Single-point detection mechanism and vehicle pose detection system

Abstract

The utility model provides a single-point detection mechanism and a vehicle pose detection system, and relates to the technical field of logistics. The single-point detection mechanism comprises a flitch assembly, a detection driving source, a light reflecting part and a detection part, the output end of the detection driving source is connected to the flitch assembly, and the detection driving source can drive the flitch assembly to move so that the flitch assembly can make contact with the side wall of a to-be-detected vehicle; the reflecting part is arranged on one side, facing the detection driving source, of the flitch assembly; the detection part is used for detecting the position of the light reflection part so as to obtain distance data of the side wall of the to-be-detected vehicle. The detection member does not directly detect the position of the side wall of the container of the vehicle to be detected, but detects the position of the reflective member attached to the side wall, so that detection errors caused by unevenness of the side wall of the container are avoided, the surface of the reflective member is smooth and has reflective performance, data receiving of the detection member during detection is facilitated, and the detection accuracy is improved. And the detection precision is improved, so that the smooth implementation of subsequent automatic loading is ensured.

Description

Technical Field

[0001] This utility model generally relates to the field of logistics and transportation technology, and more specifically, to a single-point detection mechanism and a vehicle position detection system. Background Technology

[0002] In the field of logistics and transportation technology, the docking of trucks and loading machines mainly relies on manual labor. Specifically, personnel need to monitor and guide the driver to reverse, and operators need to manually adjust the position of the loading machine according to the vehicle's position to achieve docking between the loading machine and the truck. In recent years, in certain special scenarios, visual inspection or lidar scanning has been adopted, followed by image data processing to calculate the vehicle's position. This automatic detection method has significantly improved the efficiency of vehicle parking position and attitude detection.

[0003] However, because truck containers are made of corrugated steel sheets, and there are significant differences between containers from different manufacturers, while lidar scanning can overcome the lighting problem to some extent, the accuracy and reliability of the scanning data are affected when dealing with the complex corrugated structure of the container surface. This makes it difficult for existing visual or laser inspection methods to accurately obtain the actual position of the container. In addition, visual inspection technology is also affected by factors such as resolution and light intensity, resulting in lower detection accuracy, which cannot meet the requirements of automated container loading systems for high-precision positioning and attitude detection. Utility Model Content

[0004] The single-point detection mechanism and vehicle position detection system provided by this utility model improve detection accuracy and ensure docking precision.

[0005] According to a first aspect of the present invention, a single-point detection mechanism is provided, comprising:

[0006] Panel assembly;

[0007] A detection drive source is provided, the output of which is connected to the plate assembly. The detection drive source can drive the plate assembly to move, so that the plate assembly contacts the side wall of the vehicle to be tested.

[0008] A reflective element is disposed on the side of the patch assembly facing the detection drive source;

[0009] A detection component is used to detect the position of the reflector in order to obtain distance data of the sidewall of the vehicle to be tested.

[0010] In some embodiments, the mounting plate assembly includes:

[0011] A mounting plate, which extends along the side wall of the vehicle to be tested;

[0012] The mounting plate is connected to the output terminal of the detection drive source;

[0013] An adjustment structure is provided between the mounting plate and the mounting plate to adjust the position of the mounting plate;

[0014] The reflector is located on the side of the mounting plate away from the adjustment structure.

[0015] In some embodiments, the adjustment structure includes:

[0016] A swivel base is disposed on the side of the mounting plate facing the mounting plate. The swivel base is rotatably connected to the mounting plate, allowing the mounting plate to rotate relative to the mounting plate.

[0017] In some embodiments, the adjustment structure further includes:

[0018] A first elastic element, one end of which is connected to the rotary seat and the other end of which is connected to the plate.

[0019] In some embodiments, the adjustment structure further includes:

[0020] A guide member is disposed in one of the mounting plate and the mounting plate, and the other of the mounting plate and the mounting plate is provided with a guide hole. The guide member passes through the guide hole and slides in cooperation with the guide hole.

[0021] The second elastic element is located between the mounting plate and the mounting plate and can abut against the mounting plate and the mounting plate respectively.

[0022] In some embodiments, the mounting plate assembly further includes:

[0023] A trigger element is disposed on the mounting plate and / or the detection drive source;

[0024] A sensor is disposed on the rotary base and / or the plate, and the sensor is used to trigger the trigger.

[0025] In some embodiments, the single-point detection mechanism further includes a support, and the detection drive source is disposed on the support;

[0026] And / or, the single-point detection mechanism further includes a protective cover, and the detection drive source is disposed inside the protective cover.

[0027] According to a second aspect of the present invention, an embodiment of the present invention also provides a vehicle position detection system, including a parking platform and a plurality of single-point detection mechanisms as described above. The parking platform is used to carry the vehicle to be detected, and the plurality of single-point detection mechanisms are symmetrically arranged on both sides of the parking platform along a first direction to fit against the two side walls of the vehicle to be detected that are opposite to each other along the first direction.

[0028] In some embodiments, the parking platform is provided with a plurality of parallel and spaced-apart limiting members, which are respectively provided on both sides of the parking platform along the first direction. The limiting members extend along the second direction, and a parking area is formed between the two limiting members that are closest to each other along the first direction. The parking area is used to accommodate the vehicle to be tested.

[0029] Wherein, the second direction is perpendicular to the first direction.

[0030] In some embodiments, the parking area includes a head region and a tail region, the head region and the tail region being arranged along the second direction and interconnected;

[0031] The number of single-point detection mechanisms is four. Two of the four single-point detection mechanisms are arranged corresponding to the head region and are spaced apart from each other along the first direction. The other two single-point detection mechanisms are arranged corresponding to the tail region and are spaced apart from each other along the first direction.

[0032] In some embodiments, the parking platform is provided with a plurality of parallel and spaced guide members, which are located within the parking area and respectively disposed on both sides of the parking area along the first direction, and the guide members extend along the second direction.

[0033] In some embodiments, a loading machine is also included, which is located outside the parking platform and on one side of the parking platform along the second direction, the loading machine being capable of carrying the item to be transported and transporting the item to be transported along the second direction to the vehicle to be inspected.

[0034] In some embodiments, the vehicle pose detection system further includes a docking detection mechanism, which is disposed at least one of the vehicle to be detected and the loading machine facing each other on one side along the second direction, and the docking detection mechanism is used to detect the distance between the vehicle to be detected and the loading machine along the second direction.

