WO2019154440A1 - 货物运送装置及方法 - Google Patents

货物运送装置及方法 Download PDF

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Publication number
WO2019154440A1
WO2019154440A1 PCT/CN2019/081193 CN2019081193W WO2019154440A1 WO 2019154440 A1 WO2019154440 A1 WO 2019154440A1 CN 2019081193 W CN2019081193 W CN 2019081193W WO 2019154440 A1 WO2019154440 A1 WO 2019154440A1
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WIPO (PCT)
Prior art keywords
cargo
belt
sensor
sensors
goods
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PCT/CN2019/081193
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English (en)
French (fr)
Inventor
倪菲
周友松
罗天平
Original Assignee
上海快仓智能科技有限公司
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Publication date
Priority claimed from CN201820828197.1U external-priority patent/CN208802493U/zh
Priority claimed from CN201810544197.3A external-priority patent/CN108861427B/zh
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Publication of WO2019154440A1 publication Critical patent/WO2019154440A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged

Definitions

  • the present invention relates to the field of cargo handling technology, and in particular to a cargo conveying apparatus and method.
  • One of the objects of the present invention is to achieve automatic adjustment of the position of the cargo on the handling device and enhance transportation safety.
  • a cargo transport apparatus comprising:
  • the belt drive mechanism includes a belt and a driving device for driving the belt to move relative to the vehicle body;
  • One or more sensors disposed on the vehicle body, the one or more sensors for detecting the position of the cargo on the belt;
  • control device that controls driving of the belt by the driving device to adjust a position of the cargo based on a detection result of the one or more sensors.
  • the one or more sensors are arranged as a sensor train along the running direction of the belt.
  • control device is configured to determine that the goods are placed out of position in the following cases:
  • the sensor in the middle of the sensor column senses no cargo, and any one of the sensors at both ends of the sensor column can sense the cargo; or
  • the sensor in the middle of the sensor column does not sense the cargo, and the sensors at both ends of the sensor column also do not sense the cargo. After the belt rotates, any one of the two ends senses the cargo.
  • control device is further configured to:
  • control device is further configured to:
  • the sensor in the middle of the sensor column cannot detect the goods, the sensor at the two ends of the sensor column cannot sense the goods, and if any one of the sensors does not sense the goods after the belt rotates for a certain time, it is judged to be off. drop.
  • control device is configured to perform at least one of the following:
  • the driving device is activated to move the belt until it is determined that the cargo is placed in position;
  • the vehicle body In the case of determining that the cargo is placed in position, the vehicle body is moved, and the driving device is activated to move the belt until it is determined that the cargo is placed in position;
  • control device is further configured to activate the drive device to unload the cargo by moving the leather belt if the vehicle body is moved to a predetermined position.
  • control device is further configured to determine that an unloading fault has occurred in the event that the sensor still detects the cargo after a predetermined period of time after the start of the unloading.
  • the cargo transport device comprises two belts, the two belts being movable independently of each other by the drive device, and wherein the one or more sensors are divided into two groups of sensors, each set of sensor detection The goods on the corresponding one of the two belts.
  • control device is configured to control the drive device to synchronously move the said cargo when it is determined that a common cargo is placed on the two belts, when the common cargo needs to be moved Two belts.
  • a cargo transport method using the cargo transport device as described above comprising:
  • the belt In the event that it is determined that the cargo is placed in position, the belt is moved to place the cargo in place.
  • the method further comprises at least one of the following steps:
  • the sensor in the middle of the sensor column senses no cargo, any one of the sensors at both ends of the sensor column can sense the cargo; or sensor sensing in the middle of the sensor column If the cargo is not available, the sensors at both ends of the sensor column may not sense the cargo, and after the belt rotates, any one of the two ends senses the cargo;
  • the goods are detected in the middle of the sensor column, the goods are not sensed by the sensors at the two ends of the sensor column, and the goods are not sensed after any one of the sensors is rotated for a certain period of time.
  • the method further comprises at least one of the following steps:
  • the belt is moved, the cargo is unloaded, and the unloading process is determined to be successful.
  • the method further comprises:
  • the two belts are moved synchronously.
  • the inventors of the present invention have found that there is no solution in the prior art that can enhance transportation safety by the means (for example, automatic position detection and adjustment) described in the above embodiments of the present invention. Therefore, the technical task to be achieved by the present invention or the technical problem to be solved is not thought of or expected by those skilled in the art, so the present invention is a new technical solution.
  • a solution for automatically detecting and adjusting the position of the cargo on the handling device is proposed, which enhances transportation safety and improves user satisfaction.
  • FIG. 1 is a schematic view showing the composition of a cargo conveying device according to an embodiment of the present invention
  • FIG. 2 is a partial structural schematic view of a single belt cargo transport device according to an embodiment of the present invention
  • FIG. 3 is a partial structural schematic view of a double belt cargo conveying device according to an embodiment of the present invention.
  • FIG. 4 is a flow chart showing a method of transporting goods according to an embodiment of the present invention.
  • FIG. 5 is a schematic flow chart of a cargo loading method according to an embodiment of the invention.
  • FIG. 6 is a schematic flow chart of a cargo transportation process according to an embodiment of the present invention.
  • FIG. 7 is a flow chart showing a method of unloading a cargo according to an embodiment of the present invention.
