment in the long swing state.

[0011] In some specific embodiments, the feeding area is equipped with a feeding platform, a vision acquisition device, a loading robot, and a receiving docking platform; the structure of the receiving docking platform is the same as that of the unloading docking platform; the end of the loading robot is equipped with a gripper, which has a storage cavity and a first and a second piece-shaped clamping part that can extend out of the storage cavity; the vision acquisition device is used to identify the front or back orientation of the stacked materials on the feeding platform; when it is identified as suitable for loading, the loading robot controls the first and second piece-shaped clamping parts to extend into the edge gap of the stacked materials to complete the clamping and place the stacked materials on the receiving docking platform; when the carrying basket of the conveying trolley descends to the docking height, the bottom crossbar of the U-shaped rod extends at least partially into the insertion gap of the receiving docking platform to receive the stacked materials. This extends the advantages of aerial cross-line conveying to the feeding end, opening up the entire process from the material feeding source. By visually identifying and removing materials with abnormal orientations, and combining the sheet-like clamping part with staggered feeding, non-destructive clamping of the source stacking is achieved, and the absolute regularity of the incoming materials is ensured.

[0012] According to a second aspect of the present invention, a high-precision cross-line conveying method for the above-described system is proposed, comprising: S1: The feeding robot in the feeding area grabs the stacked materials and places them on the receiving dock; the carrying basket of the conveyor trolley lowers, so that the bottom insert rod component extends into the insertion gap of the receiving dock, lifts the stacked materials from the bottom and is lifted to the cross-line height by the lifting drive component; S2: The conveying trolley moves along the suspended track assembly toward the target production line; the control system calculates the feedforward offset caused by the micro-deformation of the track based on the current track mid-span position and load parameters of the conveying trolley, and after compensating for the offset at the theoretical parking target point, controls the conveying trolley to stop above the unloading dock with the first parking accuracy. S3: Start the lowering of the carrying basket. When it enters the preset visual control distance, wake up the high-precision visual feedback module at the bottom of the carrying basket to obtain the relative deviation. Transmit the deviation in reverse to the vehicle body above the track, drive the vehicle body's walking drive component to perform horizontal compensation micro-motion, until the absolute coordinates at the bottom of the carrying basket converge to the second alignment accuracy, which is stricter than the first parking accuracy. S4: The carrying basket continues to descend, and the insertion rod component at its bottom precisely extends into the insertion gap between adjacent rollers of the feeding dock and is lower than the roller conveying support surface, so that the weight of the stacked material is smoothly transferred to multiple rollers; the rollers of the feeding dock rotate, and the stacked material is transferred out along the in-and-out direction through the carrying basket.

[0013] In some specific embodiments, S1 further includes: before the loading robot grabs, the vision acquisition device identifies the orientation of the stacked materials on the feeding platform. If it is determined that the material is suitable for loading, the first and second sheet-like clamping parts of the gripper are controlled to extend from the storage cavity and clamp the material; if an abnormal state is identified, the material is transferred to the recycling platform; during the process of the carrying basket lifting the stacked materials and raising them to the cross-line height, the control system monitors the tension load on the hanging connectors located on opposite sides of the carrying basket in the direction of entry and exit in real time; when the tension difference caused by the uneven load of the stacked materials is detected, a fine-tuning command is output to dynamically compensate for the difference in the winding rate of the winding parts in the lifting drive, and maintain the horizontal posture of the carrying basket during the lifting process. The introduction of tension load difference monitoring in the lifting stage and the real-time compensation of the lifting rate of the winding parts prevent the carrying basket from tilting due to uneven stacking of cardboard boxes (center of gravity offset), and ensure that the flexible materials do not slip or tip over during high-altitude horizontal transportation.

[0014] In some specific embodiments, in step S2, the absolute value of the system static error of the first parking accuracy is greater than the physical safety tolerance limit. The maximum permissible deviation of the second alignment accuracy is less than the physical safety tolerance limit. Physical tolerance limits This is converted into an absolute threshold in the software control algorithm, which forces the control system to lock the maximum permissible deviation value within a safe range at the algorithm level, providing a safety net for the continuous and fault-free operation of the equipment.

[0015] In some specific embodiments, when the driving component of the reverse-drive vehicle body performs horizontal compensation micro-motion in step S3, a dynamic speed limiting and anti-shake step based on the lowering depth is also included: the control system extracts the current Z-axis lowering depth of the support basket in real time and matches the dynamic speed limiting threshold of the current micro-motion adjustment according to the depth; the deeper the Z-axis lowering depth, the smaller the matched maximum running speed and maximum acceleration amplitude limit value; the control system forcibly limits the displacement correction command obtained by the high-precision visual feedback module within the dynamic speed limiting threshold, and prevents the transient impact force generated by the vehicle body micro-motion from being amplified into the swing of the support basket by converting the instantaneous step position correction into a dynamic deceleration approximation action limited by the lowering depth. The parameterized adjustment of the depth reduces the impact force caused by the instantaneous start and stop of the mechanical structure, extends the service life of the entire equipment, and reduces the maintenance frequency.

