CN109795893B

CN109795893B - Array cargo conveying and loading method, equipment and computer readable storage medium

Info

Publication number: CN109795893B
Application number: CN201910218637.0A
Authority: CN
Inventors: 张�浩
Original assignee: Shenzhen Lan Pangzi Machine Intelligence Co Ltd
Current assignee: Shenzhen Lan Pangzi Machine Intelligence Co Ltd
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2021-02-26
Anticipated expiration: 2039-03-21
Also published as: CN109795893A

Abstract

The invention discloses an array cargo conveying and loading method, equipment and a computer readable storage medium, wherein the array cargo conveying and loading method comprises the following steps: obtaining a width adjustment parameter corresponding to the width of an external container, and adjusting the width of the first end of the conveying device according to the width adjustment parameter so that the conveying device can convey a row of goods to be loaded corresponding to the width of the carriage; extending the first end of the conveying device to a corresponding position to be loaded in the carriage; placing at least one row of goods to be loaded at a second end of the conveyor; controlling the conveying device to convey the goods to be loaded from the second end to the first end; and controlling a mechanical arm to load the goods to be loaded from the first end to the goods to be loaded position. The invention has the effect of improving the working efficiency.

Description

Array cargo conveying and loading method, equipment and computer readable storage medium

Technical Field

The invention relates to the technical field of cargo handling, in particular to an array type cargo conveying and loading method, equipment and a computer readable storage medium.

Background

In order to be able to load goods into the containers quickly, a plurality of goods arranged in a row can be picked up by the robot and then placed in the position of the container to be loaded.

However, the current automated loading and unloading schemes can only grab the same row of goods at the same time and have limited width. Typically, 2 to 3 pick and place actions and adjustments to the position and attitude of the load are required to complete a row of loads. This increases the difficulty of control of the robot arm, resulting in lower work efficiency.

Disclosure of Invention

The invention mainly aims to provide an array type goods conveying and loading method, equipment and a computer readable storage medium, aiming at improving the working efficiency

In order to achieve the above object, the present invention provides an array cargo conveying and loading method, including:

obtaining a width adjustment parameter corresponding to the width of an external container, and adjusting the width of the first end of the conveying device according to the width adjustment parameter so that the conveying device can convey a row of goods to be loaded corresponding to the width of the carriage;

extending the first end of the conveying device to a corresponding position to be loaded in the carriage;

placing at least one row of goods to be loaded at a second end of the conveyor;

controlling the conveying device to convey the goods to be loaded from the second end to the first end;

and controlling a mechanical arm to load the goods to be loaded from the first end to the goods to be loaded position.

Optionally, the method for transporting and loading array goods further comprises:

the loading capacity of the mechanical arm is adjusted along with the width of the conveying device, so that the mechanical arm can load the at least one row of goods to be loaded at the same time.

Optionally, the controlling the manipulator to load the goods to be loaded from the first end to the loading position of the carriage includes:

and controlling the mechanical arm to push, absorb or grab the goods to be loaded according to the loaded end effector, and moving the mechanical arm from the first end to the position to be loaded so as to finish one loading action of the goods to be loaded.

identifying the position to be loaded and the condition of the goods to be loaded;

when a plurality of rows of goods to be loaded are matched with the goods to be loaded, the manipulator is controlled to push, absorb or grab the goods to be loaded with corresponding rows according to the loaded end effector.

identifying the position to be loaded;

when the height difference between the position to be loaded and the top surface of the external container is greater than a preset value, controlling the manipulator to grab the top surface of the to-be-loaded goods; otherwise the front side of the goods is grabbed.

and after the manipulator finishes one-time loading, adjusting the position of the first end to align the first end with the next to-be-loaded position in the carriage.

when multiple rows and layers of goods to be loaded are matched with the goods to be loaded positions, placing the goods to be loaded with corresponding rows and layers at the second end of the conveying device.