  • An example cargo transport apparatus may include a movable body 8, a belt drive mechanism disposed on the vehicle body for carrying cargo and moving the cargo position, and a sensor 3 for detecting the position of the cargo, wherein the belt drive mechanism includes A belt 4 that is movable forward and backward with respect to the vehicle body 8 and a driving device that provides a driving force for the movement of the belt 4.
  • the drive mechanism of the belt drive mechanism includes a motor 6, a drive pulley 1 and a driven pulley 2 which are mounted on the mounting base plate 7 and are fixed to the vehicle body 8 through the mounting base plate 7.
  • the driving wheel 1 and the driven wheel 2 are mounted on the mounting base plate 7 through the mounting base 5 and at a certain distance along the longitudinal direction of the vehicle body.
  • the belt 4 is wound around the driving wheel 1 and the driven wheel 2, and a cargo area is formed on the belt between the driving wheel 1 and the driven wheel 2.
  • the belt that generally forms the cargo area is horizontal.
  • the motor 6 can provide the driving wheel 1 with a driving force for clockwise/counterclockwise rotation, and the clockwise/counterclockwise rotation of the driving wheel 1 drives the belt 4 to move forward/backward.
  • the sensor 3 can be one or more of an infrared sensor, an optical sensor, and a camera.
  • the sensor 3 can be placed on one or both sides of the belt, at a position slightly above the belt, and held fixed relative to the vehicle body to detect the position of the cargo on the belt.
  • the sensor 3 may be fixed to the mounting base 7 or directly to the vehicle body 8.
  • Sensor 3 can include one or more sensors.
  • the sensor 3 is a sensor column including a plurality of sensors arranged along the length direction of the belt 4 (i.e., the belt moving direction).
  • the belt 4 can comprise one or more strips. In the case of multiple belts, each belt can be independently driven by a respective drive.
  • 2 shows a partial structural schematic view of a single belt cargo transport device in accordance with an embodiment of the present invention. In this example, only one belt 4 is included, and two rows of sensors are arranged on both sides of the belt 4 along the length of the belt.
  • 3 is a partial structural schematic view of a double belt cargo transport device in accordance with an embodiment of the present invention. In this example, two belts 41 and 42 are included, and a row of sensors 31 and 32 are respectively disposed outside the belts 41 and 42, and no sensors are disposed on the sides adjacent to the belts 41 and 42.
  • the row of sensors 31 near the belt 41 is used to detect the position of the cargo on the belt 41
  • the column of sensors 32 on the belt 42 is used to detect the position of the cargo on the belt 41.
  • the belts 41 and 42 respectively have respective drive means which can be moved independently, for example, can be moved in the same direction or in the opposite direction.
  • the cargo transport device further includes a control device (not shown in Fig. 1) coupled to the sensor 3 and the drive device for controlling the drive device based on the detection result of the sensor 3, for example, controlling the drive based on the position of the cargo on the belt 4.
  • the device starts or stops applying a driving force, controls the direction of the driving force applied by the driving device to move the belt forward or backward, thereby adjusting the position of the cargo on the belt.
  • the control device can be placed anywhere in the cargo transport device.
  • the sensor 3 sends the respective detection result (for example, whether the goods are detected) to the controller, and the controller determines the position of the goods on the belt according to the detection result of the sensor 3, for example, whether the goods are placed in place, whether they are placed in position, or whether they are detached from the belt. .
  • control device is configured to determine that the cargo is placed in a position when:
  • the sensor in the middle of the sensor column senses no cargo, and any one of the sensors at both ends of the sensor column can sense the cargo; or
  • the sensor in the middle of the sensor column does not sense the cargo, and the sensors at both ends of the sensor column also do not sense the cargo. After the belt rotates, any one of the two ends senses the cargo.
  • control device is further configured to determine that the cargo is placed in position if the sensor in the middle of the sensor column senses the cargo.
  • control device is further configured to: the sensor in the middle of the sensor column does not detect the cargo, the sensor at the two ends of the sensor column does not sense the cargo, and at the same time the belt rotates for a certain time after any sensor If the goods are not sensed, it is judged to be dropped.
  • the sensor column can also use the sensor column to determine if there is any cargo falling. For example, at least 5 sensors are used, such as 1 near the loading area, and the sensors 1, 2, 3, 4, 5 are sorted.
  • the sensor 1 senses when loading, the belt starts to rotate, when the sensor 3 senses and 1 2
  • the second item starts.
  • the 1 and 5 sensors are not sensed and 2, 4 are sensed, the goods are judged to be in place.
  • the system reports an error.
  • a sensor at one end/both ends of a sensor column refers to one or more sensors located at the head and/or the tail of the sensor column
  • a sensor in the middle of the sensor column refers to a sensor that removes both ends of the sensor column, A sensor located in the middle of the sensor column.
  • S1 and S8 can be regarded as sensors at both ends of the sensor column, respectively.
  • S1, S2, and S7, S8 may be regarded as sensors at both ends of the sensor column
  • S3-S6 may be regarded as sensors in the middle of the sensor column.
  • the division of the sensor can be performed according to actual needs.
  • the "sensor at the front end/rear end of the sensor column” means that the direction in which the cargo transport device advances (or is about to advance) is defined as “front”, and the opposite direction is defined as “rear”, but it is understood that the opposite can also be Define "before” and "after”.
  • control device After the control device determines the position of the cargo (placed in place, placed in position or dropped), the control device can perform corresponding control operations according to the position of the cargo.