[0035] In some embodiments, the vehicle pose detection system further includes a first height detection mechanism, wherein the container of the vehicle to be detected has a bottom plate along a third direction, the first height detection mechanism is disposed on the side of the loading machine along the second direction and facing the parking platform, and the first height detection mechanism is used to detect the height of the bottom plate along the third direction;

[0036] The third direction is perpendicular to both the second direction and the first direction.

[0037] In some embodiments, there are multiple first height detection mechanisms, and the multiple first height detection mechanisms are respectively arranged on both sides of the loading machine along the first direction;

[0038] Wherein, along the first direction, the distance between the two first height detection mechanisms that are furthest apart among the plurality of first height detection mechanisms is less than or equal to the width of the vehicle to be detected.

[0039] In some embodiments, the loading machine includes a base and a conveying assembly, the conveying assembly being able to carry the item to be transported and to move the item to be transported relative to the base along the second direction and toward the parking platform, so that the item to be transported is transported to the vehicle to be inspected;

[0040] The vehicle pose detection system further includes a second height detection mechanism, which is disposed on the base and used to detect the height position of the conveying component along a third direction;

[0041] The third direction is perpendicular to both the second direction and the first direction.

[0042] One embodiment of this utility model has the following advantages or beneficial effects:

[0043] The single-point detection mechanism provided in this embodiment, driven by a detection drive source, allows the plate assembly to move along a first direction toward the vehicle to be detected, causing the plate assembly to adhere to the side wall of the vehicle. A reflector reflects the light beam emitted by the detection element, providing a measurement reference. By detecting the position of the reflector using the detection element, the distance from the detection element to the measurement reference can be obtained, thereby acquiring the distance data of the container body.

[0044] Since the detection component does not directly detect the position of the container sidewall of the vehicle to be inspected, but rather detects the position of the reflective component that is in contact with the sidewall, it avoids detection errors caused by the unevenness of the container sidewall. In addition, the reflective component has a smooth surface and reflective properties, which is conducive to data reception during detection and improves detection accuracy, thereby ensuring the smooth implementation of subsequent automated loading.

[0045] The vehicle pose detection system provided in this embodiment can respectively fit the two side walls of the vehicle to be detected that are opposite to each other along the first direction by setting up multiple single-point detection mechanisms. The two side walls of the container in the vehicle to be detected that are opposite to each other along the first direction are used as sampling points, which avoids the problem of large measurement errors caused by severe deformation of the sampling points and improves detection accuracy. Attached Figure Description

[0046] To better understand this invention, reference can be made to the embodiments shown in the following drawings. Components in the drawings are not necessarily to scale, and related elements may be omitted to emphasize and clearly illustrate the technical features of this invention. Furthermore, related elements or components may have different arrangements as known in the art. Additionally, in the drawings, the same reference numerals denote the same or similar components in various figures. The above and other features and advantages of this invention will become more apparent by describing exemplary embodiments of the invention in detail with reference to the drawings.

[0047] in:

[0048] Figure 1 The diagram shown is a structural schematic of a vehicle position and posture detection system according to an embodiment of the present invention.

[0049] Figure 2 The diagram shown is a structural schematic of a single-point detection mechanism in a vehicle posture detection system according to an embodiment of the present invention.

[0050] Figure 3 The diagram shown is a structural schematic of a mounting plate assembly in a vehicle position and posture detection system according to an embodiment of the present invention.

[0051] Figure 4 The diagram shown illustrates the structure of the docking detection mechanism, the first height detection mechanism, and the second height detection mechanism in a vehicle pose detection system according to an embodiment of this utility model. Figure 1 ;

[0052] Figure 5 The diagram shown is a structural schematic of the docking detection mechanism in a vehicle position detection system according to an embodiment of the present invention.

[0053] Figure 6 The diagram shown is a structural schematic of the first height detection mechanism in a vehicle posture detection system according to an embodiment of the present invention.

[0054] Figure 7 The diagram shown illustrates the structure of the docking detection mechanism, the first height detection mechanism, and the second height detection mechanism in a vehicle pose detection system according to an embodiment of this utility model. Figure 2 ;

[0055] Figure 8 The diagram shown is a structural schematic of the second height detection mechanism in a vehicle posture detection system according to an embodiment of the present invention.

[0056] Figure 9 The diagram shown is a flowchart of a vehicle loading and docking control method according to an embodiment of the present invention;

[0057] Figure 10 The diagram shown is a schematic representation of a vehicle docking control method according to an embodiment of the present invention, in a state where there is no vehicle to be detected.

[0058] Figure 11 The diagram shown is a schematic representation of the state of the vehicle to be detected in an embodiment of the vehicle docking control method of this utility model;

[0059] Figure 12 The diagram shown is a schematic representation of the centerline deflection of the vehicle to be tested in a vehicle docking control method according to an embodiment of the present invention.

[0060] Figure 13 The diagram shown illustrates the principle of calculating the centerline deflection angle of the vehicle to be tested in a vehicle docking control method according to an embodiment of this utility model.

[0061] The reference numerals in the attached figures are explained as follows:

[0062] 100. Vehicle to be inspected; 101. Trailer; 102. Container chassis; 103. Container; 200. Item to be transported;

[0063] 1. Single-point testing facility; 2. Parking platform; 3. Loading machine; 4. Docking testing facility; 5. First-height testing facility; 6. Second-height testing facility;

[0064] 11. Plate assembly; 111. Plate; 112. Mounting plate; 113. Adjustment structure; 1131. Rotary seat; 1132. First elastic element; 1133. Guide element; 1134. Second elastic element; 114. Trigger element; 115. Sensor element; 12. Detection drive source; 13. Reflector element; 14. Detection element; 15. Bracket; 16. Protective cover;

[0065] 20. Parking area; 21. Parking limiter; 22. Guiding element;

[0066] 31. Base; 32. Conveying assembly; 321. Front push plate;

[0067] 41. Docking bracket; 42. Docking detection sensor;

[0068] 51. First mounting bracket; 52. First photoelectric switch;

[0069] 61. Second mounting bracket; 62. Second photoelectric switch. Detailed Implementation

[0070] The technical solutions of the exemplary embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The exemplary embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. Therefore, it should be understood that various modifications and changes can be made to the exemplary embodiments without departing from the scope of protection of this utility model.