The invention also provides array type goods conveying and loading equipment, which comprises a conveying device, a mechanical arm and a position adjusting device, wherein the conveying device is arranged on the conveying device;

the conveying device comprises a conveying track part and a conveying moving part; the conveying track part extends in the front-back direction; the conveying moving part is movably arranged on the conveying track part in a front-back movable manner, and the left-right width of the conveying moving part is adjustable;

the manipulator is provided with an end effector;

the position adjusting device drives the front end of the conveying device to lift and move back and forth;

the array cargo conveying and loading equipment further comprises a processor and a storage, wherein the storage stores an array cargo conveying and loading program;

the processor is used for executing the array cargo conveying and loading program and executing the steps of the array cargo conveying and loading method.

Optionally, the conveying track part comprises a bracket extending forwards and backwards, and a plurality of rollers arranged on the bracket at intervals in the front and back direction; the conveying moving part comprises a plurality of conveying belts arranged on the roller;

it is a plurality of the gyro wheel is about interval adjustable form setting, and is a plurality of the conveyer belt is about interval adjustable form setting.

Optionally, the end effector comprises a horizontal pushing part, and the horizontal pushing part moves back and forth and is used for pushing the box on the conveying moving part forwards; and/or

The end effector comprises a plurality of vertically extending suction cup devices which are independent of each other and can move back and forth and up and down; the space between the plurality of sucker devices is adjustable; and/or

The end effector comprises a plurality of suction cup devices which are independent from each other and can move back and forth and up and down and extend back and forth; the space between the plurality of sucker devices is adjustable; and/or

The end effector comprises a guide part extending left and right and at least one sucking disc device movably arranged on the guide part and extending front and back or up and down; the sucker device can move back and forth and up and down; and/or

The end effector includes a scoop movable back and forth and up and down.

Optionally, the position adjusting device drives the conveying device to integrally lift and move back and forth;

the front end of the conveying track part of the conveying device is arranged in a manner of being capable of stretching back and forth relative to the rear end;

the position adjusting device drives the front end of the conveying device to stretch back and forth relative to the rear end.

The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with an array goods conveying and loading program; the array cargo conveying and loading program realizes the steps of the array cargo conveying and loading method when being executed by a processor.

According to the array type cargo conveying and loading method provided by the invention, when the array type cargo conveying and loading method works, the width of the conveying device can be adjusted, so that the width of the conveying device can be used for conveying a row of cargos basically the same as the width of an external container. Since the width of the row of goods on the conveying device is the same as that of the external container, the position and the posture of the goods to be loaded do not need to be additionally adjusted, and the row of goods only needs to be loaded to the position of the goods to be loaded through the manipulator. Thus, the need for robot control is reduced, thereby improving work efficiency.

Drawings

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

FIG. 1 is a schematic flow chart of a first embodiment of a method for transporting and loading arrayed items according to the present invention;

FIG. 2 is a schematic flow chart illustrating a second embodiment of the method for transporting and loading arrayed goods according to the present invention;

FIG. 3 is a schematic flow chart illustrating a third embodiment of the method for transporting and loading cargo array according to the present invention;

FIG. 4 is a schematic flow chart illustrating a fourth embodiment of the method for transporting and loading cargo array according to the present invention;

FIG. 5 is a schematic flow chart illustrating a fifth embodiment of the method for transporting and loading cargo array according to the present invention;

FIG. 6 is a schematic flow chart illustrating a sixth embodiment of the method for transporting and loading cargo array according to the present invention;

FIG. 7 is a schematic flow chart illustrating a seventh embodiment of the method for transporting and loading cargo array according to the present invention;

FIG. 8 is a schematic view of a first embodiment of the array cargo conveyor and loader of the present invention;

FIG. 9 is a schematic cross-sectional view of the array cargo conveyor and loader shown in FIG. 8;

FIG. 10 is a schematic diagram of a second embodiment of the array cargo conveyor and loader of the present invention;

FIG. 11 is a schematic view of a third embodiment of the array cargo conveying and loading apparatus according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Example one

The embodiment provides an array type goods conveying and loading method.