  • the control device is configured to activate the drive device to move the belt to place the cargo in place, and the cargo transport device may remain stopped at the same time, or may begin to move, in the event that it is determined that the cargo is placed out of position. Adjust the goods during the move until they are in place.
  • the case where the goods are placed out of position is divided into a front out position and a rear out position, that is, if the sensor at the front end of the sensor column senses the goods and the sensor at the rear end of the sensor column is not sensed, it is determined to be the front position; If the sensor at the rear end of the sensor column senses the goods and the sensor at the front end of the sensor column is not sensed, it is determined to be a post-out position.
  • the control device may be further configured to: control the drive device to move the belt backward to place the cargo in position if it is determined to be out of position before the cargo is placed; and to release the position after the cargo is determined to be placed In the event that the drive is controlled to move the belt forward to place the cargo in place.
  • control device may be further configured to initiate the movement of the vehicle, ie, to begin shipping the cargo, either automatically or in response to a user's operation, in the event that it is determined that the cargo is in place.
  • control device may be further configured to issue an alarm and/or stop movement of the vehicle body in the event that the cargo is determined to be dropped.
  • control device may be further configured to activate the drive to unload the cargo by moving the leather strap if the vehicle body is moved to the predetermined position.
  • control device may be further configured to determine that an unloading failure occurs if the sensor still detects the presence of the cargo on the belt after a predetermined period of time after the start of the unloading. At this point, the control device can instruct the generation of an alert to prompt the user.
  • the control device may be configured to determine whether there is a common cargo on the two belts based on the detection result of the sensor 3, that is, whether or not a large cargo is placed In the case of two belts.
  • the control device controls the driving device to synchronously move the two belts so that the common goods move smoothly, when it is necessary to move the cargo position. It is judged whether a large cargo is placed on two belts, and the image can be collected and recognized by the camera to determine whether a large cargo is placed on both belts at the same time.
  • control device may be a module or a combination of modules that implement respective functions by software, hardware, firmware, or a combination thereof, for example, by software program code, programmable logic device, integrated circuit module, or the like. Or a combination of them.
  • control device is comprised of a processor and a memory, wherein the memory stores program code that is executable by the processor, the program code, when executed by the processor, implements the functions of the various embodiments of the control device as described above .
  • the vehicle body 8 is described as being movable, and the cargo transport device is described as a trolley that can be used to load, unload, and move cargo within or outside the storage space, but it is understandable
  • the body 8 can also be immovable or other variants.
  • the cargo transport method embodiment may use various embodiments of the cargo transport apparatus as described above, or other cargo transport equipment having a composition different from them but having the same or similar functions.
  • the example cargo shipping method includes the steps of:
  • S401 detecting, by one or more sensors, the position of the cargo placed on the belt of the cargo transport device when the cargo transport device is stopped and/or moved;
  • the position of the cargo can be judged to be placed in place, placed in place, or dropped by the detection result of the sensor, or judged to be in other states (for example, no goods exist).
  • the belt is moved to place the goods in place.
  • Step S402 is directed to the case where the goods are placed out of position.
  • the example method may further include at least one of the following steps:
  • the cargo transport device starts to move automatically or in response to the user's operation, that is, leaving the feeding point to start the transport;
  • the belt is moved to unload the cargo.
  • the example method may further include:
  • the two belts are moved synchronously when it is necessary to move the common goods.
  • FIG. 5 is a flow chart showing a cargo loading process according to an embodiment of the present invention. As shown in the example in Figure 5, the example cargo loading process includes the steps:
  • step S503 determining whether the goods are placed in place, if it is determined that the goods are placed in place, proceeding to step S506, if it is determined that the goods are placed before the placement, the process proceeds to step S504, and if it is determined that the goods are placed after the placement, the process proceeds to step S505.
  • the belt is moved backward and the process returns to step S502 until it is determined that the goods are placed in position.
  • the belt is moved forward and the process returns to step S502 until it is determined that the goods are placed in position.
  • step S506 it is judged whether or not the cargo loading process is ended. If the determination is YES, the process proceeds to the end step of step S507. If the determination is no, the process returns to step S501 to continue loading the goods.
  • step S504 the belt is moved backwards until it is determined that the cargo is placed in position and the belt continues to move a certain distance (delayed pause).
  • step S505 the belt is moved forward until it is determined that the cargo is placed in position and the belt continues to move a certain distance (delayed pause).
  • step S506 it is determined in step S506 whether the loading of the goods process is finished, for example, asking the user whether to end the loading process, and/or receiving the user about whether to end the loading process. instruction.
  • the goods may be terminated without determining whether to end the loading process.
  • the cargo transport device in response to the end of the loading process, can automatically begin moving to transport the cargo to the designated location.
  • the user can initiate the movement of the cargo transport device by the associated operation, thereby ending the loading process and starting the transportation process.
  • the example cargo loading method may further include the step of issuing an alarm to prompt the user.
  • FIG. 6 is a flow chart showing a cargo transportation process according to an embodiment of the present invention.
  • the cargo position is continuously detected during the movement of the cargo transport device, and is taken when the cargo is placed out of position or the cargo is dropped. Appropriate measures.
  • the example cargo transportation process includes the steps of:
  • the cargo transport device moves to a predetermined location.
