CN113998418A

CN113998418A - Lateral automatic loading method and system

Info

Publication number: CN113998418A
Application number: CN202111098918.0A
Authority: CN
Inventors: 杨静; 陈雪辉; 林仁兴; 黄炜焕; 邱绪珍; 黄彬; 辛鹏飞
Original assignee: Longhe Intelligent Equipment Manufacturing Co Ltd
Current assignee: Longhe Intelligent Equipment Manufacturing Co Ltd
Priority date: 2021-09-18
Filing date: 2021-09-18
Publication date: 2022-02-01

Abstract

The invention relates to the technical field of automatic control, in particular to a lateral automatic loading method and a system thereof, wherein the method comprises the following loading operations: controlling a mark point arranged on the loading device to move in a preset height interval, and continuously acquiring a distance value between the mark point and the truck during movement; when the obtained distance value between the marking point and the truck is equal to or smaller than the distance threshold value, determining the marking point height value at the moment as a carriage floor height value, and determining the distance value between the marking point and the truck at the moment as a cargo feeding depth value; and controlling the loading device to place the goods into the carriage according to the height value of the carriage bottom plate and the depth value of the goods to be loaded. The invention realizes the complete automatic loading process from stock to loading, can carry out high-quality automatic loading operation on vehicle types with different lengths and heights, has high practicability and high stability and safety, and can greatly improve the loading efficiency of loading multiple vehicle types at the same time.

Description

Lateral automatic loading method and system

Technical Field

The invention relates to the technical field of automatic control, in particular to a side position automatic loading method and a side position automatic loading system.

Background

With the continuous development of automation level, more and more industries realize automatic assembly, production and detection. However, in the field of loading, the containers are mainly processed by adopting a manual loading mode at present, and particularly, for a side wing compartment, a side curtain compartment and a flat plate compartment which need to be loaded from the side, the requirements on loading time and form are complex due to the fact that the containers and the compartments have multiple specifications, and the difficulty in realizing automatic and intelligent loading is very high. Traditional automatic loading system of goods does not yet reach the function of full automation loading because degree of automation level and loading complexity's influence at present, needs the manual work to assist the processing just can accomplish whole loading process, at the in-process that the loading was accomplished in artifical replenishment, has not only had very big potential safety hazard, and the cost of labor does not obtain thoroughly solution moreover, causes whole automatic loading system of goods intensity of labour big, and work efficiency is low. In addition, some manipulator loading systems exist, but the equipment needs to be matched with a machine vision device for use, algorithm programs need to be independently written according to different loading environments, and the use cost is very high. Therefore, the automation level in the field of lateral loading is improved, manual loading is replaced by automatic loading, and the automatic loading is a necessary development trend in the field of future loading.

Disclosure of Invention

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The invention aims to overcome the defects and provide a side automatic loading method and a side automatic loading system.

In order to achieve the purpose, the technical solution of the invention is as follows:

a lateral automatic loading method comprises the following loading operations:

controlling a mark point arranged on the loading device to move in a preset height interval, and continuously acquiring a distance value between the mark point and the truck during movement;

when the obtained distance value between the marking point and the truck is equal to or smaller than the distance threshold value, determining the marking point height value at the moment as a carriage floor height value, and determining the distance value between the marking point and the truck at the moment as a cargo feeding depth value; and controlling the loading device to place the goods into the carriage according to the height value of the carriage bottom plate and the depth value of the goods to be loaded.

Further, the method comprises the following steps:

controlling the loading device to move along the side of the boxcar from the tail of the van to the head of the van,

when an object is detected at a fixed height and at a fixed distance from a first detection point arranged on the loading device,

controlling the loading device to run at a reduced speed;

when an object is detected at a position with fixed height and fixed distance from a second detection point arranged on the loading device,

controlling the truck loader to park and perform the loading operation as claimed in claim 1.

And further, the method comprises the steps of carrying out accumulated counting on the number of times of loading operation, judging whether the number of times of loading operation is smaller than a threshold value of the number of times before controlling the loading device to carry out the loading operation, if so, controlling the loading device to carry out the loading operation, and otherwise, controlling the loading device to stop the loading operation.