Referring to fig. 1, the method for transporting and loading array cargo comprises:

step S101, obtaining a width adjustment parameter corresponding to the width of an external container, and adjusting the width of a first end of a conveying device according to the width adjustment parameter so that the conveying device can convey a row of goods to be loaded corresponding to the width of a carriage;

step S102, extending the first end of the conveying device to a corresponding position to be loaded in the carriage;

step S103, placing at least one row of goods to be loaded at the second end of the conveying device;

step S104, controlling the conveying device to convey the goods to be loaded from the second end to the first end;

and step S105, controlling the mechanical arm to load the goods to be loaded from the first end to the goods to be loaded position.

In this embodiment, a width adjustment parameter corresponding to the width of the external container is obtained by reading manually input data or by laser measurement, and the width of the first end of the conveying device is adjusted according to the width adjustment parameter, so that the conveying device can convey a row of goods to be loaded corresponding to the width of the carriage. Wherein, the conveyer can be around transporting goods to its width about adjustable. The first end of the conveyor is the end that is inserted into the interior of the width of the car. When the goods are conveyed, the width of the first end is adjusted to be slightly smaller than the width of the carriage, so that the first end can extend into the carriage, and a row of goods basically the same as the width of the carriage can be transported at one time.

In this embodiment, after the first end is adjusted, at least one row of goods to be loaded is placed on the second end of the conveyor. Preferably, the width of the second end is substantially the same as the width of the first end, such that a row of goods can be transferred directly from the second end to the first end without adjustment. Of course, it is also possible that the second end is wider than the first end, so that the row of goods can also perform the function of being compacted in the width direction during the transfer to the first end; or the second end may be narrower than the first end, so that the second end needs to be transported to the first end several times more to fully arrange the goods in the width direction of the first end.

In this embodiment, after the tape to-be-loaded goods is placed on the second end, the conveying device is controlled to convey the to-be-loaded goods from the second end to the first end. Wherein, during conveying, the boxes can be placed on the conveyor belt, so that the conveyor belt is conveyed in a continuous rolling manner; or the boxes can be placed on a conveying tray, and the conveying tray is conveyed in a mode of moving forwards along the guide rail. During the transfer, it is necessary to monitor whether the goods have been transferred to the second end, and when the goods reach the second end, the transfer of the goods is stopped. So that the goods stay at the second end. There are many specific schemes for detecting whether the cargo reaches the second end, for example, by providing a weight sensor at the second end, or by providing an infrared laser sensor at the second end, or by capturing a picture of the second end with a camera, etc.

In this embodiment, after the goods to be loaded are conveyed to the first end, the manipulator is controlled to load the goods to be loaded from the first end to the goods to be loaded position. The manipulator can be of a type moving back and forth on a track, and can also be of a type imitating human joints. Different end effectors are mounted on the manipulator, so that goods can be loaded in different ways. For example, if the end effector comprises a plate which is pushed back and forth, the goods to be loaded can be pushed to the loading position, which is suitable for the case that the loading position is a plane. For another example, the end effector is a suction cup capable of moving up and down, so that the goods to be loaded can be sucked up and then placed to the position to be loaded from top to bottom, which is suitable for the case that the position to be loaded is stepped.

According to the array type cargo conveying and loading method provided by the embodiment, when the array type cargo conveying and loading method works, the width of the conveying device can be adjusted, so that the width of the conveying device can convey a row of cargos basically the same as the width of an external container. Since the width of the row of goods on the conveying device is the same as that of the external container, the position and the posture of the goods to be loaded do not need to be additionally adjusted, and the row of goods only needs to be loaded to the position of the goods to be loaded through the manipulator. Thus, the need for robot control is reduced, thereby improving work efficiency.

Example two

The embodiment provides an array type goods conveying and loading method. The present embodiment is based on the above-described embodiment, and additionally adds a step. The method comprises the following specific steps:

referring to fig. 2, the method for transporting and loading cargo array further includes:

and S202, adjusting the loading capacity of the mechanical arm along with the width of the conveying device so that the mechanical arm can load the at least one row of goods to be loaded at the same time.