  • step S603 determining the position of the goods to check whether the placement is out of position or the goods are dropped. If it is determined that the goods are placed before the placement, the process proceeds to step S604. If it is determined that the goods are placed after the placement, the process proceeds to step S605, and if it is determined that the goods are dropped, Then, proceeding to step S606, if it is determined that the goods are placed in place, it may return to step S601.
  • the belt is moved backward and the process returns to step S602 until it is determined that the goods are placed in place.
  • the belt is moved forward and the process returns to step S602 until it is determined that the goods are placed in position.
  • steps S604 and S605 may be performed without stopping the movement of the cargo transport device.
  • the belt begins to rotate during the transport of the cargo, in the event that any intermediate sensor does not sense the cargo. If the sensor is sensed at either end of the two ends, the belt rotates in a direction that is not sensed, and continues to move for a certain period of time after the intermediate sensor senses (delayed pause, same loading). If both ends of the sensor are not sensed, the belt begins to rotate until one end senses, or the middle senses. When one end is sensed, the belt is reversed, and the belt rotates in the same step as the previous step; if it is sensed in the middle, it continues to rotate a certain distance (delayed pause). If all the sensors are still not sensed after the belt has been rotated for a while, it is judged to be dropped.
  • FIG. 7 is a flow chart showing a cargo unloading process according to an embodiment of the present invention. As shown in the example in Figure 7, the example cargo unloading process includes the steps of:
  • step S703 judging whether the sensor can still detect that the goods are placed on the belt after a predetermined period of time after starting the unloading. If the result of the determination is no, the uninstallation is successful. If the result of the determination is YES, it indicates that the uninstallation fault occurs, and the process proceeds to step S704: the fault is eliminated, and then returns to step S701 until the uninstallation is successful.
  • each block in the flowchart or block diagram can represent a module, a program segment, or a portion of an instruction that includes one or more components for implementing the specified logical functions.
  • Executable instructions can also occur in a different order than those illustrated in the drawings. For example, two consecutive blocks may be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or function. Or it can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.