[0071] In the description of this utility model, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more; and the term "and / or" includes any and all combinations of one or more of the associated listed items. In particular, references to "the / described" object or "an" object are also intended to indicate one of a possible plurality of such objects.

[0072] Unless otherwise specified or stated, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; "connection" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0073] Furthermore, in the description of this utility model, it should be understood that the directional terms such as "upper," "lower," "inner," and "outer" described in the exemplary embodiments of this utility model are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the exemplary embodiments of this utility model. It should also be understood that, in the context of an element or feature being connected to another element (one or more) "upper," "lower," "inner," or "outer," it can be directly connected to the other element (one or more) "upper," "lower," "inner," or "outer," or indirectly connected to the other element (one or more) "upper," "lower," "inner," or "outer" through an intermediate element.

[0074] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0075] like Figure 1As shown, during the logistics transportation process, after the loading machine 3 and the vehicle to be inspected 100 are docked, the loading machine 3 transports the item to be transported 200 into the vehicle to be inspected 100. Specifically, the vehicle to be inspected 100 refers to a container truck, which includes a trailer 101, a container chassis 102, and a container 103. The trailer 101 is connected to the container chassis 102, and the container 103 is mounted on the container chassis 102. The space inside the container 103 is used to accommodate the item to be transported 200, which can be cargo or cargo with pallets. The loading machine 3 includes a base 31 and a conveying assembly 32. The conveying assembly 32 can carry the item to be transported 200 and drive it to move relative to the base 31 towards the vehicle to be inspected 100. The conveying assembly 32 can also rotate or move relative to the base 31 to adjust its position relative to the vehicle to be inspected 100, thereby ensuring the docking accuracy between the loading machine 3 and the vehicle to be inspected 100.

[0076] It is understood that the movement and rotation of the conveying component 32 relative to the base 31 in the loading machine 3 is existing technology and is not the core utility model point of this application, so it will not be described in detail.

[0077] While using two position sensors to detect the rear position of the vehicle 100 under inspection can ensure the docking accuracy between the loading machine 3 and the vehicle 100 to a certain extent, the rear structures of different vehicles 100 vary significantly, and not all vehicles 100 have a suitable flat surface as a sampling point. Furthermore, due to frequent loading and transportation, the rear of most vehicles 100 under inspection is severely deformed, making it impossible to guarantee that the left and right sides of the vehicle 100 are on the same plane. This results in a large error in the measurement distance, failing to meet the accuracy requirements of automated loading.

[0078] Therefore, this embodiment provides a parking position attitude detection system for detecting the position attitude of the vehicle 100 to be detected, such as... Figure 1 As shown, the parking position attitude detection system includes a parking platform 2 and multiple single-point detection mechanisms 1. The parking platform 2 is used to carry the vehicle 100 to be detected, which can be the aforementioned vehicle 100 or other vehicles requiring detection. The multiple single-point detection mechanisms 1 are symmetrically arranged on both sides of the parking platform 2 along a first direction to conform to the two side walls of the vehicle 100 to be detected, which are positioned opposite each other along the first direction. Specifically, the two side walls of the vehicle 100 to be detected, positioned opposite each other along the first direction, refer to the side walls of the container 103 along the first direction.

[0079] Among them, the parking platform 2 is similar to a cuboid structure. The width direction of the parking platform 2 is the first direction, which is marked by D1. The length direction of the parking platform 2 is the second direction, which is marked by D2. The height direction of the parking platform 2 is the third direction, which is marked by D3. The first direction, the second direction, and the third direction are perpendicular to each other. The first direction, the second direction, and the third direction only represent spatial directions and have no substantial meaning.

[0080] The vehicle pose detection system provided in this embodiment can respectively fit the two side walls of the vehicle 100 to be detected along the first direction by setting multiple single-point detection mechanisms 1. The two side walls of the container 103 in the vehicle 100 to be detected along the first direction are used as sampling points. This avoids the situation where the measurement error is large due to severe deformation when the tail of the container 103 is used as a sampling point, thereby improving the detection accuracy.

[0081] In one embodiment, such as Figure 1 As shown, the parking platform 2 is provided with a plurality of parallel spaced limiting members 21. The plurality of limiting members 21 are respectively provided on both sides of the parking platform 2 along the first direction. The limiting members 21 extend along the second direction. The parking area 20 is formed between the two limiting members 21 that are closest to each other along the first direction. The parking area 20 is used to accommodate the vehicle 100 to be inspected.

[0082] For example, there are two limiting members 21, which are arranged in parallel and spaced apart on both sides of the parking platform 2 along the first direction. The area between the two limiting members 21 is the parking area 20, which is used to determine whether the vehicle 100 to be inspected is parked within the parking area 20. Specifically, if the vehicle 100 to be inspected is located within the parking area 20, it means that the vehicle 100 to be inspected is within the applicable range of the loading machine 3, and the single-point detection mechanism 1 can be used for the next inspection, so that the loading machine 3 can perform the next loading operation; if the vehicle 100 to be inspected is not located within the parking area 20, it means that the vehicle 100 to be inspected is outside the applicable range of the loading machine 3, making it impossible to perform the subsequent loading operation.

[0083] In one embodiment, such as Figure 1 As shown, the parking platform 2 is provided with a plurality of parallel and spaced guide members 22. The plurality of guide members 22 are located in the parking area 20 and are respectively provided on both sides of the parking area 20 along the first direction, and the guide members 22 extend along the second direction.

[0084] For example, there are two guide members 22. The two guide members 22 are arranged in parallel and spaced apart and respectively on both sides of the parking area 20 along the first direction. That is, the two guide members 22 are located on the inner side of the limiting member 21 that is close to each other along the first direction. The guide members 22 and the limiting member 21 are arranged in parallel. The guide members 22 serve to guide the vehicle 100 to be tested, and are used to guide the driver to park the vehicle 100 to be tested in the center area of ​​the parking area 20 as much as possible, and keep the vehicle 100 to be tested and the guide members 22 parallel, so as to achieve the initial alignment of the vehicle 100 to be tested.

[0085] The parking area 20 includes a head area and a tail area, which are arranged along a second direction and connected to each other. The head area is used to place the head of the vehicle to be inspected 100, and the tail area is used to place the tail of the vehicle to be inspected 100.