[0016] In some specific embodiments, a clamping and flipping mechanism is provided on one side of the feeding dock, and a sorting and limiting mechanism including a lower push arm, an upper pressure bar, and a flipping limit bar is provided at the starting feeding end of the target production line. After the stacked material is transferred out in S4, the following reset and back-end entry process is further performed: After confirming that the stacked material has completely left the envelope space of the carrying basket, the lifting drive is controlled to pull the empty carrying basket back to the cross-line height; the second clamping member of the clamping and flipping mechanism is controlled to pass through the clearance interval between the rollers and cooperate with the first clamping member to clamp the stacked material that has been transferred out, drive its posture to rotate and transfer it to the material placement area of ​​the target production line; the lower push arm, upper pressure bar, and flipping limit bar of the sorting and limiting mechanism are controlled to work together to perform multi-dimensional approach and limiting sorting of the stacked material that has fallen into the material placement area.

[0017] Compared with the prior art, the beneficial results of the present invention are as follows: This invention abandons expensive heavy-duty rigid guide rails or complex ground-based mechanical correction ramps, instead employing a collaborative logic of bottom parallax driving top micro-motion. Combined with a unique track deflection angle feedforward compensation model, it cleverly transforms errors caused by system flexibility and track deformation into displacements actively corrected by the top vehicle body, forcibly converging the original ±5mm macroscopic operational error to a level far smaller than the physical clearance (the ultimate threshold). With microscopic precision, a perfect closed loop of the heterogeneous coordinate system between heaven and earth was achieved.

[0018] This invention employs a staggered insertion design between the U-shaped bar grid support basket and the ground roller gap. By strictly classifying coarse positioning and high-precision visual positioning, it ensures that the support components penetrate the roller gap without contact, completely eliminating the risk of physical impact and achieving zero friction, zero damage, and zero scattering of stacked materials throughout the entire handover process.

[0019] This invention also resolves the inherent contradiction between speed and stability in suspension control. Instead of waiting for physical sway reduction in place, it adaptively and dynamically compresses the speed limit envelope of the upper vehicle body based on the real-time Z-axis line length. During visual micro-motion correction, the system can approach the vehicle with a flexible posture that does not induce secondary oscillations, ensuring not only accurate stopping but also rapid landing, significantly shortening the cycle time and perfectly matching the high-speed throughput requirements of multiple production lines.

[0020] By suspending track components above existing production lines, the system avoids the complex network of ground-based production equipment and personnel work areas. In the form of an aerial overpass, it achieves automated point-to-point replenishment of the target production line. This not only significantly saves valuable workshop floor space, but the entire system also possesses strong spatial flexibility and environmental adaptability, greatly reducing the deployment difficulty and cost of automating the transformation of older workshops. Attached Figure Description

[0021] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0022] Figure 1 This is a schematic diagram of an aerial logistics collaborative transportation system for packaging box stacking according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the feeding end according to a specific embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a loading robot and gripper according to a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the cooperative structure of the feeding device, clamping and flipping mechanism and sorting and limiting mechanism according to a specific embodiment of the present invention; Figure 5 This is a schematic diagram of the lifting and connecting state of the conveyor trolley according to a specific embodiment of the present invention; Figure 6 This is a schematic diagram of the staggered connection between the carrying basket and the roller according to a specific embodiment of the present invention; Figure 7 This is a block diagram of the control principle of the suspension reverse addressing main control module according to a specific embodiment of the present invention; Figure 8 This is a flowchart of a high-precision cross-line conveying method according to an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1. Feeding area; 11. Feeding platform; 12. Recycling platform; 13. Vision acquisition unit; 2. Loading robot; 21. Gripper; 211. First sheet-shaped clamping part; 212. Second sheet-shaped clamping part; 3. Feeding device; 31. Conveyor frame; 32. Roller; 4. Clamping and flipping mechanism; 41. First clamping component; 42. Second clamping component; 5. Production line; 51. Starting loading end; 52. Roller conveyor assembly; 6. Sorting and limiting mechanism; 61. Lower push arm; 62. Upper pressure bar; 63. Flipping and limiting bar; 7. Track; 71. Track hoisting bracket; 8. Car body; 81. Hanging connector; 82. Bearing basket; 9. Stacked materials. Detailed Implementation

[0024] In the following detailed description, reference is made to the accompanying drawings, which form part of the detailed description and are illustrated by specific illustrative embodiments in which the invention may be practiced. In this regard, directional terms such as “top,” “bottom,” “left,” “right,” “up,” “down,” etc., are used with reference to the orientation of the described figures. Because components of the embodiments can be positioned in several different orientations, directional terms are used for illustrative purposes and are by no means limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the invention is defined by the appended claims.

[0025] This invention proposes an aerial logistics collaborative transportation system for packaging box stacking. Figure 1 A schematic diagram of an aerial logistics collaborative transportation system for packaging box stacking according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, the system mainly includes a feeding area 1, at least two production lines 5, and a track 7 spanning above each production line to connect the various areas. Within the feeding area 1, a feeding platform 11 is provided for initially supporting stacked materials 9, such as packaging boxes. A loading robot 2 is positioned next to the feeding area 1, its operating range covering the feeding platform 11 and the adjacent feeding device 3. Once the stacked materials 9 are ready on the feeding platform 11, the loading robot 2 can grab them and transfer them to the designated feeding device 3 for subsequent connection. Furthermore, recycling stations 12 are spaced apart within the feeding area 1. When the front-end vision system detects that the stacked materials 9 on the feeding platform 11 are facing incorrect orientation or abnormal conditions, failing to meet the feeding requirements, the loading robot 2 can directly transfer the abnormal materials to the recycling station 12, effectively removing them from the normal logistics feeding path.