Further, before the truck loading device is controlled to move along the side of the boxcar, whether the truck loading device carries the goods or not is judged, if yes, the truck loading device is controlled to move to the side of the boxcar, and if not, the truck loading device is controlled to move to the goods taking position first to take the goods and then move to the side of the boxcar.

Further, judging whether the loading device carries the cargos comprises judging whether a load value of a fork arranged on the loading device when the height value is set is larger than a load threshold value, if so, determining that the cargos are carried, and if not, determining that the cargos are not carried.

Further, the process that the loading device is controlled to get goods from the goods taking station first is the self-service goods taking process, the self-service goods taking process comprises the steps that a fork arranged on the loading device is controlled to be aligned with a fork hole of a goods tray, and then the goods tray is forked on the loading device.

Further, continuously acquiring a travel value of the loading device, and determining the position of the loading device according to the travel value of the loading device; the pre-loading station is arranged between the goods taking station and the far end of the goods wagon, the pre-loading station is a set position or a parking position where the goods loading operation is carried out last time, and the loading device is controlled to decelerate or run at a low speed when the pre-loading station is close to.

Further, wherein the loading operation comprises: and judging whether the distance value between the two groups of forks arranged on the loading device is larger than a cargo distance threshold value or not, if so, controlling the two groups of forks to be close to each other, and otherwise, keeping the distance between the two groups of forks.

Further, when the loading device parks, controlling the loading device to lock the position of the loading device; the method comprises the step of controlling loading to lock the position of loaded goods when the loading device is detected to move.

A system for implementing the lateral auto-loading method of claim 4, comprising:

the information acquisition device is used for acquiring the information of the loading device and the information of the truck; the loading device information comprises loading device position information, height information of loaded goods and distance information with the side of the truck, and the truck information comprises the loaded goods position information and the height information of a carriage bottom plate;

and the control device is used for determining the parking position, the loading height and the loading depth of the loading device according to the loading device information and the freight information, and controlling the loading device to load cargos according to the determined information.

By adopting the technical scheme, the invention has the beneficial effects that: the invention realizes the complete automatic loading process from stock to loading, can carry out high-quality automatic loading operation on vehicle types with different lengths and heights, has orderly cargo discharge and does not exceed the vehicle body.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Clearly, such objects and other objects of the present invention will become more apparent from the detailed description of the preferred embodiments hereinafter set forth in the various drawings and drawings.

These and other objects, features and advantages of the present invention will become more apparent from the following detailed description of one or more preferred embodiments of the invention, as illustrated in the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

In the drawings, like parts are designated with like reference numerals, and the drawings are schematic and not necessarily drawn to scale.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only one or several embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to such drawings without creative efforts.

FIG. 1 is a schematic flow chart of the lateral automatic loading method of the present invention;

FIG. 2 is a block diagram of the side automatic loading system of the present invention;

FIG. 3 is a schematic structural view of the lateral automatic loading system of the present invention;

fig. 4 is a schematic structural view of a loading device of the lateral automatic loading system.

Description of the drawings: (1 loading device, 2 control device, 3 stock device, 4 displacement acquisition module, 5 height acquisition module, 6 load acquisition module, 7 first photoelectric sensor group, 8 second photoelectric sensor group, 9 third photoelectric sensor group, 10 first proximity sensor group, 11 fork, 12 lifting portal, 13 scissor type telescopic mechanism, 14 side position clamping device, 15 locking device, 16 mobile device)

Detailed Description

The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or with other methods described herein.

The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. Specific examples of components and arrangements are described below to simplify the present disclosure. Of course, this is merely an example and is not intended to be limiting. For example, the formation of a first feature "over" or "on" a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed between the first and second features, such that the first and second features may not be in direct contact.