  • each embodiment in the specification is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the embodiments are referred to each other. can. However, it should be apparent to those skilled in the art that the above embodiments may be used alone or in combination with each other as needed.
  • the description is relatively simple, and the relevant parts can be referred to the description of the corresponding parts of the device embodiment.
  • the device embodiments described above are merely illustrative, and the modules illustrated as separate components may or may not be physically separate.

Abstract

一种货物运送装置及货物运送方法。该货物运送装置包括：车体（8）；设置在车体（8）上的皮带传动机构，其中皮带传动机构包括皮带（4）以及用于驱动皮带（4）相对于车体（8）移动的驱动装置；设置在车体（8）上的一个或多个传感器（3），一个或多个传感器（3）用于检测皮带（4）上的货物的位置；和控制装置，控制装置根据一个或多个传感器（3）的检测结果控制驱动装置对皮带（4）的驱动以调整货物的位置。通过上述设置，可以实现货物在搬运装置上的位置自动调整，增强了运输安全性。

Description

货物运送装置及方法 技术领域
本发明涉及货物搬运技术领域，具体地涉及一种货物运送装置及方法。
背景技术
随着经济技术的发展，货物搬运/运送小车在仓储物流业中的应用越来越广泛。在往小车上加载货物时，货物放置的位置有时会不合适而用户不自知。另外，在货物运输过程中，随着小车的移动，货物也可能发生位置移动或掉落。这些都可能影响货物的运输安全。
发明内容
本发明的目的之一是实现货物在搬运装置上的位置自动调整，增强运输安全。
根据本发明的一方面，提供一种货物运送装置，其包括：
车体；
设置在车体上的皮带传动机构，其中所述皮带传动机构包括皮带以及用于驱动所述皮带相对于所述车体移动的驱动装置；
设置在车体上的一个或多个传感器，所述一个或多个传感器用于检测所述皮带上的货物的位置；和
控制装置，所述控制装置根据所述一个或多个传感器的检测结果控制所述驱动装置对所述皮带的驱动以调整所述货物的位置。
根据一个实施例，所述一个或多个传感器沿着所述皮带的运行方向设置成传感器列。
根据一个实施例，所述控制装置配置成在以下情况判断所述货物放置出位：
所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感 器任何一个能感测到货物；或
所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器也感测不到货物，皮带转动后，两端任何一个感测到货物。
根据一个实施例，所述控制装置还配置成:
在所述传感器列中间的传感器感测到货物的情况下，判定所述货物放置到位。
根据一个实施例，所述控制装置还配置成:
在所述传感器列中间的传感器检测不到货物、在所述传感器列两端的传感器感测不到货物、同时皮带转动一定时间后任何一个传感器都感测不到货物的情况下，则判断为掉落。
根据一个实施例，所述控制装置配置成执行如下中的至少一个：
在判定所述货物放置出位的情况下，在所述车体停止的情况下，启动所述驱动装置以移动所述皮带，直到判定所述货物放置到位；
在判定所述货物放置出位的情况下，使所述车体移动，并启动所述驱动装置以移动所述皮带，直到判定所述货物放置到位；
在判定所述货物放置到位的情况下，使所述车体移动；以及
在判定所述货物掉落的情况下，发出报警和/或停止所述车体移动。根据一个实施例，所述控制装置还被配置成：在所述车体移动到预定位置的情况下，启动所述驱动装置以通过移动所述皮带来卸载所述货物。
根据一个实施例，所述控制装置还配置成：在开始卸载后预定时间段后所述传感器仍然检测到所述货物的情况下，判定出现卸载故障。
根据一个实施例，所述货物运送装置包括两条皮带，所述两条皮带能够彼此独立地被所述驱动装置移动，并且其中所述一个或多个传感器分成两组传感器，每组传感器检测所述两条皮带中对应的一条上的货物。
根据一个实施例，所述控制装置配置成：在判定为所述两条皮带上放置有共同的货物的情况下，在需要移动所述共同的货物时，控制所述驱动装置同步地移动所述两条皮带。
根据本发明的另一方面，提供一种使用如上所述的货物运送装置的货物运送方法，其包括：
在所述货物运送装置停止和/或移动状态下，通过所述一个或多个传感器检测并判断货物放置在皮带上的位置；以及
在判定所述货物放置出位的情况下，移动所述皮带以使得所述货物放置到位。
根据一个实施例，所述方法还包括如下步骤中的至少一个：
在以下情况判断所述货物放置出位：在所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器任何一个能感测到货物；或所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器也感测不到货物，皮带转动后，两端任何一个感测到货物；
在所述传感器列中间的传感器感测到货物的情况下，判定所述货物放置到位；
在所述传感器列中间的传感器检测不到货物、在所述传感器列两端的传感器感测不到货物、同时皮带转动一定时间后任何一个传感器都感测不到货物的情况下，判定所述货物掉落
根据一个实施例，所述方法还包括如下步骤中的至少一个：
在判定所述货物放置到位的情况下，使所述货物运送装置移动；
在判定所述货物掉落的情况下，停止所述货物运送装置移动和/或发出报警；以及
在所述货物运送装置移动到预定地址后，移动所述皮带，卸载所述货物，并检测卸载过程是否成功。