[0086] For example, the number of single-point detection mechanisms 1 is four. Two of the four single-point detection mechanisms 1, 10a and 10b, are arranged corresponding to the head region and are spaced apart from each other along the first direction. The other two single-point detection mechanisms 10c and 10d are arranged corresponding to the tail region and are spaced apart from each other along the first direction.

[0087] Using this method, the four single-point detection mechanisms 1 can measure the distance to the side wall of the container 103 in the vehicle to be inspected 100 and calculate the coordinate point of the center line of the container 103. Based on the deflection angle of the center line of the container 103, the position of the conveying component 32 in the loading machine 3 is adjusted accordingly to ensure that the item to be transported 200 can be accurately transported into the container 103.

[0088] Since container 103 is generally made of corrugated sheet and there are significant differences between different models of container 103, the accuracy of visual detection of the actual position of container 103 is low due to factors such as resolution and light intensity, which cannot meet the requirements of automated loading.

[0089] Therefore, such as Figures 2-3As shown, the single-point detection mechanism 1 provided in this embodiment includes a bracket 15, a mounting plate assembly 11, a detection drive source 12, a reflector 13, and a detection element 14. The bracket 15 is disposed on the parking platform 2. The detection drive source 12 is installed on the top of the bracket 15 along a third direction. The detection drive source 12 can be a cylinder, a motor, etc. The output end of the detection drive source 12 is connected to the mounting plate assembly 11. The detection drive source 12 can drive the mounting plate assembly 11 to move, so that the mounting plate assembly 11 contacts the side wall of the vehicle 100 to be detected. The reflector 13 is made of reflective material and is disposed on the side of the mounting plate assembly 11 facing the detection drive source 12. The detection element 14 can be a laser rangefinder sensor. The detection element 14 is disposed on the bracket 15 and located below the detection drive source 12 along a third direction. The detection element 14 is used to detect the position of the reflector 13 to obtain distance data of the side wall of the vehicle 100 to be detected.

[0090] For example, under the driving action of the detection drive source 12, the patch assembly 11 can move along a first direction toward the vehicle 100 to be inspected, so that the patch assembly 11 is in contact with the side wall of the vehicle 100 to be inspected. The reflector 13 can reflect the light beam emitted by the detection element 14 to provide a measurement reference. By detecting the position of the reflector 13 using the detection element 14, the distance from the detection element 14 to the measurement reference can be obtained, thereby acquiring the distance data of the container 103.

[0091] The single-point detection mechanism 1 provided in this embodiment does not directly detect the side wall of the container 103 of the vehicle to be inspected by the detection component 14. Instead, the detection component 14 indirectly detects the position of the reflective component 13 to characterize the position of the side wall of the container 103 of the vehicle to be inspected. This avoids detection errors caused by unevenness of the side wall of the container 103. In addition, the reflective component 13 has a smooth surface and reflective properties, which is beneficial for the detection component 14 to receive data during detection and improve detection accuracy, thereby ensuring the smooth implementation of subsequent automatic loading.

[0092] like Figure 2 As shown, the single-point detection mechanism 1 also includes a protective cover 16, in which the detection drive source 12 and the detection component 14 are disposed. The protective cover 16 serves to protect the detection drive source 12 and the detection component 14.

[0093] Since the detection drive source 12 can only drive the plate assembly 11 to move linearly along the first direction, if the position of the vehicle 100 to be detected is skewed, that is, the center line of the vehicle 100 to be detected is not completely perpendicular to the first direction, a gap will appear between the rigid plate assembly 11 and the side wall of the vehicle 100 to be detected, resulting in poor adhesion and affecting the detection accuracy.

[0094] Therefore, such as Figures 2-3As shown, the mounting plate assembly 11 includes a mounting plate 111, a mounting plate 112, and an adjustment structure 113. The mounting plate 112 is connected to the output end of the detection drive source 12. The mounting plate 111 extends along a second direction, that is, the extension direction of the mounting plate 111 is the same as the extension direction of the side wall of the vehicle 100 to be inspected. The side of the mounting plate 111 away from the mounting plate 112 serves as a bonding surface for bonding to the side wall of the container 103. The adjustment structure 113 is disposed between the mounting plate 111 and the mounting plate 112 for adjusting the position of the mounting plate 111.

[0095] Under the action of the adjustment structure 113, the plate 111 is not a rigid structure, but has a flexible adjustment function. Even if the vehicle 100 under test is misaligned, the position of the plate 111 can be adjusted accordingly using the adjustment structure 113, so that the plate 111 can better fit against the side wall of the vehicle 100 under test, and improve the tightness of the fit between the plate 111 and the side wall of the vehicle 100 under test.

[0096] The reflector 13 is positioned on the side of the mounting plate 112 away from the adjustment structure 113. This arrangement ensures that slight movements of the adjustment structure 113 will not affect the position of the reflector 13, and the distance between the reflector 13 and the detection element 14 is relatively close, avoiding inaccurate detection due to excessive detection distance of the detection element 14.

[0097] Specifically, such as Figure 3 As shown, the adjustment structure 113 includes a rotary seat 1131, which is disposed on the side of the mounting plate 111 facing the mounting plate 112. The rotary seat 1131 is rotatably connected to the mounting plate 112 via a rotating shaft, so that the mounting plate 111 can rotate relative to the mounting plate 112.

[0098] When there is an angle between the centerline of the vehicle 100 to be inspected and the second direction, the rotary table drives the plate 111 to rotate at a certain angle, so that the plate 111 is attached to the side wall of the vehicle 100 to be inspected, avoiding gaps between the plate 111 and the side wall, and ensuring good tightness between the plate 111 and the side wall.

[0099] In one embodiment, the adjustment structure 113 further includes a first elastic element 1132, wherein the first elastic element 1132 may be a spring, tension spring, etc. One end of the first elastic element 1132 is connected to the rotary seat 1131 and the other end is connected to the plate 111. The first elastic element 1132 provides a certain elastic force to the plate 111, which facilitates the resetting of the plate 111 and can further improve the tightness between the plate 111 and the side wall.

[0100] For example, there are two first elastic elements 1132, which are located on both sides of the rotary seat 1131 to ensure the balance of the rotation of the plate 111.