In addition, in the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

As shown in fig. 1, the lateral automatic loading method of the present invention includes:

the method comprises the steps of obtaining a load value of a fork 11 arranged on a loading device 1 when the height value is set to be the first set height value, judging whether the loading device 1 carries cargos or not, namely judging whether the load value is larger than a load threshold value or not, if so, determining that the cargos are carried, controlling the loading device 1 to reach the side of a truck, otherwise, determining that the cargos are not carried, controlling the loading device 1 to firstly reach a goods taking station to take the cargos by self, and then, controlling the loading device 1 to reach the side of the truck.

Get goods by oneself and align with the fork hole of goods tray including fork 11 that control loading device 1 was equipped with, then fork the goods tray and get loading device 1 on.

The control loading device 1 moves along the lateral side of the boxcar and moves from the tail of the van to the head of the van, a preassembly station is arranged between the goods taking station and the far end of the van, the preassembly station is a set position or a parking position where the loading operation is carried out last time, and the control loading device 1 is controlled to decelerate or run at a low speed when approaching the preassembly station. Wherein, the farthest end of the truck is the end of the truck farthest from the goods taking station.

The loading device is sequentially provided with a second detection point and a first detection point along the moving direction, when the loading device 1 reaches the preassembly station, whether an object exists at the position with fixed height and fixed distance from the first detection point is detected, and if yes, the loading device 1 is controlled to run at a reduced speed; and then controlling the loading device to park and carry out loading operation when the object is detected to exist at the position with the fixed height and the fixed distance from the second detection point.

Wherein the loading operation comprises:

and judging whether the position of the loaded goods of the loading device 1 is locked or not, if so, controlling the loading to unlock the position of the goods, and determining that the position of the goods is in an unlocked state.

Then, controlling a mark point arranged on the loading device 1 to move in a preset height interval, and continuously acquiring a distance value between the mark point and the truck during movement;

when the obtained distance value between the marking point and the truck is equal to or smaller than the distance threshold value, determining the marking point height value at the moment as a carriage floor height value, and determining the distance value between the marking point and the truck at the moment as a cargo feeding depth value; and controlling the loading device 1 to place the goods into the carriage according to the height value of the carriage bottom plate and the depth value of the goods to be loaded. When a plurality of groups of forks 11 are used for loading operation at the same time, whether the distance value between the two groups of forks 11 is larger than the distance threshold value is judged, if so, the two groups of forks 11 are controlled to be close to each other, and if not, the distance between the two groups of forks 11 is kept. After the goods are placed in the carriage, the loading operation times are increased for 1 time, whether the loading operation times are smaller than the time threshold value or not is judged, if yes, the loading device 1 is controlled to return to the goods taking station, and if not, the loading device 1 is controlled to stop working.

The system for realizing the lateral automatic loading method comprises the following steps:

the information acquisition device is used for acquiring the information of the loading device 1 and the information of the truck; the information of the loading device 1 comprises position information of the loading device 1, height information of loaded goods and distance information of the side of a truck, and the truck information comprises position information of the loaded goods and height information of a carriage bottom plate;

and the control device 2 is used for determining the parking position, the loading height and the loading depth of the loading device 1 according to the information of the loading device 1 and the information of the freight train, and controlling the loading device 1 to load the freight train according to the determined information.

A side automatic loading control device 2 comprises: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the lateral automatic loading method.

A computer-readable storage medium, in which a program executable by a processor is stored, the program executable by the processor being for implementing the side automatic loading method as described above when executed by the processor.

To facilitate an understanding of the present invention, the following description illustrates, in a specific example, how the process of the present invention can be carried out by the above-described system.

As shown in fig. 1 to 4, the lateral automatic loading method of the present invention comprises the steps of:

s100: determining the loading state of the loading device 1

After the control device 2 receives the starting instruction, system initialization is carried out, the loading device 1 is placed in an initial state and a zero stroke value position, and the position state of the loading device 1 is updated to be a goods taking station. The position information of the loading device 1, namely the travel value, is acquired by the displacement acquisition module 4, and the displacement acquisition module 4 consists of a laser range finder arranged on the loading device 1 and a reflector arranged on a goods taking station.