根据一个实施例，当所述货物运送装置包括两条皮带时，所述方法还包括：
通过所述一个或多个传感器检测并判断所述两条皮带上是否放置有共同的货物；以及
在判定放置有共同的货物的情况下，同步移动所述两条皮带。
本发明的发明人发现，在现有技术中不存在能够通过本发明上述各实施例中记载的手段(例如，位置自动检测和调整)来增强运输安全的解决方案。因此，本发明所要实现的技术任务或者所要解决的技术问题是本领域技术人员从未想到的或者没有预期到的，故本发明是一种新的技术方案。
通过本发明各实施例中的一个或多个，提出了自动检测并调整货物在搬运装置上的位置的解决方案，增强了运输安全性，提高了用户满意度。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1是根据本发明一实施例的货物运送装置的组成示意图；
图2是根据本发明一实施例的单皮带货物运送装置的部分结构示意图；
图3是根据本发明一实施例的双皮带货物运送装置的部分结构示意图；
图4是根据本发明一实施例的货物运送方法的流程示意图；
图5是根据本发明一实施例的货物加载方法的流程示意图；
图6是根据本发明一实施例的货物运输过程的流程示意图；
图7是根据本发明一实施例的货物卸载方法的流程示意图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
图1示出了根据本发明一实施例的货物运送装置的组成示意图。示例货物运送装置可以包括可移动车体8、设置在车体上用于承载货物并移动 货物位置的皮带传动机构以及用于检测货物位置的传感器3，其中，皮带传动机构包括用于承载货物、能够相对于车体8前后移动的皮带4以及为皮带4的移动提供驱动力的驱动装置。
在图1的示例中，皮带传动机构的驱动装置包括电机6、主动轮1和从动轮2，它们安装在安装底板7上，并通过安装底板7固定至车体8。其中，主动轮1和从动轮2通过安装座5安装在安装底板7上，并沿车体长度方向相距一定距离。皮带4卷绕在主动轮1和从动轮2上，在主动轮1与从动轮2之间的皮带上形成载货区域。一般地形成载货区域的皮带是水平的。电机6可以为主动轮1提供用于顺时针/逆时针旋转的驱动力，主动轮1的顺时针/逆时针旋转带动皮带4向前/向后移动。
传感器3可以是红外传感器、光学传感器和摄像头中的一种或多种。传感器3可以设置在皮带的一侧或两侧，处于略高于皮带的位置，并相对于车体保持固定，以检测皮带上货物的位置。例如，传感器3可以固定在安装底板7上，也可以直接固定于车体8上。传感器3可以包括一个或多个传感器。在图1的示例中，传感器3为沿皮带4的长度方向(即皮带移动方向)布置的、包含多个传感器的传感器列。
皮带4可以包括一条或多条。在包括多条皮带的情况下，每条皮带可以由相应的驱动装置独立地驱动。图2示出了根据本发明一实施例的单皮带货物运送装置的部分结构示意图。在该示例中，只包括一条皮带4，在皮带4两侧布置沿皮带长度方向布置有两列传感器。图3示出了根据本发明一实施例的双皮带货物运送装置的部分结构示意图。在该示例中，包括两条皮带41和42，并且在皮带41和42的外侧分别布置有一列传感器31和32，而在皮带41和42相邻的侧不布置传感器。其中，靠近皮带41的那一列传感器31用于检测皮带41上的货物位置，靠近皮带42上的那一列传感器32用于检测皮带41上的货物位置。此外，在图3的示例中，皮带41和42分别具有各自的驱动装置，可以分别独立地被移动，例如可以被同向运动，或者反向运动。
货物运送装置还包括与传感器3和驱动装置相耦合的控制装置(图1中未示出)，用于根据传感器3的检测结果控制驱动装置，例如，根据货 物在皮带4上的位置，控制驱动装置开始或停止施加驱动力、控制驱动装置所施加的驱动力的方向以使得皮带向前或向后移动，从而调整皮带上的货物的位置。控制装置可以设置在货物运送装置的任意位置。
传感器3将各自的检测结果(例如是否检测到货物)发送给控制器，控制器根据传感器3的检测结果判断皮带上货物的位置，例如判断货物是否放置到位、是否放置出位或是否从皮带脱落。
在一个示例中，所述控制装置配置成在以下情况判断所述货物放置出位：
所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器任何一个能感测到货物；或
所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器也感测不到货物，皮带转动后，两端任何一个感测到货物。
在一个示例中，所述控制装置还配置成:在所述传感器列中间的传感器感测到货物的情况下，判定所述货物放置到位。
在一个示例中，所述控制装置还配置成:在所述传感器列中间的传感器检测不到货物、在所述传感器列两端的传感器感测不到货物、同时皮带转动一定时间后任何一个传感器都感测不到货物的情况下，则判断为掉落。
如果是多个货物的话，也可以使用传感器列来判断是否有货物掉落。例如至少使用5个传感器，如靠近上料区为1,开始排序传感器1、2、3、4、5，当上料时传感器1感应到时，皮带开始转动，当传感器3感应到而1与2感应不到时，开始上第2件货物，当1、5传感器感应不到、2、4感应到时，判断货物到位。当运输过程中2、4传感器中任意一个感应不到货物时，系统就报错。本领域技术人员能够理解，本发明的保护范围不限于具体的判断逻辑，可以使用不同的判断逻辑来判断货物放置到位、出位和掉落。
本文中所提到的“传感器列一端/两端的传感器”是指位于传感器列的头部和/或尾部的一个或多个传感器，“传感器列中间的传感器”是指除去传感器列两端的传感器、位于传感器列中间部分的传感器。例如，假设一个传感器列从左至右包括8个传感器：S1、S2、S3、S4、S5、S6、S7、S8，可以将S1和S8分别视为传感器列两端的传感器，将S2-S7视为传感 器列中间的传感器。可选地，也可以将S1、S2以及S7、S8分别视为传感器列两端的传感器，将S3-S6视为传感器列中间的传感器。传感器的划分可以根据实际需要来进行。“传感器列前端/后端的传感器”是指，将货物运送装置前进(或即将前进)的方向定义为“前”，将相反的方向定义为“后”，但是可以理解的是，也可以相反地定义“前”和“后”。