Other steps of this embodiment are the same as those of the above embodiment, and reference may be made to the above embodiment for details, which are not described herein again.

In this embodiment, the loading capacity of the robot arm is adjustable, and specifically, the loading capacity can be adjusted by adjusting the width of the end effector of the robot arm. For example, a flat push type end effector, it can be realized by telescoping; the sucker type end effector can be realized by increasing or decreasing the quantity of suckers.

According to the array type goods conveying and loading method provided by the embodiment, the loading capacity of the manipulator can be adjusted, so that goods on the conveying device can be loaded to the position to be loaded of an external container at one time, and the working efficiency is further improved.

EXAMPLE III

The embodiment provides an array type goods conveying and loading method. The present embodiment is based on the above-described embodiments, and the steps thereof are specifically described. The method comprises the following specific steps:

referring to fig. 3, the controlling the robot to load the goods to be loaded from the first end to a carriage loading position includes:

and S306, controlling the mechanical arm to push, absorb or grab the goods to be loaded according to the loaded end effector, and moving the mechanical arm from the first end to the position of the goods to be loaded so as to finish one loading action of the goods to be loaded.

In this embodiment, the manipulator loads different control programs by loading different end effectors, so as to perform different loading actions, thereby implementing loading of the goods to be loaded.

Example four

The embodiment provides an array type goods conveying and loading method. The present embodiment is based on the above-described embodiments, and additionally adds a step. The method comprises the following specific steps:

referring to fig. 4, the method for transporting and loading cargo array further includes:

step S401, identifying the position to be loaded and the condition of the goods to be loaded;

and S402, when a plurality of rows of goods to be loaded are matched with the positions of the goods to be loaded, controlling the mechanical arm to push, absorb or grab the goods to be loaded with corresponding rows according to the loaded end effector.

In this embodiment, during loading of goods, the position to be loaded and the condition of the goods to be loaded are identified. The position to be loaded can be a row of goods which can be loaded simultaneously, or a plurality of rows of goods which can be loaded simultaneously. For example, when the bottom of the container is generally flat when the bottom is most loaded, multiple rows of cargo can be pushed in simultaneously. For example, when the surface layer formed by the stacked cargos is flat when the intermediate layer is loaded, a plurality of rows of cargos can be pushed in at one time.

According to the array type cargo conveying and loading method provided by the embodiment, when the positions to be loaded are matched with the conditions of the cargos to be loaded, a plurality of rows of cargos to be loaded are simultaneously loaded to the positions to be loaded, so that the loading efficiency can be further improved.

EXAMPLE five

referring to fig. 5, the method for transporting and loading cargo array further comprises:

step S501, identifying the position to be loaded;

step S502, when the height difference between the position to be loaded and the top surface of an external container is larger than a preset value, controlling the manipulator to grab the top surface of the to-be-loaded goods; otherwise the front side of the goods is grabbed.

In this embodiment, the position to be loaded is identified at the time of loading the goods. The position to be loaded is identified by calculation through preset boxing data or by shooting a real-time picture through visual shooting equipment and then calculating and identifying in real time.

In this embodiment, after the position to be loaded is identified, when the height difference between the position to be loaded and the top surface of the external container is greater than a preset value, the manipulator is controlled to grab the top surface of the goods to be loaded; otherwise the front side of the goods is grabbed. Wherein, the end effector of manipulator includes the sucking disc, through the angle of adjustment sucking disc, perhaps enables the sucking disc in the different angles to the realization snatchs the different positions of packing box. Therefore, when the height difference between the top surface of the container and the position to be loaded is lower than the preset value, the angle of the sucking disc is adjusted, so that the sucking disc moves transversely to suck the side surface of the to-be-loaded goods, and then the sucking disc moves vertically to control the to-be-loaded goods to move vertically.

According to the method for conveying and loading the array type goods, the height difference between the fixed surface of the container and the position to be loaded is judged, and then the suction cups are controlled to work at different angles. Thereby can avoid the sucking disc to be higher than the goods, and the condition emergence that collides with the top surface of packing box.