[0026] After the initial feeding and transfer at the front end are completed, the stacked materials 9 will be transported across lines via an aerial logistics architecture. For example... Figure 1As shown, track 7 is suspended above the production line to be crossed and the target production line 5, forming an aerial logistics artery that does not interfere with each other. The body 8 of the conveyor trolley is movably mounted on track 7, and can move back and forth between the receiving position corresponding to the feeding area 1 and the starting loading end 51 of each target production line 5. When the trolley 8 carries stacked materials 9 along track 7 at high speed to the starting loading end 51 of the target production line 5, the materials can be accurately placed onto the corresponding feeding device 3 (i.e., the unloading dock) at that end through the lifting mechanism at the bottom. In order to ensure that the stacked materials 9 that fall into the production line 5 still maintain a neat posture after being released from clamping, a sorting and limiting mechanism 6 is specially configured at the starting loading end 51. This sorting and limiting mechanism 6 can perform multi-dimensional approach and limiting sorting of the stacked materials 9 that have completed aerial cross-line transfer and unloaded into the line, thereby ensuring that the stacked materials 9 enter the production line 5 squarely and stably to perform subsequent packaging processes.

[0027] Figure 2 A schematic diagram of the feeding end according to a specific embodiment of the present invention is shown, as follows: Figure 2 As shown, a feeding platform 11 and a vision sensor 13 positioned above it in the vertical direction are provided in the feeding area. The sensing end of the vision sensor 13 faces directly towards the bearing area of ​​the feeding platform 11, and is used to pre-identify the front or back orientation of stacked materials such as packaging boxes on the feeding platform 11 before feeding. A loading robot 2 is arranged between the feeding platform 11 and the subsequent connecting conveyor line. Its working range covers the feeding platform 11, and its end is equipped with a gripper 21 specifically for picking up and placing sheet-like stacked materials. When the vision sensor 13 identifies that the stacked materials on the feeding platform 11 are in a suitable feeding state, such as with the front facing forward, the loading robot 2 controls the gripper 21 to extend into the edge gap of the stacked materials to complete a stable clamping, and then transfers them to the receiving connecting platform, which includes a conveyor frame 31 and multiple rollers 32, for subsequent overhead conveyor trolleys to lift and transport across the line.

[0028] After the overhead cross-line transport is completed, a matching attitude conversion and sorting and ordering structure is set at the starting loading end 51 of the target production line. On one side of the unloading dock at the target end (as shown in the figure, it also includes a conveyor structure with a conveyor frame 31 and rollers 32), a clamping and turning mechanism 4 is configured. When the stacked materials are staggeredly lowered onto the rollers 32 by the overhead carrying baskets and conveyed out, the clamping members of the clamping and turning mechanism 4 can pass through the clearance interval between adjacent rollers 32, clamp the conveyed stacked materials and drive them to rotate, and finally transfer them to the material placement area at the starting loading end 51 of the target production line.

[0029] To prevent the flexible stacked materials from collapsing after release and transfer, a sorting and limiting mechanism 6 is compactly arranged within the initial feeding end 51. This mechanism 6 specifically includes a lower push arm 61, an upper pressure bar 62, and a flipping limiting bar 63. When the stacked materials fall into the material placement area, the lower push arm 61 moves towards the placement area to push the newly placed materials closer to the existing queue. The upper pressure bar 62 descends to press down on the top of the materials to prevent them from arching, while the flipping limiting bar 63 flips to the limiting position to physically limit the sides of the materials. Through the multi-dimensional coordinated action of the lower push arm 61, the upper pressure bar 62, and the flipping limiting bar 63, the system can comprehensively gather and limit the stacked materials entering the initial feeding end 51, thereby maintaining the queue stability when entering the target production line.

[0030] Figure 3 A schematic diagram of a loading robot and gripper according to a specific embodiment of the present invention is shown, as follows: Figure 3 As shown, the loading robot, as the core moving component for the initial transfer of materials, has a gripper 21 at its end flange specifically designed for stacked materials such as flat packaging boxes. The gripper 21 has a storage cavity within its main frame, and a first sheet-like clamping part 211 and a second sheet-like clamping part 212 are positioned opposite each other on the material-facing side. To achieve non-destructive and stable gripping of large, easily deformable, flexible stacked materials, the first sheet-like clamping part 211 and the second sheet-like clamping part 212 are configured as relatively thin clamping plates or clamping sheets. At least one of the first sheet-like clamping part 211 and the second sheet-like clamping part 212 can extend or retract relative to the main frame (storage cavity) of the gripper 21. Furthermore, after extension, they can move closer or further apart, thus creating a dynamically adjustable clamping space between them to precisely accommodate the dimensional tolerances of different batches of stacked materials. During non-clamping movement or in idle standby mode, the first plate-shaped clamping part 211 and the second plate-shaped clamping part 212 are at least partially retracted and accommodated in the receiving cavity.

[0031] During the actual automated feeding and gripping action, the feeding robot moves the gripper 21 to the material picking position of the stacked materials. Then, the first plate-shaped clamping part 211 and the second plate-shaped clamping part 212 actively extend from the storage cavity and precisely insert into the side gaps or edges of the stacked materials. Then, the two move closer to each other and apply a constant clamping force to complete the material clamping. Through the unique structural design of extending first, clamping later, and storing under no-load conditions, the risk of spatial interference between the gripper 21 and surrounding equipment due to the exposed clamping parts during the movement of the gripper 21 in the complex feeding area is effectively reduced. Furthermore, the plate-shaped insertion method greatly reduces the probability of destructive interference between the gripper and the edge of the stacked materials, providing a material foundation with regular posture and no edge damage for subsequent high-precision cross-line conveying.