控制装置在判定了货物位置(放置到位、放置出位或掉落)后，可以根据货物位置进行相应的控制操作。在一个示例中，控制装置被配置成：在判定货物放置出位的情况下，启动所述驱动装置以移动所述皮带以使得货物放置到位，货物运送装置可以同时保持停止，也可以开始移动，在移动过程中调整货物，直到放置到位。更进一步地，货物放置出位的情况分为前出位和后出位，即，如果传感器列前端的传感器感测到货物而传感器列后端的传感器感测不到，则判定为前出位；如果传感器列后端的传感器感测到货物而传感器列前端的传感器感测不到，则判定为后出位。根据一个示例的控制装置可以进一步被配置成：在判定为货物放置前出位的情况下，控制所述驱动装置向后移动所述皮带以使得货物放置到位；以及在判定为货物放置后出位的情况下，控制所述驱动装置向前移动所述皮带以使得货物放置到位。
在另一示例中，控制装置还可以被配置成：在判定货物放置到位的情况下，自动地或者响应于用户的操作使车体开始移动，即开始运输货物。在又一示例中，控制装置还可以配置成：在判定货物掉落的情况下，发出报警和/或停止车体的移动。在又一示例中，控制装置还可以被配置成：在车体移动到预定位置的情况下，启动驱动装置以通过移动皮带来卸载货物。另外，控制装置还可以配置成：在开始卸载后预定时间段后，如果传感器仍然检测到皮带上存在货物，则判定出现卸载故障。这时，控制装置可以指示生成警报以提示用户。
此外，在包括多条(例如两条)皮带的实施例中，控制装置可以被配置成：根据传感器3的检测结果判断两条皮带上是否存在共同的货物，即判断是否存在一个大货物被放置在了两条皮带上的情况。在判定为两条皮带上放置有共同的货物的情况下，在需要移动货物位置时，控制装置控制 驱动装置同步地移动两条皮带，以使得共同的货物平稳地移动。判断是否存在一个大货物被放置在了两条皮带上，可以通过摄像头来进行图像采集和识别，判断是否有一个大的货物被同时放置在两条皮带上。
如上所述的控制装置的各实施例可以是通过软件、硬件、固件或它们的组合的方式实现相应功能的模块或模块组合，例如，通过软件程序代码、可编程逻辑器件、集成电路模块等方式或它们的组合。在一个示例中，控制装置由处理器和存储器组成，其中，存储器上存储有能够被处理器执行的程序代码，该程序代码在被处理器执行时实现如上所述的控制装置各实施例的功能。
在如上所述的货物运送装置各实施例中，将车体8描述为可移动的，将货物运送装置描述为可用于加载、卸载货物并在仓储空间内或外移动的小车，但是，可以理解的是，车体8也可以是不可移动的，或者是其他变体。
下面描述根据本发明的货物运送方法实施例。所述货物运送方法实施例可以使用如上所述的货物运送装置各实施例，也可以使用组成结构与它们不同但功能相同或相似的其他货物搬运设备。
图4示出了根据本发明一实施例的货物运送方法的流程示意图。如图4所示，该示例货物运送方法包括步骤：
S401，在货物运送装置停止和/或移动状态下，通过一个或多个传感器检测并判断放置在货物运送装置的皮带上的货物位置；以及
如上面在装置实施例中所述，通过传感器的检测结果可以将货物位置判断为放置到位、放置出位或掉落，或者判断为其他状态(例如，不存在货物)。
S402，在判定货物放置出位的情况下，移动皮带以使得货物放置到位。
步骤S402针对的是货物放置出位的情况，针对其他情况，所述示例方法还可以包括如下步骤中的至少一个：
在判定货物放置到位的情况下，自动地或响应于用户的操作使货物运送装置开始移动，即离开加料点开始运输；
在判定货物掉落的情况下，停止所述货物运送装置移动和/或发出报 警；以及
在货物运送装置移动到预定位置后，移动皮带以卸载货物。
针对货物运送装置包括两条皮带的情况，所述示例方法还可以包括：
通过传感器检测并判断所述两条皮带上是否放置有共同的货物；以及
在判断为放置有共同的货物的情况下，在需要移动共同的货物时，同步地移动所述两条皮带。
有关如何根据传感器的检测结果判断货物位置的细节以及其他细节，可以参见如上所述的装置实施例，在此不再赘述。
下面描述根据本发明实施例的货物加载、运输、卸载过程。
图5示出了根据本发明一实施例的货物加载过程的流程示意图。如图5中的示例所示，该示例货物加载过程包括步骤：
S501，往货物运送装置的皮带上放置货物。
S502，通过传感器检测皮带上的货物位置。
S503，判断货物是否放置到位，如果判定货物放置到位，则可以进入步骤S506，如果判定货物放置前出位，则进入步骤S504，如果判定货物放置后出位，则进入步骤S505。
S504，向后移动皮带并返回步骤S502，直到判定为货物放置到位。
S505，向前移动皮带并返回步骤S502，直到判定为货物放置到位。
S506，判断是否结束货物加载过程，如果判定为是，则进入步骤S507的结束步骤，如果判定为否，则回到步骤S501继续加载货物。
根据本发明的一个优选实施例，在步骤S504，向后移动皮带，直到判定为货物放置到位，并且使得皮带继续移动一定距离(延迟暂停)。
根据本发明的一个优选实施例，在步骤S505，向前移动皮带，直到判定为货物放置到位，并且使得皮带继续移动一定距离(延迟暂停)。
在将当前货物放置到位后，在图5所示的实施例中，会在步骤S506中判断加载货物过程是否结束，例如，询问用户是否结束加载过程，以及/或者接收用户关于是否结束加载过程的指令。在其他示例中，在货物放置到位后，也可以不进行判断是否结束加载过程而直接结束。在有些示例中，响应于加载过程的结束，货物运送装置可以自动地开始移动以将货物运往 指定地点。在有些示例中，在货物放置到位后，用户可以通过相关操作使货物运送装置开始移动，从而结束加载过程，开始运输过程。
在上面的示例中，没有描述货物在加载过程中脱落的情况，如果发生脱落情况，则该示例货物加载方法还可以包括发出警报以提示用户的步骤。
图6示出了根据本发明一实施例的货物运输过程的流程示意图，在该示例中，在货物运送装置的移动过程中持续检测货物位置，并在发生货物放置出位或货物掉落时采取相应的措施。如图6中的示例所示，该示例货物运输过程包括步骤：
S601，货物运送装置向预定地点移动。
S602，通过传感器检测皮带上的货物位置。
S603，判断货物的位置以查看是否发生放置出位或货物掉落，如果判定货物放置前出位，则进入步骤S604，如果判定货物放置后出位，则进入步骤S605，如果判定货物掉落，则进入步骤S606，如果判定货物放置到位，则可以返回步骤S601。
S604，向后移动皮带并返回步骤S602，直到判定为货物放置到位。
S605，向前移动皮带并返回步骤S602，直到判定为货物放置到位。
其中，步骤S604和S605可以是在不停止货物运送装置的移动的情况下执行的。
S606，停止货物运送装置的移动并发出警报。在其他示例中，也可以执行这两个操作中的其中一个。当用户发现警报或发现货物运送装置停止移动、从而发现货物掉落时，会将掉落的货物重新加载到皮带上或进行其他处理，之后步骤返回S601。