[0101] In one embodiment, the adjustment structure 113 further includes a guide member 1133, which is disposed on one of the mounting plate 111 and the mounting plate 112. The other of the mounting plate 111 and the mounting plate 112 is provided with a guide hole, and the guide member 1133 passes through the guide hole and slides in cooperation with the guide hole.

[0102] For example, the guide 1133 may be a guide post, a linear bearing, etc. The guide 1133 is disposed on the side of the plate 111 facing the mounting plate 112. The mounting plate 112 is provided with a guide hole. The guide 1133 passes through the guide hole and guides and cooperates with it to plan the movement path of the plate 111 and avoid the plate 111 from having a large positional deviation.

[0103] For example, there are two guide members 1133 and two guide holes. The two guide members 1133 are located on both sides of the rotary seat 1131 and are correspondingly arranged with the two guide holes to ensure the balance of the rotation of the plate 111.

[0104] like Figure 3 As shown, the adjustment structure 113 also includes a second elastic element 1134, wherein the second elastic element 1134 may be a compression spring, and the second elastic element 1134 is located between the mounting plate 111 and the mounting plate 112 and can abut against the mounting plate 111 and the mounting plate 112 respectively.

[0105] When the plate 111 rotates toward the mounting plate 112, the plate 111 abuts against the second elastic member 1134, causing the second elastic member 1134 to be in a compressed state. The compressed second elastic member 1134 can provide a certain thrust to the plate 111, so that the plate 111 and the side wall of the vehicle 100 to be tested are tightly attached.

[0106] It is understandable that when the guide 22 is a guide post, the second elastic element 1134 is sleeved on the outside of the guide 22, and the guide 22 provides an installation position for the second elastic element 1134 to ensure the installation stability of the second elastic element 1134.

[0107] In one embodiment, such as Figure 3 As shown, the mounting plate assembly 11 also includes a trigger 114 and a sensor 115. The trigger 114 is disposed on the mounting plate 112 and / or the detection drive source 12. The sensor 115 is disposed on the rotary base 1131 and / or the mounting plate 111, and the sensor 115 can trigger the trigger 114.

[0108] For example, the sensing element 115 may be a sensing plate, and the trigger element 114 may be a slotted photoelectric switch. The sensing element 115 is fixed to the mounting plate 112 and is disposed on the plate 111 and moves with the plate 111. When the plate 111 is in contact with the side wall of the container 103, the sensing element 115 can be inserted with the trigger element 114 and trigger a sensing signal to indicate the contact state between the plate 111 and the side wall of the container 103.

[0109] In one embodiment, such as Figure 4 As shown, the vehicle pose detection system also includes a docking detection mechanism 4, which is disposed at least on one side of the vehicle to be tested 100 and the loading machine 3 along the second direction. The docking detection mechanism 4 is used to detect the distance between the vehicle to be tested 100 and the loading machine 3 along the second direction.

[0110] For example, the docking detection mechanism 4 is located at the front end of the loading machine 3 along the second direction and towards the parking platform 2, that is, the docking detection mechanism 4 is located at the rear of the vehicle to be inspected 100. After the docking detection mechanism 4 detects the actual distance between the vehicle to be inspected 100 and the loading machine 3, it can display the distance on the screen and provide feedback to the driver via voice broadcast. When the actual distance reaches the preset distance, the driver stops the car and gets out of the car to start the loading program button to start and realize the loading process of the loading machine 3.

[0111] Specifically, such as Figures 4-5 As shown, the docking detection mechanism 4 includes a docking bracket 41 and a docking detection sensor 42. The docking bracket 41 is an L-shaped or U-shaped structure or other mechanism. The docking bracket 41 is set at the front end of the base 31 in the loading machine 3. The docking detection sensor 42 is installed on the docking bracket 41 and is used to detect the distance between the vehicle to be tested 100 and the loading machine 3.

[0112] In one embodiment, such as Figure 4 As shown, the vehicle position detection system also includes a first height detection mechanism 5. The container 103 of the vehicle to be detected has a bottom plate along the third direction. The first height detection mechanism 5 is set on the side of the loading machine 3 along the second direction and facing the parking platform 2. The first height detection mechanism 5 is used to detect the height of the bottom plate along the third direction.

[0113] In addition, during the loading process, as the container 103 is continuously pushed forward by the item to be transported 200, the container 103 will settle. The first height detection mechanism 5 can be used to dynamically monitor the settlement of the vehicle to be inspected 100, thereby realizing the height adjustment of the loading machine 3 and the vehicle to be inspected 100.

[0114] The device comprises multiple first height detection mechanisms 5, which are respectively located on both sides of the loading machine 3 along the first direction. The distance between the two first height detection mechanisms 5 that are furthest apart is less than or equal to the width of the vehicle 100 to be inspected.

[0115] For example, two first height detection mechanisms 5 are spaced apart at the ends of the inner base 31 of the loading machine 3 along a first direction, and the distance between the two first height detection mechanisms 5 in the first direction is less than the internal width of the container 103. With this arrangement, the detection area of ​​the two first height detection mechanisms 5 does not exceed the area of ​​the container 103, which can better detect the height of the bottom plate of the container 103.

[0116] Specifically, such as Figure 4 and Figure 6 As shown, the first height detection mechanism 5 includes a first mounting bracket 51 and a first photoelectric switch 52. The first photoelectric switch 52 is mounted on the loading machine 3 through the first mounting bracket 51 and is used to detect the height of the container 103.

[0117] The vehicle to be inspected 100 and the loading machine 3 are horizontally docked using the docking detection mechanism 4, and the vehicle to be inspected 100 and the loading machine 3 are vertically docked using the first height detection mechanism 5. The conveying component 32 of the loading machine 3 can carry the item to be transported 200 and can drive the item to be transported 200 to move relative to the base 31 along the second direction and toward the parking platform 2, so that the item to be transported 200 can be more accurately transported to the vehicle to be inspected 100.

[0118] like Figure 7 As shown, as the container 103 is continuously pushed forward by the transported item 200, the container 103 will sink to a certain extent, and the front push plate 321 of the conveying component 32 will be lowered accordingly. The front push plate 321 of the conveying component 32 is in an inclined state, which reduces the distance between the front push plate 321 of the conveying component 32 and the base 31, making it easy for the front push plate 321 and the base 31 to scrape.