Because the goods is held by the goods tray, when the goods tray was placed and is transported at loading device 1, control fork 11 and goods tray separation made the weight of goods tray drop on

loading device

1, and 11 load values of fork were zero this moment. The loading device 1 has larger bearing area, and can prevent the goods tray from shifting or toppling when the loading device 1 runs at high speed. Wherein, the load value of the pallet fork 11 is obtained by the load acquisition module 6 arranged on the pallet fork 11.

Therefore, when the loading state of the loading device 1 needs to be determined after the start-up, the forks 11 under the fork holes of the pallet need to be raised first to lift the pallet. Specifically, the control device 2 controls the side clamping device 14 of the loading device 1 to be in an open state, then controls the lifting gantry 12 of the loading device 1 to lift the fork 11 to a first set height value, judges whether a load value in the lifting process of the fork 11 is larger than the set load value, updates the loading state of the loading device 1 recorded in the control device 2 to be a loaded state if the load value is larger than the set load value, and controls the fork 11 and the side clamping device 14 to clamp and reset; if not, the loading state of the loading unit 1 recorded in the control unit 2 is updated to the unloaded state.

The first set height value of the fork 11 is obtained by the height acquisition module 5, and the fork 11 is also provided with a mark point, because the vertical distance between the mark point and the fork 11 is fixed, the mark point height value is also calculated from the height value obtained by the height acquisition module 5. The height acquisition module 5 may be a laser rangefinder provided on the fork 11 or an optical/magnetic scale device provided on the lifting mast 12. The load value of the fork 11 is acquired by a load information acquisition module of the fork 11 arranged on the fork 11.

S200: determining stock status of a pick-up station

Get the goods station and be equipped with stock device 3, stock device 3 includes:

the conveying device is used for moving the goods on the caching station to a temporary goods placing point of the goods taking station;

and the in-position detection device is used for detecting whether goods exist on the temporary goods placing point or not, and if so, the detection result, namely the information of finished goods preparation is sent to the control device 2.

S300: the loading device 1 carries out the goods taking operation

When the control device 2 simultaneously acquires the information that the loading device 1 is in the goods taking station and the unloaded state and the stock is completely received, the control device 2 judges whether the loading frequency of the loading device 1 reaches a limit value, if so, the loading device 1 is controlled to be in a standby state, and if not, the loading device 1 is controlled to take the goods.

Specifically, the control device 22 controls the forks 11 of the loading device 1 to descend below the height value of the fork holes of the cargo pallet, and visually recognizes whether the forks 11 are aligned with the fork holes of the cargo pallet through the third photoelectric sensor group 9 or other machines arranged at the front ends of the forks 11, when the control device 2 receives a feedback signal of the alignment of the forks 11, the scissor type telescopic mechanism 13 is controlled to be opened to drive the lifting portal frame 12 and the forks 11 to extend out, the forks 11 extend out to enter the fork holes of the cargo pallet, and when the extension value of the forks 11 reaches a set extension value from 0 value, the lifting portal frame 12 is controlled to lift the forks 11 to lift the cargo pallet, and the control device 2 updates the recorded unloaded state of the loading device 1 to an loaded state. Then the scissor type telescopic mechanism 13 is controlled to be condensed to pull back the lifting gantry 12 and the pallet fork 11 until the extension value is zero, then the pallet fork 11 is controlled to descend and reset to the initial position, and the pallet is loaded by the loading device 1. And finally, controlling the side clamping devices 14 to close and clamp the reinforced goods. The retracting position of the scissor type telescopic mechanism 13 is detected and determined by a first proximity sensor group 10 arranged at the movable end of the scissor type telescopic mechanism.