[0032] Figure 4 A schematic diagram of the cooperative structure of the feeding device, clamping and flipping mechanism, and sorting and limiting mechanism according to a specific embodiment of the present invention is shown, as follows: Figure 4 As shown, in the material receiving and feeding area, stacked materials are mainly carried and transported by multiple spaced rollers 32. To achieve cross-area transfer of materials from the feeding device to the production line, a clamping and flipping mechanism is placed on one side of the roller 32. This clamping and flipping mechanism has a first clamping member 41 and a second clamping member 42 arranged opposite to each other at the execution end. In particular, there is a sufficient clearance between two adjacent rollers 32, and the second clamping member 42 is arranged opposite to this clearance, and can pass through the clearance without interference when performing the clamping action, so that the stacked material on the roller 32 is exactly between the first clamping member 41 and the second clamping member 42. Through the mutual approach and stable clamping of the first clamping member 41 and the second clamping member 42, the mechanism can drive the stacked material to rotate and flip as a whole, and smoothly transfer it to the material placement area at the starting loading end.

[0033] The initial feeding end is compactly equipped with a sorting and limiting mechanism, which mainly consists of a lower push arm 61, an upper pressure rod 62, and a flipping limiting rod 63. Specifically, the lower push arm 61 is located on the rear side of the material placement area along the production line conveying direction and can move horizontally toward the material placement area to push the newly transferred material forward from the rear. The upper pressure rod 62 is arranged above the material placement area in the height direction and can rise and fall relative to the material placement area and move along the production line conveying direction to apply downward pressure from the top to compact the stacked material and prevent the cardboard sheets or packaging boxes from arching upward or becoming scattered between layers. At the same time, the flipping limiting rod 63 is located on the side of the material placement area near the clamping and flipping mechanism. It can flip around its own end axis, thereby flexibly switching between a limiting position that physically protects the side of the material and an avoidance position that avoids the movement trajectory of the first clamping member 41 and the second clamping member 42. Through the synchronous linkage of the lower push arm 61, the upper pressure rod 62, and the flipping limit rod 63 in multiple dimensions, the system achieves all-round approach and absolute limit arrangement of the stacked materials entering the line.

[0034] Figure 5 A schematic diagram of the lifting and connecting state of the conveyor trolley according to a specific embodiment of the present invention is shown, such as... Figure 5As shown, a track 7 is arranged at the top of the system. This track 7 is suspended and fixed to the load-bearing structure at the top of the workshop via multiple track hoisting brackets 71, thus forming an aerial logistics channel that crosses existing ground equipment. The trolley body 8 is movably mounted on the track 7, allowing for macroscopic parking and cross-line movement along the track 7. Below the trolley body 8, a carrying basket 82 for carrying stacked materials 9 is connected via a lifting drive mechanism. Specifically, the lifting mechanism inside the trolley body 8 drives the carrying basket 82 below to vertically lift and lower with a large drop between the cross-line height and the docking height via retractable hanging connectors 81. To achieve the above-mentioned high-precision cross-line and docking control, multi-level positioning and main control hardware are configured. Specifically, it includes a coarse positioning module, a high-precision visual feedback module, and a suspended reverse addressing main control module. The coarse positioning module is installed on the vehicle body 8 and is used to read the preset positioning marks (such as barcodes or address codes) on the suspended track components to realize the macroscopic addressing and parking of the conveying trolley. The high-precision visual feedback module is arranged at the lower end of the carrying basket 82, with its visual acquisition end facing the unloading dock, and is used to obtain the relative horizontal displacement deviation between the bottom of the carrying basket 82 and the unloading dock when the unloading dock is close. The suspended reverse addressing main control module can be integrated into the control cabinet of the vehicle body 8. It maintains communication connection with the walking drive components, lifting drive components, coarse positioning module, and high-precision visual feedback module of the conveying trolley, and is used to coordinate the execution of the staggered unloading logic based on multi-level precision coupling.

[0035] like Figure 5 As shown on the left, during the cross-line transportation phase, the sling connector 81 is in a retracted state, and the carrying basket 82 and stacked materials 9 are raised to the cross-line height and placed close to the vehicle body 8 to ensure the safety and stability of the aerial cross-line movement; as shown on the left. Figure 5 As shown on the right, when the vehicle body 8 reaches the dynamic compensation parking target point calculated based on the coarse positioning signal and the feedforward offset, the hanging connector 81 lowers the line, and the carrying basket 82 carries the stacked materials 9 down to the ground.

[0036] Because the hanging connector 81 has a certain length of cable, when the carrying basket 82 descends to the roller conveyor assembly 52 near the bottom, it is prone to horizontal swaying errors due to the inherent characteristics of the suspended structure and the micro-deformation caused by the load on the track 7. In order to ensure that the insertion rod component at the bottom of the carrying basket 82 can accurately and without interference insert into the insertion gap between adjacent rollers of the roller conveyor assembly 52, the system will trigger the visual feedback mechanism at the bottom to obtain the relative deviation when the carrying basket 82 enters the preset visual guide distance during its descent. By transmitting this deviation as a negative feedback control quantity in reverse, the vehicle body 8 above the track 7 is driven to perform horizontal compensation micro-motion, actively absorbing and offsetting the deformation error amplified by the hanging connector 81 in the suspended state, and finally making the bottom landing point of the carrying basket 82 converge to the second alignment accuracy, completing the high-precision interlaced connection with the roller conveyor assembly 52, so that the weight of the stacked material 9 is smoothly transferred to the roller conveyor assembly 52. The reverse compensation process adopts a closed-loop control strategy: the high-precision visual feedback module continuously collects the deviation at a fixed period (e.g., 20~50ms), the main control module calculates the compensation amount in real time according to the deviation size and the current Z-axis depth, and performs smooth micro-motion through the servo system of the walking drive component until the deviation converges to the range of the second alignment accuracy threshold.