EXAMPLE six

referring to fig. 6, the method for transporting and loading cargo array further comprises:

and step S606, after the manipulator finishes one-time loading, adjusting the position of the first end so that the first end is aligned with the next to-be-loaded position in the carriage.

In this embodiment, the first end is aligned with the desired position to be loaded by adjusting the height position and the horizontal position of the first end. The distance that the manipulator grabs the goods and moves in the air can be reduced. Furthermore, the position adjustment of the first end can be carried out in the process of forward transportation of the bagged goods, so that the waiting time is not required to be additionally increased. Therefore, the position of the first end is adjustable, and the first end is adjusted to the next position to be loaded, so that the loading time of the manipulator can be reduced, the loading speed of goods is increased, and the loading efficiency is further improved.

EXAMPLE seven

referring to fig. 7, the method for transporting and loading cargo array further comprises:

step S701, identifying the position to be loaded and the condition of the goods to be loaded;

step S702, when multiple rows and multiple layers of goods to be loaded are matched with the goods to be loaded positions, placing the goods to be loaded with corresponding rows and layers at the second end of the conveying device.

This embodiment is similar to the fourth embodiment and additionally adds a multi-layer simultaneous loading scheme. Therefore, when conditions can be matched, the matched corresponding rows and layers of cargos are placed on the conveying device, and then the cargos are moved once or for many times through the mechanical arm to load the cargos to be loaded to the corresponding positions to be loaded.

Example eight

The embodiment provides an array type goods conveying and loading device.

Referring to fig. 8 and 9, in the present embodiment, the array type goods conveying and loading apparatus includes a conveying device 100, a robot 200, and a position adjusting device 300.

In the present embodiment, the conveying apparatus 100 includes a transfer rail portion 110, and a transfer moving portion 120; the transfer rail portion 110 extends in the front-rear direction; the transfer moving unit 120 is movably disposed on the transfer rail unit 110 in a front-back movable manner, and the transfer moving unit 120 has an adjustable left-right width. Among them, the transfer rail part 110 may be various schemes. Specifically, in this embodiment, the two rollers are arranged side by side, and the conveying moving portion 120 is a conveyor belt sleeved on the rollers. In order to adjust the width of the conveying moving part 120, the rollers are spaced at intervals, the spacing distance is adjustable, and the conveyor belts are also spaced at intervals.

In this embodiment, the robot 200 is provided with an end effector 210. The end effector 210 may be a plurality of embodiments, and in this embodiment, includes a plurality of retractable suction cups. Specifically, the end effector 210 includes a plurality of vertically extending suction cup devices that are independent of each other and movable back and forth and up and down; the distance between the plurality of sucker devices is adjustable. Of course, in other embodiments, it is also possible to employ: the end effector 210 includes a plurality of suction cup devices extending back and forth, which are independent of each other and movable back and forth and up and down; the distance between the plurality of sucker devices is adjustable. In addition, in other embodiments, only a small number of suction cup devices can be arranged, the left and right guide rails are arranged, and then the suction cup devices are controlled to move left and right on the guide rails, so that the effect of loading one row of goods one by one can be achieved.

In this embodiment, the position adjusting device 300 drives the front end of the conveying device 100 to move up and down, and move back and forth. The position adjusting device 300 may be a plurality of schemes, and in this embodiment, is a scheme in which the upper and lower lifting tables are matched with the front and rear retractable plates. Specifically, the position adjusting device 300 drives the conveying device 100 to integrally lift and move back and forth. The front end of the transfer rail 110 of the transfer device 100 is disposed to be extendable and retractable back and forth with respect to the rear end. The position adjusting device 300 drives the front end of the conveying device 100 to extend back and forth relative to the rear end.

In this embodiment, the array cargo conveying and loading device further includes a processor and a storage, wherein the storage stores an array cargo conveying and loading program;

the processor is configured to execute the array cargo conveying and loading program, and is configured to execute the steps of the first embodiment of the array cargo conveying and loading method.

Since the array cargo conveying and loading device provided in this embodiment includes all the technical features of the first embodiment of the array cargo conveying and loading method, all the advantages brought by the array cargo conveying and loading device can be found in the above embodiments, and details are not described herein. In addition, all the improvements of the other embodiments of the method for transporting and loading arrayed goods can be applied to the embodiment without obvious conflict.

In this embodiment, the conveying track portion 110 includes a bracket 111 extending forward and backward, and a plurality of rollers 112 disposed on the bracket 111 in a front-to-back spaced manner; the transfer moving part 120 includes a plurality of transfer belts 121 disposed on the roller 112.

A plurality of the rollers 112 are arranged in a left-right distance adjustable manner, and the conveyor belt 121 is arranged in a left-right distance adjustable manner.

Of course, in other embodiments, the transfer rail portion 110 and the transfer moving portion 120 may also adopt other cooperation schemes to achieve the left-right spacing adjustment, and may move back and forth. For example, the transfer rail portion 110 is a rail extending in the front-rear direction, the transfer moving portion 120 is a tray provided on the rail, and the tray is stretchable in the left-right direction.

Example nine

The embodiment provides an array type goods conveying and loading device. This embodiment is based on the first embodiment of the apparatus described above, in which the robot is locally adjusted. For simpler and clearer explanation, the reference numerals in the above embodiments are continued for the parts of the present embodiment other than the robot with unchanged structure, and the same as the above embodiments, and the structural features of other parts are not described again. Specifically, the method comprises the following steps:

referring to fig. 10, in the present embodiment, the end effector 210 includes a flat pushing portion, which moves back and forth, for pushing the case forward on the conveying moving portion 120.

Example ten

referring to fig. 11, the robot 200 is mounted to a first end of the transfer device 100 such that the robot 200 can follow the first end into the interior of an exterior container.

EXAMPLE eleven

in this embodiment, the end effector 210 includes a shovel that can move back and forth and up and down. For insertion into the lower surface of the cargo to support the cargo.

Example twelve

The embodiment provides a computer-readable storage medium, which is characterized in that an array cargo conveying and loading program is stored on the computer-readable storage medium; the array cargo transferring and loading program, when executed by the processor, implements the steps of the first embodiment of the array cargo transferring and loading method.

Since the computer-readable storage medium provided by this embodiment includes all the technical features of the first embodiment of the array-type cargo conveying and loading method, all the advantages brought by these technical features are also provided, and are not described herein again. In addition, the improvements in other embodiments of the method for transporting and loading array cargos can also be applied to this embodiment, and specific reference can be made to the above embodiments, which are not described herein again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. An array cargo conveying and loading method, characterized in that the array cargo conveying and loading method comprises:

obtaining a width adjustment parameter corresponding to the width of an external carriage, and adjusting the width of a first end of a conveying device according to the width adjustment parameter so that the conveying device can convey a row of goods to be loaded corresponding to the width of the carriage, wherein the width of a second end of the conveying device is consistent with the width of the first end of the conveying device;

placing at least one row of goods to be loaded at a second end of the conveyor, wherein the width of the second end is equal to the width of the first end;

controlling the conveying device to convey the row of the goods to be loaded from the second end to the first end directly without adjustment;

2. The method for transporting and loading arrayed cargo of claim 1 further comprising:

3. The method for transporting and loading arrayed goods according to claim 1, wherein the step of controlling the manipulator to load the goods to be loaded from the first end to a loading position in a carriage comprises:

4. The method for transporting and loading arrayed cargo of claim 3 wherein the method for transporting and loading arrayed cargo further comprises:

5. The method for transporting and loading arrayed cargo of claim 4 wherein the method for transporting and loading arrayed cargo further comprises:

identifying the position to be loaded;

6. The method for transporting and loading arrayed cargo of claim 1 further comprising:

7. The method for transporting and loading arrayed cargo of claim 1 further comprising:

8. A computer-readable storage medium having stored thereon an arrayed cargo conveying and loading program; the method of arrayed cargo transport and loading of any one of claims 1 to 7 when executed by a processor.