S400: loading device 1 for efficient cargo transportation

When the control device 2 simultaneously acquires that the loading device 1 is in a goods taking station and an unloaded state and receives the information that the side clamping device 14 is clamped in place, the control device 2 sends a control instruction to control the locking device 15 to unlock the loading device 1, and then the control device 2 sends a control instruction to the driving device to drive the loading device 1 to move towards the side of the truck along the paved ground rail. During movement, the control device 2 plans a driving speed section according to the preset travel value L2 of the pre-installed station, controls the loading device 1 to accelerate or drive at a high speed when the travel value is [0, L2-k ], and decelerates or drives at a low speed when the travel value is greater than L2-k.

S500: determining the mounting station of the loading device 1

In this embodiment, get goods station and be located the freight train afterbody, the carriage position of loading order for following the freight train locomotive is to the carriage position loading of freight train afterbody, is equipped with second detecting point and first detecting point along the moving direction order on the loading device. Therefore, when the loading device 1 moves to a preassembly station at the side of the truck, whether an object exists at a position with a fixed height and a fixed distance from the first detection point is detected, and if yes, the loading device 1 is controlled to decelerate; and then, when an object is detected to exist at a position with a fixed height and a fixed distance from the second detection point, controlling the loading device to park and execute loading operation, wherein the position of the loading device 1 at the moment is the loading station, and carrying out assignment replacement on the loading station according to a formula (the stroke value of the loading station is the stroke value of the loading station-constant k), namely taking the stroke value-constant k of the loading station at the moment as the stroke value of the loading station at the next loading. The loading device 1 is a rail type vehicle, and during parking, the loading device 1 is locked with a rail through the locking device 15. In the present embodiment, the "position at a fixed height and a fixed distance from the first detection point" refers to a position of the truck bed obliquely above the loading apparatus 1.

The method comprises the steps of detecting whether an object exists at a position with a fixed height and a fixed distance from a first detection point or a second detection point, specifically, judging whether the object exists at a set height position of a truck just opposite to a loading device 1 by a control device 2 according to feedback information of two second photoelectric sensor groups 8 respectively arranged at the first detection point and the second detection point, wherein the second photoelectric sensor groups 8 are arranged at one side of the lower part of the loading device 1 close to the truck, and the second photoelectric sensor groups 8 detect whether the object exists at the set height position of the truck by taking an upward oblique ray emitted by a laser ranging sensor as a marking line, namely judging according to the acquired distance value information of the laser ranging sensor, and judging that the object exists when the acquired distance value is smaller than a preset value. The object refers to the front closure of the wagon at the head of the wagon in the first loading operation and to the goods already in the wagon compartment in the first and subsequent loading operations.

S600: determining a car floor height value and a cargo depth value

When the control device 2 simultaneously acquires that the loading device 1 is in a loading station and a loaded state, the control device 2 sends a control instruction to control the lifting gantry 12 to lift the fork 11 to lift the goods, and when the height value fed back to the control device 2 by the height acquisition module 5 reaches a second set height value, the control device 2 sends a control instruction to lower the fork 11; when the distance between the first photoelectric sensor group 7 arranged at the mark point of the loading device 1 and the truck reaches a first set vehicle distance value and is fed back to the control device 2, the control device 2 updates the height value of the carriage bottom plate to the height value fed back by the height acquisition module 5 at the moment, and the vehicle distance value at the moment is used as a cargo feeding depth value.

S700: the loading device 1 carries out loading operation

When the control device 2 simultaneously acquires that the loading device 1 is in a loading station and a loaded state and the mark point is located at the height value of the carriage bottom plate, the control device 2 controls the side position clamping device 14 to open, then the control device 2 sends a control instruction to control the scissor type telescopic mechanism 13 to push the lifting portal frame 12 to drive the fork 11 to extend to feed the goods into the truck, at the moment, the distance value of the truck is the goods feeding depth value which is gradually reduced, when the goods feeding depth value is less than or equal to a set depth threshold value, the scissor type telescopic mechanism 13 is controlled to stop acting, the lifting portal frame 12 is controlled to drive the fork 11 to descend until the obtained load value of the fork 11 is fed back to be less than or equal to the load threshold value, the lifting portal frame 12 is controlled to stop acting, the loading state of the loading device 1 recorded in the control device 2 is updated to be an unloaded state, the number of loads is increased by 1 time, and then the scissor type telescopic mechanism 13 and the lifting portal frame 12 are controlled to act in sequence, the forks 11 are reset to the initial state.