[0119] Therefore, the vehicle position detection system also includes a second height detection mechanism 6, which is disposed on the base 31 and located between the two first height detection mechanisms 5. The second height detection mechanism 6 is used to detect the height position of the conveying assembly 32 along a third direction.

[0120] As the distance between the front push plate 321 of the conveying component 32 and the base 31 decreases, the second height detection mechanism 6 detects the actual height position of the front push plate 321 along the third direction. When the actual height position is less than the preset height position, the conveying component 32 of the loading machine 3 is lowered relative to the base 31 to a certain fixed height position to ensure that the height difference between the conveying component 32 of the loading machine 3 and the container 103 is always within a certain range.

[0121] In this way, the height of the conveying component 32 of the loading machine 3 can be dynamically monitored by the second height detection mechanism 6, so as to avoid large height deviation between the conveying component 32 and the base 31 of the loading machine 3, which could lead to problems such as scraping between the conveying component 32 and the base 31 or damage to the rollers.

[0122] Specifically, such as Figure 8 As shown, the second height detection mechanism 6 includes a second mounting bracket 61 and a second photoelectric switch 62. The second photoelectric switch 62 is mounted on the loading machine 3 via the second mounting bracket 61 and is used to detect the height of the container 103.

[0123] The vehicle pose detection system provided in this embodiment can accurately detect the front-to-back, left-to-right, height, and deflection angle of the vehicle 100 to be inspected, so as to achieve rapid docking between the loading machine 3 and the container 103. Compared with conventional visual scanning solutions, this vehicle pose detection system has a simple structure, low cost, high reliability, stability, and high detection efficiency.

[0124] This embodiment also provides a vehicle loading docking control method for controlling the aforementioned vehicle pose detection system, such as... Figure 9 As shown, the loading docking control method includes the following steps:

[0125] Multiple single-point detection mechanisms 1 are used to detect the position of two side walls of the vehicle 100 that are opposite to each other along the first direction, so as to obtain the distance data of the two side walls of the vehicle 100 that are opposite to each other along the first direction.

[0126] Adjust the attitude of loading machine 3 based on distance data;

[0127] After the loading machine 3, which has completed its attitude adjustment, is docked with the vehicle 100 to be inspected, the loading machine 3 is used to transport the parts to be transported 200 to the vehicle 100 to be inspected.

[0128] The loading docking control method provided in this embodiment utilizes multiple single-point detection mechanisms 1 to detect two side walls of the vehicle 100 that are arranged opposite each other along the first direction. The position detection accuracy of the two side walls is relatively high. Based on the distance data of the two side walls of the vehicle 100, the posture of the loading machine 3 is adjusted accordingly to achieve rapid docking between the vehicle 100 and the loading machine 3, thereby improving the smoothness of the subsequent transport of the transported parts 200 by the loading machine 3.

[0129] In one embodiment, using multiple single-point detection mechanisms 1 to perform position detection on two sidewalls of the vehicle 100 that are positioned opposite each other along a first direction includes:

[0130] The plate assembly 11 of multiple single-point detection mechanism 1 is respectively attached to two side walls of the vehicle 100 to be tested, which are arranged opposite to each other in the first direction, so that the reflective element 13 set on the plate assembly 11 provides a measurement reference.

[0131] The distance between the detection element 14 of the single-point detection mechanism 1 and its corresponding measurement reference is measured to obtain the distance data between the two side walls of the vehicle 100 to be tested, which are arranged opposite each other along the first direction.

[0132] For example, the reflector 13 can reflect the light beam emitted by the detector 14 to provide a measurement reference.

[0133] After the plate assembly 11 of multiple single-point detection mechanisms 1 is respectively attached to two side walls of the vehicle 100 to be inspected that are arranged opposite each other along the first direction, the position of the reflective element 13 is detected by the detection element 14. This avoids detection errors caused by unevenness of the side walls of the container 103. The reflective element 13 has a smooth surface and reflective properties, which is beneficial for the detection element 14 to receive data during detection. Using the reflective element 13 as a measurement reference, the consistency of the measurement reference is good and the accuracy is high, which improves the detection precision and ensures the smooth implementation of subsequent automatic loading.

[0134] It is understandable that the number of single-point detection mechanisms 1 is greater than or equal to two, and the number of single-point detection mechanisms 1 can be either odd or even. If there are two single-point detection mechanisms 1, and the two single-point detection mechanisms 1 are located on opposite sides of the parking platform 2 along the first direction, if the distance data detected by one single-point detection mechanism 1 is less than the distance data detected by the other single-point detection mechanism 1, it means that the position of the vehicle to be inspected 100 is biased towards one of the single-point detection mechanisms 1. At this time, the position of the loading machine 3 along the first direction can be adjusted accordingly, and it can be moved closer to one of the single-point detection mechanisms 1 to ensure the accuracy of docking between the loading machine 3 and the vehicle to be inspected 100.

[0135] In one embodiment, adjusting the attitude of the loading machine 3 based on distance data includes the following steps:

[0136] Based on the distance data, obtain the deflection angle of the centerline of the vehicle to be tested 100 and the relative position parameters of the centerline of the vehicle to be tested 100 and the rotation center of the loading machine 3.

[0137] Based on the deflection angle and relative position parameters, the position of the loading machine 3 in the second direction and its angular position relative to the vehicle to be tested 100 are adjusted.

[0138] It is understandable that two single-point detection mechanisms 1 arranged opposite each other along the first direction can obtain a set of distance data, through which the position of one center point of the vehicle 100 to be detected can be determined; the other two single-point detection mechanisms 1 arranged opposite each other along the first direction can obtain another set of distance data, through which the position of the other center point of the vehicle 100 to be detected can be determined. The positions of these two center points can determine the centerline of the vehicle 100 to be detected, and the centerline of the vehicle 100 to be detected can determine the position and parking direction of the vehicle 100 to be detected. When there is an angle between the centerline of the vehicle 100 to be detected and the reference centerline, it means that the centerline of the vehicle 100 to be detected has a certain deflection angle relative to the reference centerline.

[0139] Since the conveying component 32 of the loading machine 3 can rotate relative to the base 31 around the rotation center O of the loading machine 3, and the rotation center of the loading machine 3 is on the center line of the loading machine 3, by adjusting the position of the conveying component 32 in the second direction and the angular position relative to the vehicle 100 to be inspected, the rotation center of the loading machine 3 is located on the extension line of the center line of the vehicle 100 to be inspected. Then the center line of the vehicle 100 to be inspected and the center line of the loading machine 3 are collinear, thereby ensuring that the loading machine 3 can directly convey the transported item 200 to the container 103 of the vehicle 100 to be inspected.

[0140] Specifically, such as Figures 10-12 As shown, when the number of single-point detection mechanisms 1 is four, two of the single-point detection mechanisms 1 are set in the head area of ​​the parking area 20 and located in the first section AA, and the other two single-point detection mechanisms 1 are set in the tail area of ​​the parking area 20 and located in the second section BB. The distance between the first section AA and the second section BB along the second direction is the first dimension a. The rotation center of the loading machine 3 is located in the third section CC and the distance between it and the second section BB along the second direction is the second dimension b.

[0141] The first section AA is the plane containing the side of the bracket 15 of the two single-point detection mechanisms 1 located opposite each other along the first direction in the head region, facing the loading machine 3 along the second direction. The second section BB is the plane containing the side of the bracket 15 of the two single-point detection mechanisms 1 located opposite each other along the first direction in the tail region, facing the loading machine 3 along the second direction. The third section CC is the plane containing the rotation center of the loading machine 3. The first section AA, the second section BB, and the third section CC are all vertical planes, that is, perpendicular to the planes containing the first and second directions.

[0142] Obtaining the deflection angle of the centerline of the vehicle to be inspected 100 and the relative position parameters of the rotation center of the loading machine 3 includes the following steps:

[0143] Two of the single-point detection mechanisms 1 respectively detect the distance between two side walls of the vehicle 100 that are set together along the first direction, so as to obtain the coordinates of the first intersection point of the center line of the vehicle 100 in the first section.

[0144] The other two single-point detection mechanisms 1 respectively detect the distance between two side walls of the vehicle 100 that are set together along the first direction, so as to obtain the coordinates of the second intersection point of the center line of the vehicle 100 in the second section.

[0145] Calculate the deflection angle of the centerline of the vehicle to be inspected 100 based on the coordinates of the first intersection point and the second intersection point.

[0146] Based on the deflection angle of the centerline of the vehicle to be tested 100, calculate the coordinates of the third intersection point between the extended line of the centerline of the vehicle to be tested 100 and the third section.

[0147] For example, such as Figures 12-13 As shown, the x-coordinate of the first intersection point J is defined as 0, then the coordinates of J are (0, J), where J is a known parameter, representing the measured value detected by two single-point detection mechanisms 10a and 10b; the coordinates of the second intersection point K are (a, K), where a is a known fixed parameter, representing the distance between the first cross-section AA and the second cross-section BB, and K is a known parameter, representing the measured value detected by the other two single-point detection mechanisms 10c and 10d. The first intersection point J and the second intersection point K form the centerline of the vehicle 100 to be inspected. Based on the coordinates of points J and K, the deflection angle θ of the centerline of the vehicle 100 to be inspected is calculated, and the formula for calculating θ is:

[0148]

[0149] Then, extend the centerline of the vehicle 100 to intersect the CC section at point O. The coordinates of point O are (a+b, E), where b is a known fixed value and the distance between the second section BB and the third section CC is the calculated value. Using trigonometric relationships, we can derive:

[0150] Therefore, it can be determined Therefore, the coordinates of point O are determined as follows:

[0151]

[0152] Finally, the deflection angle θ and the coordinate parameters of point O are sent to the host computer system. Based on the deflection angle θ and the coordinate parameters of point O, the position of the conveying component 32 of the loading machine 3 along the second direction is adjusted, and the rotation angle of the conveying component 32 is adjusted by the rotation drive component of the loading machine 3, so as to ensure that the conveying component 32 of the loading machine 3 and the container 103 of the vehicle to be inspected 100 can be accurately docked on the horizontal plane.

[0153] This method enables precise measurement of the distances between four points on the side wall of container 103 in the vehicle under inspection 100 and calculation of the centerline coordinates of the vehicle under inspection 100, thereby improving the applicability and stability of the system.

[0154] In one embodiment, before and / or simultaneously with using the loading machine 3 to deliver the item 200 to be transported to the vehicle 100 to be inspected, the following steps are also included:

[0155] The first height detection mechanism 5 is used to detect the height of the bottom plate of the container 103 in the vehicle to be inspected along the third direction, and the height position of the conveying component 32 in the loading machine 3 relative to the base 31 is adjusted. The conveying component 32 is used to drive the transported item 200 to move along the second direction and toward the vehicle to be inspected 100.

[0156] Specifically, after the horizontal docking is completed, the height of the conveying component 32 in the loading machine 3 along the third direction needs to be adjusted. When the first photoelectric switch 52 of the first height detection mechanism 5 senses the bottom plate of the container 103, it means that the conveying component 32 and the bottom plate of the container 103 are in a state of being approximately on the same plane, or the conveying component 32 is higher than the bottom plate of the container 103 by a certain height, that is, the height difference is always within a certain preset range. Then, the conveying component 32 of the loading machine 3 is controlled to stop descending to ensure that the conveying component 32 can accurately convey the item to be transported 200 into the container 103.

[0157] During loading, as the item 200 is continuously transported to container 103, the bottom of container 103 experiences a certain degree of settlement. If the first photoelectric switch 52 of the first height detection mechanism 5 does not detect the bottom of container 103, it means that the bottom of container 103 is much lower than the conveying assembly 32, and the two are not level or the distance difference is significant. The lifting assembly of the loading machine 3 then adjusts the height of the conveying assembly 32 along a third direction. After the conveying assembly 32 of the loading machine 3 lowers its height, the item 200 continues to be transported into container 103, and this cycle continues until loading is complete. This dynamic monitoring and adjustment method ensures that the item 200 is accurately transported into container 103 during the transport process.

[0158] In one embodiment, after the loading machine 3 delivers the item to be transported 200 to the vehicle 100 to be inspected, the following steps are also included:

[0159] The actual height position of the conveying assembly 32 along a third direction is detected using the second height detection mechanism 6.

[0160] If the actual height position is less than the preset height position, adjust the height position of the conveying component 32 in the loading machine 3 relative to the base 31 in the third direction.

[0161] As the bottom plate of container 103 settles, the front push plate 321 of the conveying component 32 will also decrease, causing the front push plate 321 of the conveying component 32 to be in an inclined state and the distance between it and the base 31 to decrease. When the actual height position detected by the second height detection mechanism 6 is less than the preset height position, the height position of the front push plate 321 of the conveying component 32 in the loading machine 3 relative to the base 31 in the third direction is adjusted to avoid collision between the front push plate 321 and the base 31 and damage.

[0162] It should be noted that the embodiments of this utility model are merely one example of the principles employed by the present utility model, as shown in the accompanying drawings and described herein. Those skilled in the art will clearly understand that the principles of this utility model are not limited to any details or components of the apparatus shown in the accompanying drawings or described in the specification.

[0163] It should be understood that this invention is not limited to the detailed structure and arrangement of the components described herein. This invention can have other embodiments and can be implemented and performed in various ways. The foregoing variations and modifications fall within the scope of this invention. It should be understood that the invention disclosed and defined herein extends to all alternative combinations of two or more individual features mentioned or apparent in the text and / or drawings. All these different combinations constitute multiple alternative aspects of this invention. The embodiments described in this specification illustrate the best known mode for implementing this invention and will enable those skilled in the art to utilize this invention.

[0164] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and exemplary embodiments are to be considered as exemplary only, and the true scope and spirit of the invention are indicated by the appended claims.

[0165] It should be understood that this utility model is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of protection of this utility model is limited only by the appended claims.

Claims

1. A single point detection mechanism, characterized by, The single-point detection mechanism comprises: a plate assembly; a detection driving source, an output end of the detection driving source being connected to the plate assembly, the detection driving source being capable of driving the plate assembly to move so that the plate assembly is in contact with a side wall of a vehicle to be detected; a reflective piece, the reflective piece being arranged on a side of the plate assembly facing the detection driving source; a detection piece, the detection piece being used to detect a position of the reflective piece so as to obtain distance data of the side wall of the vehicle to be detected.

2. The single point detection mechanism of claim 1, wherein, The plate assembly comprises: a plate, the plate being arranged to extend along an extension direction of the side wall of the vehicle to be detected; a mounting plate, the mounting plate being connected to the output end of the detection driving source; an adjusting structure, the adjusting structure being arranged between the plate and the mounting plate and being used to adjust a position of the plate; wherein the reflective piece is arranged on a side of the mounting plate away from the adjusting structure.

3. The single point detection mechanism of claim 2, wherein, The adjusting structure comprises: a swivel seat, the swivel seat being arranged on a side of the plate facing the mounting plate, the swivel seat being rotationally connected to the mounting plate so that the plate is capable of rotating relative to the mounting plate; and / or, the adjusting structure further comprises: a first elastic piece, one end of the first elastic piece being connected to the swivel seat and the other end of the first elastic piece being connected to the plate; and / or, the adjusting structure further comprises: a guide piece, the guide piece being arranged on one of the plate and the mounting plate, the other of the plate and the mounting plate being provided with a guide hole, the guide piece being arranged to pass through the guide hole and being in sliding fit with the guide hole; a second elastic piece, the second elastic piece being located between the plate and the mounting plate and being capable of abutting against the plate and the mounting plate respectively.

4. The single point detection mechanism of claim 3, wherein, The plate assembly further comprises: a trigger piece, the trigger piece being arranged on the mounting plate and / or the detection driving source; a sensing piece, the sensing piece being arranged on the swivel seat and / or the plate, the sensing piece being used to trigger the trigger piece.

5. The single point detection mechanism according to any one of claims 1 to 4, wherein The single-point detection mechanism further comprises a bracket, the detection driving source being arranged on the bracket; and / or, the single-point detection mechanism further comprises a protective cover, the detection driving source being arranged in the protective cover.

6. A vehicle pose detection system, characterized by, The parking platform is provided with a plurality of limiting pieces arranged in parallel and at intervals, the limiting pieces being arranged on two sides of the parking platform along the first direction respectively, the limiting pieces being arranged to extend along a second direction, a parking area being formed between two limiting pieces closest to each other among the limiting pieces along the first direction, the parking area being used to accommodate the vehicle to be detected; 7. The vehicle pose detection system of claim 6, wherein wherein the second direction is perpendicular to the first direction. The parking area comprises a head area and a tail area, the head area and the tail area being arranged along the second direction and being in communication with each other; 8. The vehicle pose detection system of claim 7, wherein, ​ The number of the single-point detection mechanisms is four, two of the single-point detection mechanisms are arranged corresponding to the head region and are oppositely arranged along the first direction, and the other two single-point detection mechanisms are arranged corresponding to the tail region and are oppositely arranged along the first direction. And / or, the parking platform is provided with a plurality of guide members arranged in parallel and at intervals, a plurality of guide members are located in the parking area and are arranged on both sides of the parking area along the first direction, and the guide members are arranged in extension along the second direction.

9. The vehicle pose detection system of claim 7, wherein, The vehicle pose detection system further comprises a loading machine, the loading machine is located outside the parking platform and on one side of the parking platform along the second direction, and the loading machine can carry the to-be-transported member and can transport the to-be-transported member to the to-be-detected vehicle along the second direction. The vehicle pose detection system further comprises a docking detection mechanism, the docking detection mechanism is arranged on at least one side of the to-be-detected vehicle and the loading machine facing each other along the second direction, and the docking detection mechanism is used for detecting the distance between the to-be-detected vehicle and the loading machine along the second direction. The vehicle pose detection system further comprises a first height detection mechanism, the container of the to-be-detected vehicle has a bottom plate at the bottom along a third direction, and the first height detection mechanism is arranged on one side of the loading machine along the second direction and facing the parking platform, and the first height detection mechanism is used for detecting the height of the bottom plate along the third direction. The third direction is perpendicular to the second direction and the first direction.

10. The vehicle pose detection system of claim 9, wherein, The loading machine comprises a base and a conveying assembly, the conveying assembly can carry the to-be-transported member and can drive the to-be-transported member to move relative to the base along the second direction and towards the parking platform, so as to transport the to-be-transported member to the to-be-detected vehicle. The vehicle pose detection system further comprises a second height detection mechanism, the second height detection mechanism is arranged on the base and is used for detecting the height position of the conveying assembly along the third direction. The third direction is perpendicular to the second direction and the first direction.

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