[0037] Figure 6 A schematic diagram of the staggered connection between the carrying basket and the roller according to a specific embodiment of the present invention is shown, as follows: Figure 6 As shown, below the suspended track 7, the support basket 82, carrying stacked materials 9, has completed a vertical downward lowering action and precisely penetrated the envelope space of the ground conveyor equipment. The support basket 82 includes multiple U-shaped bars arranged at intervals along the inlet and outlet direction of the stacked materials 9. The crossbars at the bottom of the U-shaped bars together form the insert rod components for supporting the stacked materials 9. Correspondingly, the ground roller conveyor assembly 52 consists of multiple parallel rollers arranged with a fixed insertion gap reserved between adjacent rollers. As shown in the relative positional relationship when in a deeply interlocked state, the multiple insert rod components at the bottom of the support basket 82 have precisely lowered one-to-one and fully extended into the corresponding insertion gaps of the roller conveyor assembly 52. ​​In the actual mechanical operation, the width of the crossbar at the bottom of the support basket 82 is smaller than the gap width between the rollers, and there is a strict physical safety tolerance limit between the two. Specifically, the width dimension of the insert rod component (i.e., the crossbar at the bottom of the U-shaped bar) is defined as... The insertion gap width between two adjacent rollers is ,in Under this geometric constraint, the physical safety tolerance limit for the non-interference insertion of the bearing basket 82 into the insertion gap is defined by the following formula: During the lowering of the support basket 82, the main control module drives the upper vehicle body to make fine adjustments through visual negative feedback, forcing the second alignment accuracy of the bottom of the support basket 82 to converge to a range strictly less than the physical safety tolerance limit. Therefore, as Figure 6 As shown, when the support basket 82 continues to descend through the tolerance safety corridor until its bottom insert member is completely below the highest support surface of the rollers of the roller conveyor assembly 52, a safe clearance is maintained between the metal rods of the support basket 82 and the rollers on the ground, without any destructive mechanical interference. The overall weight of the stacked material 9, which was originally supported by the bottom of the support basket 82, is completely and smoothly transferred and supported on the multiple rollers of the roller conveyor assembly 52. ​​Subsequently, the system only needs to start the roller conveyor assembly 52 to use the rotational power of the rollers to move the stacked material 9 out along the grid channel that runs through the inside of the support basket 82, completely solving the industry technical problem of easy breakage and damage of flexible packaging boxes without rigid shells when unloading across lines. In typical industrial applications, the first parking accuracy can usually be controlled within the range of ±3mm to ±8mm, and the physical safety tolerance limit M is generally designed to be 1.0mm to 2.5mm. The second alignment accuracy can be converged to ±0.2mm to ±0.6mm using the method of this invention, thereby ensuring that the insertion rod component and the roller gap achieve interference-free staggered insertion. The actual accuracy value can be adaptively adjusted according to the specific roller gap size, track span, and load conditions.

[0038] Figure 7 A block diagram illustrating the control principle of the suspension reverse addressing master control module according to a specific embodiment of the present invention is shown, as follows: Figure 7 As shown, the main control module serves as the data hub connecting the high-altitude track and ground equipment across spatial coordinates. Its information input terminals are connected to various sensing and detection devices. Specifically, the system utilizes the coarse positioning module 702 to acquire the track-level absolute coordinate range of the conveyor trolley on the suspended track assembly in real time. Simultaneously, the load parameter sensor 703 collects the dynamic load variables generated in real time due to the combined effects of the trolley's own weight, the load-bearing basket, and the weight of the stacked materials. The signals collected by the coarse positioning module 702 and the load parameter sensor 703 are synchronously fed into the deflection feedforward calculation unit 705 inside the main control module. The deflection feedforward calculation unit 705 has a built-in track suspension stiffness model, which can calculate the real-time micro-deflection angle of the suspended track assembly at the current mid-span position based on the above input parameters. and the horizontal projection offset of the bottom of the vertical line The formula for calculating the horizontal projection offset is as follows: H represents the target descent height of the basket. After calculating the specific value using this model, this horizontal projection offset is then superimposed onto the theoretical parking coordinates. The guide trolley smoothly stops at the dynamic compensation parking target point with the first parking accuracy.