When the two groups of forks 11 are controlled to send two pallets into the truck, if the distance between the two groups of forks 11 is detected to be larger than the set distance value and is fed back to the control device 2, the control device 2 sends a control instruction to the moving device 16 between the forks 11 and the lifting gantry 12 to control the two groups of forks 11 to approach each other. The two marking points of the fork 11 are respectively arranged on two sides of the fork 11, and a connecting line between the two marking points is parallel to the moving direction of the loading device 11.

S800: the loading device 1 returns to the goods-taking station

When the control device 2 simultaneously acquires that the loading device 1 is in the loading station and the unloaded state and the fork 11 is in the initial state, the control device 2 controls the locking device 15 to unlock, and then controls the control device 2 to return to the goods taking station. After the control device 2 reaches the pickup station, the next operation cycle is performed from step S300. Since the height value of the floor of the car is known in the first loading operation, when the control device 2 determines that the loading times is greater than 1, the loading process skips the step S600, and the loading operation of S700 is directly performed.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).

It is to be understood that the disclosed embodiments of the invention are not limited to the particular process steps or materials disclosed herein, but rather, are extended to equivalents thereof as would be understood by those of ordinary skill in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

Furthermore, the described features or characteristics may be combined in any other suitable manner in one or more embodiments. In the above description, certain specific details are provided, such as thicknesses, amounts, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth.

Claims

1. A lateral automatic loading method is characterized by comprising the following loading operations:

2. The lateral auto-loading method of claim 1, comprising:

controlling the loading device to run at a reduced speed;

3. The lateral automatic loading method according to claim 1, characterized in that: the method comprises the steps of carrying out accumulated counting on the execution times of the loading operation, judging whether the execution times of the loading operation is smaller than a time threshold value or not before controlling the loading device to execute the loading operation, if so, controlling the loading device to execute the loading operation, and otherwise, controlling the loading device to stop the loading operation.

4. The lateral automatic loading method according to claim 2, characterized in that: before the loading device is controlled to move along the side of the boxcar, whether the loading device carries goods is judged, if yes, the loading device is controlled to be on the side of the boxcar, and if not, the loading device is controlled to be on the goods taking station first to take the goods and then on the side of the boxcar.

5. The lateral automatic loading method of claim 4, wherein: judging whether the loading device carries the cargos comprises judging whether a load value of a fork arranged on the loading device when the height value is set is larger than a load threshold value, if so, determining that the cargos are carried, and if not, determining that the cargos are not carried.

6. The lateral automatic loading method of claim 4, wherein: the process that the loading device is controlled to get the goods at the goods taking station firstly is the self-service goods taking process, the self-service goods taking process comprises the steps that a fork arranged on the loading device is controlled to be aligned with a fork hole of a goods tray, and then the goods tray is forked on the loading device.

7. The lateral automatic loading method of claim 6, wherein: continuously acquiring a travel value of a loading device, and determining the position of the loading device according to the travel value of the loading device; the pre-loading station is arranged between the goods taking station and the far end of the goods wagon, the pre-loading station is a set position or a parking position where the goods loading operation is carried out last time, and the loading device is controlled to decelerate or run at a low speed when the pre-loading station is close to.

8. The lateral automatic loading method according to claim 1, characterized in that: wherein the loading operation comprises: and judging whether the distance value between the two groups of forks arranged on the loading device is larger than a cargo distance threshold value or not, if so, controlling the two groups of forks to be close to each other, and otherwise, keeping the distance between the two groups of forks.

9. The lateral automatic loading method according to claim 1, characterized in that: the method comprises the steps of controlling the loading device to lock the position of the loading device when the loading device is parked; the method comprises the step of controlling loading to lock the position of loaded goods when the loading device is detected to move.

10. A system for implementing the lateral auto-loading method of claim 4, comprising: