CN111547157A - Unmanned logistics vehicle with high loading efficiency and loading method thereof - Google Patents
Unmanned logistics vehicle with high loading efficiency and loading method thereof Download PDFInfo
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- CN111547157A CN111547157A CN202010365181.3A CN202010365181A CN111547157A CN 111547157 A CN111547157 A CN 111547157A CN 202010365181 A CN202010365181 A CN 202010365181A CN 111547157 A CN111547157 A CN 111547157A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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Abstract
The invention relates to an unmanned logistics vehicle with high loading efficiency and a loading method thereof, wherein the unmanned logistics vehicle comprises a goods grid cabinet, a loading platform, a sensor and a vehicle-mounted host; the goods grid cabinet comprises a plurality of goods grids which have different volumes and can store goods; the loading platform is arranged on the body of the unmanned logistics vehicle; the sensor is connected with the body of the unmanned logistics vehicle through the movable support; the vehicle-mounted host machine controls the cabinet door of the goods grid which is suitable for the size of the goods to be automatically opened according to the size information of the goods and the size information of the goods grid cabinet stored in the vehicle-mounted host machine. Through the size information of comparison target goods and the size information of goods check, confirm the most suitable empty goods check of size to automatically open the cabinet door, make the efficiency that the staff loaded the goods higher, prevent that the volume of goods check is extravagant and goods check from repeatedly opening the trial and error, improved the loading efficiency of whole unmanned logistics car.
Description
Technical Field
The invention relates to an unmanned logistics vehicle, in particular to an unmanned logistics vehicle with high loading efficiency and a loading method thereof.
Background
At present, a plurality of cargo grids with different sizes are generally used for loading cargos so as to facilitate the transportation of cargos with different sizes, when the cargos to be delivered are loaded, a loading person selects a cargo grid with a proper size to load the cargos to be loaded according to the size of the cargos to be delivered, the size of an object cannot be effectively judged according to the feeling of the loading person, the cargos with the corresponding size are loaded into the cargo grid with the proper size, the cargo grids to be opened are usually too large to waste space in the process, the loading capacity of the unmanned logistics vehicle cannot be fully exerted, and the waste of space is caused; or the goods can not be loaded due to too small goods grids, the goods grids need to be opened again, and the loading efficiency is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an unmanned logistics vehicle with high loading efficiency and a loading method thereof.
The invention provides an unmanned logistics vehicle with high loading efficiency, which comprises a goods grid cabinet, a loading platform, a sensor and a vehicle-mounted host; the goods grid cabinet comprises a plurality of goods grids which have different volumes and can store goods; the loading platform is arranged on the body of the unmanned logistics vehicle and used for placing goods; the sensor is connected with the body of the unmanned logistics vehicle through the movable support, and the position and the angle of the sensor are adjusted through the movable support, so that the sensor can accurately acquire the size information of the goods placed on the loading platform; the vehicle-mounted host machine controls the cabinet door of the goods grid which is suitable for the size of the goods to be automatically opened according to the size information of the goods and the size information of the goods grid cabinet stored in the vehicle-mounted host machine.
Further, the sensor is a TOF camera.
Further, the TOF camera comprises an optical pulse generation unit, a first signal transceiving unit, a first data processing unit and a first storage unit.
The light pulse generating unit sends out light pulses, and the light pulses encounter the goods and are reflected back to the TOF camera; the first data processing unit calculates the distance between the TOF camera and the goods according to the flight time of the light pulse to obtain a distance value set, and obtains size information of the goods through the distance value set; the first storage unit is used for storing the size information of the goods; the first signal transceiving unit sends the size information of the cargo to the vehicle-mounted host.
Further, the vehicle-mounted host comprises a second signal transceiving unit, a second data processing unit and a second storage unit.
The second signal transceiving unit receives the size information of the goods; the second data processing unit determines a goods grid cabinet with a size suitable for the goods according to the size information of the goods and the size information of the goods grid cabinet; the second storage unit may be used to store size information of the goods and size information of the shelf.
Further, the vehicle-mounted host also comprises a display unit and a voice unit.
The display unit displays the prompt information in the form of characters or pictures, and the voice unit broadcasts the prompt information in the form of voice.
Further, the sensor is a laser ranging sensor.
Further, the size information of the cargo comprises three parameters of length, width and height; the size information of the goods grid comprises three parameters of length, width and height.
The invention also provides a loading method of the unmanned logistics vehicle with high loading efficiency, which comprises the following steps:
when loading of goods starts, the loading platform and the sensor move to a preset position;
the sensor acquires the size information of the target cargo and sends the size information to the vehicle-mounted host;
the vehicle-mounted host determines an effective empty cargo lattice which is most suitable for the size of the target cargo according to the size information of the target cargo and the size information of the empty cargo lattice;
the vehicle-mounted host controls the cabinet door of the effective empty cargo grid to be opened;
and after all goods are loaded or when all goods grids of the goods grid cabinet are full, the goods loading is finished.
Further, the acquiring of the size information of the target cargo specifically includes:
in the loading platform idle state, the surface characteristic of the upper surface of the loading platform is a base surface S0;
the distance between the sensor and each target position on the surface of the target cargo on the loading platform is X1, X2 and X3... times Xn, and the surface characteristic S1 of the target cargo is obtained according to the difference of the distance value between the adjacent target position and the sensor;
and calculating the size information of the target cargo according to the difference between the surface characteristic S1 and the base surface S0 of the target cargo.
Further, the step of determining the valid empty cargo space most suitable for the size of the target cargo specifically comprises:
the size information of the target goods comprises three parameters of length, width and height, the size relationship between the three parameters of length, width and height of the target goods is compared, and a first parameter with the largest numerical value, a second parameter with the middle numerical value and a third parameter with the smallest numerical value are determined;
determining all empty goods grids in an idle state in the goods grid cabinet, calling size information of each empty goods grid, wherein the size information of the empty goods grids comprises three parameters, namely depth of the goods grids and length and width of inlets of the goods grids, comparing the size relationship among the three parameters, and determining a first parameter with the maximum value, a second parameter with the middle value and a third parameter with the minimum value of each empty goods grid;
selecting an empty cargo grid meeting preset conditions, wherein the preset conditions are as follows: the first parameter of the empty cargo grid is larger than that of the target cargo, the second parameter of the empty cargo grid is larger than that of the target cargo, and the third parameter of the empty cargo grid is larger than that of the target cargo;
and comparing the volume of all empty grids meeting the preset conditions, and selecting the empty grid with the minimum volume as an effective empty grid.
The invention has the following beneficial effects: through the size information of comparison target goods and the size information of goods check, confirm the most suitable empty goods check of size to automatically open the cabinet door, make the efficiency that the staff loaded the goods higher, prevent the volume waste of goods check and goods check repeated opening trial and error, improved the loading capacity of whole unmanned logistics vehicle.
Drawings
Fig. 1 is a schematic view of structural units of the unmanned logistics vehicle in embodiment 1.
Fig. 2 is an external view schematically showing the unmanned distribution vehicle in example 1.
Fig. 3 is a schematic view of structural units of the unmanned logistics vehicle in embodiment 2.
Fig. 4 is a schematic flow chart of the loading method in embodiment 3.
Fig. 5 is a flowchart illustrating sub-steps of step S200 in fig. 3.
Fig. 6 is a flowchart illustrating sub-steps of step S300 in fig. 3.
Wherein the figures include the following reference numerals: 100-shelf cabinet; 110-cargo grid; 200-a loading platform; 300-TOF camera; 310-a light pulse generating unit; 320-a first signal transceiving unit; 330-a first data processing unit; 340-a first storage unit; 400-vehicle host; 410-a second signal transceiving unit; 420-a second data processing unit; 430-a second storage unit; 440-a display unit; 450-speech unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
Example 1
As shown in fig. 1-2, an unmanned logistics vehicle with high loading efficiency comprises: a cargo compartment 100, a loading platform 200, sensors and an on-board host 400; the compartment cabinet 100 includes a plurality of compartments 110 having different volumes for storing goods; the loading platform 200 is arranged on the body of the unmanned logistics vehicle and used for placing goods; the sensor is connected with the body of the unmanned logistics vehicle through the movable support, and the position and the angle of the sensor are adjusted through the movable support, so that the sensor can accurately acquire the size information of the goods placed on the loading platform 200; the vehicle-mounted host 400 controls the door of the cargo compartment 110 with the proper cargo size to be automatically opened according to the size information of the cargo and the size information of the cargo compartment cabinet 100 stored in the vehicle-mounted host.
In this embodiment, the sensor adopts a TOF camera, which can emit light pulses, and after the light pulses encounter an object, the light pulses are reflected and reflected to the camera, and the reflection is finished, and the time difference or the phase difference from the emission to the reflection back to the camera is calculated, and data is collected to form a group of distance depth data, so that a three-dimensional 3D model imaging technology is obtained, and further the maximum sizes of the goods in the three directions of length, width and height are obtained.
The TOF camera 300 includes a light pulse generating unit 310, a first signal transceiving unit 320, a first data processing unit 330, and a first storage unit 340.
The light pulse generating unit sends out light pulses, and the light pulses encounter the goods and are reflected back to the TOF camera; the first data processing unit calculates the distance between the TOF camera and the goods according to the flight time of the light pulse to obtain a distance value set, and obtains size information of the goods through the distance value set; the first storage unit is used for storing the size information of the goods; the first signal transceiving unit sends the size information of the cargo to the vehicle-mounted host.
The on-board host 400 includes a second signal transceiving unit 410, a second data processing unit 420, and a second storage unit 430.
The second signal transceiving unit receives the size information of the goods; the second data processing unit determines a goods grid cabinet with a size suitable for the goods according to the size information of the goods and the size information of the goods grid cabinet; the second storage unit may be used to store size information of the goods and size information of the shelf.
The in-vehicle host 400 further includes a display unit 440 and a voice unit 450.
The display unit displays the prompt information in the form of characters or pictures, and the voice unit broadcasts the prompt information in the form of voice.
The loading platform 200 can be embedded in an open cavity in the unmanned logistics vehicle body, the loading platform in the form is good in bearing capacity, and a sensor is mounted on the inner wall in the open cavity and used for measuring size information of goods.
The loading platform 200 may also be a retractable platform that extends from the inside of the unmanned logistics vehicle when in use and retracts when not in use, which saves space and is preferably used in conjunction with a TOF camera 300, which TOF camera 300 is held directly above the loading platform by a movable support to measure dimensional information of the object.
The size information of the goods comprises three parameters of length, width and height; the size information of the goods grid comprises three parameters of length, width and height.
Example 2
A schematic diagram of structural units of the unmanned logistics vehicle provided by the embodiment is shown in fig. 3.
Specifically, the unmanned logistics vehicle provided in this embodiment basically adopts the same structure as that in embodiment 1.
The difference lies in that: in the embodiment, the sensor adopts a laser ranging sensor which is placed on three sides of the cargo and obtains the size information of the regular object in a trilateration mode.
Example 3
As shown in fig. 4 to 6, a loading method of an unmanned logistics vehicle with high loading efficiency includes the following steps:
step S100, when loading of goods starts, the loading platform 200 and the sensor move to a predetermined position.
And step S200, the sensor acquires the size information of the target cargo and sends the size information to the vehicle-mounted host 400.
The acquiring of the size information of the target cargo specifically includes:
step S210, in the idle state of the loading platform 200, the surface feature of the upper surface of the loading platform 200 is a base surface S0;
step S220, the distance between the sensor and each target position on the surface of the target cargo on the loading platform 200 is X1, X2, X3... Xn, and the surface characteristic of the target cargo is obtained according to the difference of the distance value between the adjacent target position and the sensor S1;
and step S230, calculating the size information of the target cargo according to the difference between the surface characteristic S1 and the base surface S0 of the target cargo.
Step S300, the on-board host 400 determines an effective empty cargo space most suitable for the size of the target cargo according to the size information of the target cargo and the size information of the empty cargo space.
The sensor is a TOF camera.
The step of determining the valid empty cargo space most suitable for the size of the target cargo specifically comprises the following steps:
step S310, the size information of the target goods comprises three parameters of length, width and height, the size relation between the three parameters of length, width and height of the target goods is compared, and a first parameter with the largest numerical value, a second parameter with the middle numerical value and a third parameter with the smallest numerical value are determined;
s320, determining all empty goods grids in an idle state in the goods grid cabinet, calling size information of each empty goods grid, comparing three parameters of length, width and height of the size information of the empty goods grids, and determining a first parameter with the largest numerical value, a second parameter with the middle numerical value and a third parameter with the smallest numerical value of each empty goods grid;
s330, selecting an empty cargo grid meeting preset conditions, wherein the preset conditions are as follows: the first parameter of the empty cargo grid is larger than that of the target cargo, the second parameter of the empty cargo grid is larger than that of the target cargo, and the third parameter of the empty cargo grid is larger than that of the target cargo;
and step S340, comparing the volume sizes of all empty cargo grids meeting the preset conditions, and selecting the empty cargo grid with the minimum volume as an effective empty cargo grid.
The volume of the empty compartment is equal to the product of the first parameter, the second parameter and the third parameter.
And S400, the vehicle-mounted host 400 controls the cabinet door of the effective empty cargo grid to be opened.
Step S500, after all the goods are loaded or when all the goods grids of the goods grid cabinet 100 are full, the loading of the goods is finished.
The on-board host 400 can also prompt the staff through the display unit and/or the voice unit about the relevant information, such as that the target cargo cannot be loaded, the position of the valid empty cargo space, and the full cargo space cabinet.
Through the size information of comparison target goods and the size information of goods check, confirm the most suitable empty goods check of size to automatically open the cabinet door, make the efficiency that the staff loaded the goods higher, prevent the volume waste of goods check and goods check repeated opening trial and error, improved the loading capacity of whole unmanned logistics vehicle.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but 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, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a loading efficiency is high unmanned commodity circulation car which characterized in that includes:
a cargo compartment (100), a loading platform (200), sensors and a vehicle-mounted host (400);
the goods grid cabinet (100) comprises a plurality of goods grids (110) with different volumes for storing goods;
the loading platform (200) is arranged on the body of the unmanned logistics vehicle and used for placing goods;
the sensor is connected with the body of the unmanned logistics vehicle through the movable support, and the position and the angle of the sensor are adjusted through the movable support, so that the sensor can accurately acquire the size information of the goods placed on the loading platform (200);
the vehicle-mounted host (400) controls the cabinet door of the cargo grid (110) with the proper cargo size to be automatically opened according to the size information of the cargo and the size information of the cargo grid cabinet (100) stored in the vehicle-mounted host.
2. The unmanned logistics vehicle of claim 1, wherein the sensor is a TOF camera (300).
3. The unmanned logistics vehicle with high loading efficiency according to claim 2, wherein the TOF camera (300) comprises a light pulse generation unit (310), a first signal transceiving unit (320), a first data processing unit (330) and a first storage unit (340).
4. The unmanned logistics vehicle of claim 1, wherein the on-board host (400) comprises a second signal transceiver unit (410), a second data processing unit (420) and a second storage unit (430).
5. A loading efficiency unmanned logistics vehicle as claimed in claims 1 and 4, wherein the vehicle-mounted host (400) further comprises a display unit (440) and a voice unit (450).
6. The unmanned logistics vehicle of claim 1, wherein the sensor is a laser ranging sensor.
7. The unmanned logistics vehicle with high loading efficiency as claimed in claim 1, wherein the cargo size information comprises three parameters of length, width and height; the size information of the goods grid comprises three parameters of length, width and height.
8. A loading method of an unmanned logistics vehicle with high loading efficiency is characterized by comprising the following steps:
when loading of goods starts, the loading platform (200) and the sensor move to a preset position;
the sensor acquires the size information of the target cargo and sends the size information to the vehicle-mounted host (400);
the vehicle-mounted host (400) determines an effective empty cargo grid which is most suitable for the size of the target cargo according to the size information of the target cargo and the size information of the empty cargo grid;
the vehicle-mounted host (400) controls the cabinet door of the effective empty cargo grid to be opened;
after all goods are loaded or when all goods grids of the goods grid cabinet (100) are full, the goods loading is finished.
9. The unmanned logistics vehicle with high loading efficiency according to claim 8, wherein the step of obtaining the size information of the target cargo specifically comprises:
in the idle state of the loading platform (200), the surface characteristic of the upper surface of the loading platform (200) is a base surface S0;
the distance between the sensor and each target position on the surface of the target cargo on the loading platform (200) is X1, X2, X3... Xn, and the surface characteristic S1 of the target cargo is obtained according to the difference of the distance value between the adjacent target position and the sensor;
and calculating the size information of the target cargo according to the difference between the surface characteristic S1 and the base surface S0 of the target cargo.
10. The unmanned logistics vehicle of claim 8, wherein the step of determining the available empty cargo space most suitable for the size of the target cargo comprises:
the size information of the target goods comprises three parameters of length, width and height, the size relationship between the three parameters of length, width and height of the target goods is compared, and a first parameter with the largest numerical value, a second parameter with the middle numerical value and a third parameter with the smallest numerical value are determined;
determining all empty goods grids in an idle state in the goods grid cabinet, calling size information of each empty goods grid, wherein the size information of the empty goods grids comprises three parameters, namely depth of the goods grids and length and width of inlets of the goods grids, comparing the size relationship among the three parameters, and determining a first parameter with the maximum value, a second parameter with the middle value and a third parameter with the minimum value of each empty goods grid;
selecting an empty cargo grid meeting preset conditions, wherein the preset conditions are as follows: the first parameter of the empty cargo grid is larger than that of the target cargo, the second parameter of the empty cargo grid is larger than that of the target cargo, and the third parameter of the empty cargo grid is larger than that of the target cargo;
and comparing the volume of all empty grids meeting the preset conditions, and selecting the empty grid with the minimum volume as an effective empty grid.
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Cited By (1)
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