[0039] After the carrying basket enters its lowering stroke, the system's control automatically transitions from macro-addressing to micro-correction logic. At this point, the high-precision feedback module 701 (the aforementioned high-precision visual feedback module), located at the bottom of the carrying basket, is activated to continuously acquire the relative horizontal displacement deviation between the carrying basket and the ground-based material feeding dock at the 0.1mm level. Specifically, the high-precision visual feedback module can employ existing industrial vision processing algorithms based on edge detection and template matching. By identifying the edge of the material feeding dock rollers or preset alignment marks, it calculates in real-time the horizontal deviation between the centerline of the bottom insert rod component of the carrying basket and the centerline of the roller gap. The deviation measurement resolution is better than 0.1mm, and this deviation is transmitted as a negative feedback signal to the dynamic speed-limiting and anti-shake fine-tuning unit. Simultaneously, the Z-axis lowering stroke encoder 704, located at the vehicle body end, extracts the current vertical lowering depth parameters in real-time. The position deviation signal captured by the high-precision feedback module 701 and the depth parameters extracted by the Z-axis lowering stroke encoder 704 are used as prerequisites and jointly transmitted to the dynamic speed-limiting and anti-shake fine-tuning unit 706. The dynamic speed limiting and anti-shake fine-tuning unit 706, as the core algorithm execution layer for suppressing the flexible sway of the suspended long chain, can dynamically match the speed limiting and amplitude limiting thresholds of the fine-motion adjustment according to the Z-axis descent depth. Specifically, the limiting parameters are configured as follows: the maximum allowable acceleration and the maximum allowable speed of the walking drive component decrease proportionally with the increase of the Z-axis descent stroke length, thereby transforming the transient step displacement correction command into a smooth flexible approximation command; in a specific example, a linear mapping relationship can be used: maximum allowable acceleration ,in The initial maximum acceleration, An empirical coefficient of 0.5 to 0.8. This represents the current Z-axis downward travel length. The maximum lowering stroke is set accordingly; the maximum permissible speed is similarly reduced proportionally. Subsequently, this flexible fine-tuning command is synchronously sent to the end-effector execution hardware, controlling the walking drive component 707 to perform reverse compensation horizontal fine-tuning based on the upward-downward adjustment logic, and controlling the lifting drive component 708 to maintain the safe and uniform lowering of the carrying basket. Through the closed-loop feedback and control coordination of the above functional units, the main control module ultimately forces the landing point of the bottom of the carrying basket to converge to a second alignment accuracy strictly less than the physical safety tolerance limit within an extremely short adjustment time, perfectly ensuring the interference-free staggered insertion of the insertion rod components.

[0040] Figure 8 A flowchart of an aerial logistics collaborative transportation method for packaging box stacking according to an embodiment of the present invention is shown. The method is tested using the aerial logistics collaborative transportation system for packaging box stacking described above, and specifically includes the following steps: S1: The feeding robot in the feeding area grabs the stacked materials and places them on the receiving dock; the carrying basket of the conveyor trolley lowers, so that the bottom insert rod component extends into the insertion gap of the receiving dock, lifts the stacked materials from the bottom and is lifted to the cross-line height by the lifting drive component.

[0041] In a specific embodiment, S1 further includes: before the loading robot grabs, the vision acquisition device identifies the orientation of the stacked materials on the feeding platform. If it is determined to be suitable for loading, the first and second sheet-like clamping parts of the gripper are controlled to extend from the storage cavity and clamp the materials; if an abnormal state is identified, the materials are transferred to the recycling platform; during the process of the carrying basket lifting the stacked materials and raising them to the cross-line height, the control system monitors in real time the tension load on the hanging connectors located on opposite sides of the carrying basket in the direction of entry and exit; when it is detected that the tension difference is caused by the uneven load of the stacked materials, a fine-tuning command is output to dynamically compensate for the difference in the winding rate of the winding parts in the lifting drive, and maintain the horizontal posture of the carrying basket during the lifting process. The tension load difference monitoring is introduced in the lifting stage to compensate for the lifting rate of the winding parts in real time, avoid the tilting of the carrying basket caused by uneven stacking of cardboard boxes (center of gravity offset), and ensure that the flexible materials will not slip or tip over during high-altitude horizontal transportation.

[0042] S2: The conveying trolley moves along the suspended track assembly toward the target production line; the control system calculates the feedforward offset caused by the micro-deformation of the track based on the current track mid-span position and load parameters of the conveying trolley, and after compensating for the offset at the theoretical parking target point, controls the conveying trolley to stop above the unloading dock with the first parking accuracy.

[0043] In a specific embodiment, in step S2, the absolute value of the system static error of the first parking accuracy is greater than the physical safety tolerance limit. The maximum permissible deviation of the second alignment accuracy is less than the physical safety tolerance limit. Physical tolerance limits This is converted into an absolute threshold in the software control algorithm, which forces the control system to lock the maximum permissible deviation value within a safe range at the algorithm level, providing a safety net for the continuous and fault-free operation of the equipment.

[0044] S3: Start the lowering of the carrying basket. When it enters the preset visual control distance, wake up the high-precision visual feedback module at the bottom of the carrying basket to obtain the relative deviation. Transmit the deviation in reverse to the vehicle body above the track, drive the vehicle body's walking drive component to perform horizontal compensation micro-motion, until the absolute coordinates at the bottom of the carrying basket converge to the second alignment accuracy, which is stricter than the first parking accuracy.

[0045] In a specific embodiment, when the driving component of the reverse-drive vehicle performs horizontal compensation micro-motion in step S3, a dynamic speed limiting and anti-shake step based on the lowering depth is also included: the control system extracts the current Z-axis lowering depth of the support basket in real time and matches the dynamic speed limiting threshold of the current micro-motion adjustment according to the depth; the deeper the Z-axis lowering depth, the smaller the matched maximum running speed and maximum acceleration amplitude limit value; the control system forcibly limits the displacement correction command obtained by the high-precision visual feedback module within the dynamic speed limiting threshold, and prevents the transient impact force generated by the vehicle body micro-motion from being amplified into the swing of the support basket by converting the instantaneous step position correction into a dynamic deceleration approximation action limited by the lowering depth. The parameterized adjustment of the depth reduces the impact force caused by the instantaneous start and stop of the mechanical structure, extends the service life of the entire equipment, and reduces the maintenance frequency.

[0046] S4: The carrying basket continues to descend, and its bottom insert rod precisely extends into the insertion gap between adjacent rollers of the unloading dock and is lower than the roller conveyor support surface, so that the weight of the stacked material is smoothly transferred to multiple rollers; the rollers of the unloading dock rotate, transferring the stacked material out along the in-and-out direction through the carrying basket. By setting up a suspended reverse addressing main control module, the high-precision visual deviation at the bottom of the carrying basket is used as negative feedback to reverse drive the top vehicle body to make micro-movements.

[0047] In a specific embodiment, a clamping and flipping mechanism is provided on one side of the feeding dock, and a sorting and limiting mechanism including a lower push arm, an upper pressure bar, and a flipping limit bar is provided at the starting feeding end of the target production line. After the stacked material is transferred out in S4, the following reset and back-end entry process is further performed: After confirming that the stacked material has completely left the envelope space of the carrying basket, the lifting drive is controlled to pull the empty carrying basket back to the cross-line height; the second clamping member of the clamping and flipping mechanism is controlled to pass through the clearance interval between the rollers and cooperate with the first clamping member to clamp the stacked material that has been transferred out, drive its posture to rotate and transfer it to the material placement area of ​​the target production line; the lower push arm, upper pressure bar, and flipping limit bar of the sorting and limiting mechanism are controlled to work together to perform multi-dimensional approach and limiting sorting of the stacked material that has fallen into the material placement area.

[0048] It is evident that those skilled in the art can make various modifications and alterations to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, the invention is also intended to cover such modifications and alterations if they fall within the scope of the claims and their equivalents. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are described in mutually different dependent claims does not indicate that a combination of these measures cannot be used for profit. Any reference numerals in the claims should not be considered as limiting the scope.

Claims

1. An aerial logistics collaborative transportation system for packaging box stacking, characterized in that, It includes a material feeding area, a material unloading docking station located at the starting loading end of the target production line, a suspended track assembly spanning the production line to be crossed, and a conveying trolley; the material unloading docking station includes a roller conveyor with multiple rollers, with an insertion gap between adjacent rollers; the conveying trolley includes a movably mounted body on the suspended track assembly, a lifting drive, and a carrying basket connected below the lifting drive. The bottom of the support basket is provided with a support rod for lifting materials; the system also includes: A coarse positioning module, located on the vehicle body, is used to read the positioning mark on the suspension track assembly to enable the transport trolley to park. A high-precision visual feedback module is arranged at the lower end of the carrying basket to obtain the relative horizontal displacement deviation with respect to the feeding dock; The suspended reverse addressing main control module is communicatively connected to the walking drive component of the conveying trolley, the lifting drive component, and the aforementioned positioning modules; The suspended reverse addressing main control module is configured to execute staggered feeding logic based on multi-level precision coupling: controlling the conveying trolley to stop at the dynamic compensation parking target point with a first parking accuracy and lower the carrying basket based on the signal of the coarse positioning module; when the lowering stroke enters the preset visual guide distance, the deviation obtained by the high-precision visual feedback module is used as a negative feedback control quantity to reverse drive the walking drive component of the trolley body above the track to perform horizontal compensation micro-motion until the bottom landing point of the carrying basket converges to the second alignment accuracy; the second alignment accuracy is higher than the first parking accuracy, so that the insertion rod component extends into the corresponding insertion gap.

2. The aerial logistics collaborative transportation system for packaging box stacking according to claim 1, characterized in that, The carrying basket includes a top plate and multiple U-shaped rods, which are spaced apart along the direction of material entry and exit. The insert rod component is the bottom crossbar of the U-shaped rod. The multi-level precision coupling includes: defining the width dimension of the bottom crossbar of the U-shaped rod as... The insertion gap width between two adjacent rollers is ,in The physical safety tolerance limit for the load-bearing basket to extend into the insertion gap without interference is defined as follows: The suspension reverse addressing main control module is configured such that the absolute value of the system static error of the first parking accuracy is greater than the physical safety tolerance limit. The maximum permissible deviation of the second alignment accuracy is less than the physical safety tolerance limit. .

3. The aerial logistics collaborative transportation system for packaging box stacking according to claim 2, characterized in that, When generating the dynamic compensation parking target point, the suspension reverse addressing main control module calculates the real-time deflection angle of the suspension track assembly based on the current track mid-span position and load parameters of the transport trolley. ; and descend according to the target altitude Calculate the horizontal projection offset of the bottom of the vertical line. The horizontal projection offset The coordinates are then superimposed onto the theoretical parking coordinates to reduce the initial error of the first parking accuracy.

4. The aerial logistics collaborative transportation system for packaging box stacking according to claim 2, characterized in that, The suspension reverse addressing main control module has a built-in dynamic speed limiting and anti-shaking logic based on the lowering depth: when the driving component of the upper vehicle body performs horizontal compensation micro-motion to approach the second alignment accuracy, the main control module extracts the current Z-axis lowering stroke length of the lifting drive component as an adjustment parameter, and calculates and updates the maximum operating speed and acceleration limit parameters of the driving component in real time. The limiting parameters are configured such that the maximum allowable acceleration and maximum allowable speed of the walking drive component decrease proportionally with the increase of the Z-axis lowering stroke length; the main control module takes the real-time deviation of the high-precision visual feedback module as input, and under the control of the limiting parameters, drives the walking drive component to perform a smooth, flexible approximation action, thereby causing the load-bearing basket to smoothly converge to a value less than the physical safety tolerance limit without inducing macroscopic oscillation of the flexible suspension structure. The second alignment accuracy.

5. The aerial logistics collaborative transportation system for packaging box stacking according to claim 2, characterized in that, The feeding area is equipped with a feeding platform, a vision acquisition device, a loading robot, and a receiving docking platform. The structure of the receiving docking platform is the same as that of the unloading docking platform. The end of the loading robot is equipped with a gripper, which has a storage cavity and a first and a second piece-shaped clamping part that can extend out of the storage cavity. The vision acquisition device is used to identify the front or back orientation of the stacked materials on the feeding platform. When it is identified as suitable for loading, the loading robot controls the first and second piece-shaped clamping parts to extend into the edge gap of the stacked materials to complete the clamping and place the stacked materials on the receiving docking platform. When the carrying basket of the conveying trolley descends to the docking height, the bottom crossbar of the U-shaped rod extends at least partially into the insertion gap of the receiving docking platform to receive the stacked materials.

6. A high-precision cross-line conveying method applied to the system described in any one of claims 1-5, characterized in that, include: S1: The feeding robot in the feeding area grabs the stacked materials and places them on the receiving dock; the carrying basket of the conveying trolley lowers, so that the bottom insert rod component extends into the insertion gap of the receiving dock, lifts the stacked materials from the bottom and is lifted to the cross-line height by the lifting drive component; S2: The conveyor trolley moves along the suspended track assembly toward the target production line; Based on the current track mid-span position and load parameters of the conveying trolley, the control system calculates the feedforward offset caused by the micro deformation of the track. After compensating for the offset at the theoretical parking target point, the control system controls the conveying trolley to stop above the unloading dock with the first parking accuracy. S3: Start the lowering of the carrying basket. When it enters the preset visual control distance, wake up the high-precision visual feedback module at the bottom of the carrying basket to obtain the relative deviation. Transmit the deviation in reverse to the vehicle body above the track and drive the vehicle body's walking drive component to perform horizontal compensation micro-motion until the absolute coordinates at the bottom of the carrying basket converge to the second alignment accuracy, which is stricter than the first parking accuracy. S4: The carrying basket continues to descend, and the insertion rod component at its bottom precisely extends into the insertion gap between adjacent rollers of the feeding dock and is lower than the roller conveying support surface, so that the weight of the stacked material is smoothly transferred to multiple rollers; the rollers of the feeding dock rotate, and the stacked material is transferred out along the in-and-out direction through the carrying basket.

7. The high-precision cross-line conveying method according to claim 6, characterized in that, S1 further includes: before the feeding robot grabs, the vision acquisition device identifies the orientation of the stacked materials on the feeding platform. When it is determined that the feeding state is suitable, the first and second plate-shaped clamping parts of the gripper are controlled to extend from the storage cavity and clamp the materials. If an abnormal state is identified, the materials are transferred to the recycling platform. During the process of the carrying basket lifting the stacked materials and raising them to the cross-line height, the control system monitors the tension load on the hanging connectors located on opposite sides of the carrying basket in the direction of entry and exit in real time. When the tension difference caused by the uneven load of the stacked materials is identified, a fine-tuning command is output to dynamically compensate for the difference in the winding rate of the winding parts in the lifting drive, and maintain the horizontal posture of the carrying basket during the lifting process.

8. The high-precision cross-line conveying method according to claim 6, characterized in that, In step S2, the absolute value of the system static error of the first parking accuracy is greater than the physical safety tolerance limit. The maximum permissible deviation of the second alignment accuracy is less than the physical safety tolerance limit. .

9. The high-precision cross-line conveying method according to claim 6, characterized in that, In step S3, when the driving components of the reverse-drive vehicle body perform horizontal compensation micro-motion, a dynamic speed limiting and anti-shaking step based on the lowering depth is also included: the control system extracts the current Z-axis lowering depth of the load-bearing basket in real time and matches the dynamic speed limiting threshold of the current micro-motion adjustment according to the depth; the deeper the Z-axis lowering depth, the smaller the matched maximum running speed and maximum acceleration amplitude limit value; the control system forcibly limits the displacement correction command obtained by the high-precision visual feedback module to within the dynamic speed limiting threshold, and prevents the transient impact force generated by the micro-motion of the vehicle body from being amplified into the swing of the load-bearing basket by converting the instantaneous step position correction into a dynamic deceleration approximation action limited by the lowering depth.

10. The high-precision cross-line conveying method according to claim 6, characterized in that, One side of the feeding dock is equipped with a clamping and flipping mechanism, and the starting feeding end of the target production line is equipped with a sorting and limiting mechanism including a lower push arm, an upper pressure bar, and a flipping limit bar. After the stacked material is transferred out in S4, the following reset and back-end entry process is further performed: After confirming that the stacked material has completely left the envelope space of the carrying basket, the lifting drive is controlled to pull the empty carrying basket back to the cross-line height; the second clamping member of the clamping and flipping mechanism is controlled to pass through the clearance interval between the rollers and cooperate with the first clamping member to clamp the stacked material that has been transferred out, drive its posture to rotate and transfer it to the material placement area of ​​the target production line; the lower push arm, upper pressure bar, and flipping limit bar of the sorting and limiting mechanism are controlled to work together to perform multi-dimensional approach and limiting sorting of the stacked material that has fallen into the material placement area.

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