根据本发明的一个优选实施方式，在货物运输过程中，出现任何一个中间传感器都感应不到货物的情况，则皮带开始转动。而如果两端传感器任意一端感应的到，则皮带向感应不到的方向转动，至中间传感器感应到后继续运动一定时间(延迟暂停，同上料)。如果两端传感器都感应不到，则皮带开始转动，直至一端感应到，或中间的感应到。一端感应到则皮带反转，同上一步皮带转动；中间感应到则继续转动一定距离(延迟暂停)。如果若皮带持续转动一段时间后所有传感器仍感应不到，则判断为掉落。
当货物运送装置到达预定地点后，货物运送装置自动地或者响应于用户的操作进入卸载模式。图7示出了根据本发明一实施例的货物卸载过程的流程示意图。如图7中的示例所示，该示例货物卸载过程包括步骤：
S701，移动皮带以卸载货物。
S702，通过传感器检测货物位置。
S703，判断在开始卸载后预定时间段后传感器是否仍然能够检测到皮带上放置有货物。如果判断结果为否，则表示卸载成功，如果判断结果为是，则表示出现卸载故障，进入步骤S704：故障排除，之后回到步骤S701，直到卸载成功。
有关如何根据传感器的检测结果判断货物位置的细节以及其他细节，可以参见如上所述的装置实施例，在此不再赘述。
附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和装置的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。对于本领域技术人员来说公知的是，通过硬件方式实现、通过软件方式实现以及通过软件和硬件结合的方式实现都是等价的。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。但本领域技术人员应当清楚的是，上述各实施例可以根据需要单独使用或者相互结合使用。另外，对于方法实施例而言，由于其与装置实施例相对应，所以描述得比较简单，相关之处参见装置实施例的对应部分的说明即可。以上所描述的装置实施例仅仅是示意性的， 其中作为分离部件说明的模块可以是或者也可以不是物理上分开的。
通过本发明各实施例，可以解决在货物加载、运输和/或卸载过程中货物放置不合适、会掉落等问题，提高了运输安全性。
虽然已经通过实施例对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上实施例仅是为了进行说明本发明的原理，而不是为了限制本发明的范围。本领域技术人员应该理解，可在不脱离本发明的范围的情况下，对以上实施例进行各种修改和/或组合。本发明的范围由所附权利要求来限定。

Claims (14)

  1. 一种货物运送装置，包括：
    车体；
    设置在车体上的皮带传动机构，其中所述皮带传动机构包括皮带以及用于驱动所述皮带相对于所述车体移动的驱动装置；
    设置在车体上的一个或多个传感器，所述一个或多个传感器用于检测所述皮带上的货物的位置；和
    控制装置，所述控制装置根据所述一个或多个传感器的检测结果控制所述驱动装置对所述皮带的驱动以调整所述货物的位置。
  2. 如权利要求1所述的货物运送装置，其中所述一个或多个传感器沿着所述皮带的运行方向设置成传感器列。
  3. 如权利要求2所述的货物运送装置，其中，所述控制装置配置成在以下情况判断所述货物放置出位：
    所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器任何一个能感测到货物；或
    所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器也感测不到货物，皮带转动后，两端任何一个感测到货物。
  4. 如权利要求2或3所述的货物运送装置，其中，所述控制装置还配置成:
    在所述传感器列中间的传感器感测到货物的情况下，判定所述货物放置到位。
  5. 如权利要求2-4中任一项所述的货物运送装置，其中，所述控制装置还配置成:
    在所述传感器列中间的传感器检测不到货物、在所述传感器列两端的 传感器感测不到货物、同时皮带转动一定时间后任何一个传感器都感测不到货物的情况下，则判断为掉落。
  6. 如权利要求1-5中任一项所述的货物运送装置，其中，所述控制装置配置成执行如下中的至少一个：
    在判定所述货物放置出位的情况下，在所述车体停止的情况下，启动所述驱动装置以移动所述皮带，直到判定所述货物放置到位；
    在判定所述货物放置出位的情况下，使所述车体移动，并启动所述驱动装置以移动所述皮带，直到判定所述货物放置到位；
    在判定所述货物放置到位的情况下，使所述车体移动；以及
    在判定所述货物掉落的情况下，发出报警和/或停止所述车体移动。
  7. 如权利要求6所述的货物运送装置，其中，所述控制装置还被配置成：在所述车体移动到预定位置的情况下，启动所述驱动装置以通过移动所述皮带来卸载所述货物。
  8. 如权利要求7所述的货物运送装置，其中，所述控制装置还配置成：在开始卸载后预定时间段后所述传感器仍然检测到所述货物的情况下，判定出现卸载故障。
  9. 如权利要求1-8中任一项所述的货物运送装置，其中，所述货物运送装置包括两条皮带，所述两条皮带能够彼此独立地被所述驱动装置移动，并且其中所述一个或多个传感器分成两组传感器，每组传感器检测所述两条皮带中对应的一条上的货物。
  10. 如权利要求9所述的货物运送装置，其中，所述控制装置配置成：在判定为所述两条皮带上放置有共同的货物的情况下，在需要移动所述共同的货物时，控制所述驱动装置同步地移动所述两条皮带。
  11. 一种利用如权利要求1-10中任一项所述的货物运送装置来运送货物的方法，包括：
    在所述货物运送装置停止和/或移动状态下，通过所述一个或多个传感器检测并判断货物放置在皮带上的位置；以及
    在判定所述货物放置出位的情况下，移动所述皮带以使得所述货物放置到位。
  12. 如权利要求11所述的方法，还包括如下步骤中的至少一个：
    在以下情况判断所述货物放置出位：在所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器任何一个能感测到货物；或所述传感器列中间的传感器感测不到货物，所述传感器列两端的传感器也感测不到货物，皮带转动后，两端任何一个感测到货物；
    在所述传感器列中间的传感器感测到货物的情况下，判定所述货物放置到位；
    在所述传感器列中间的传感器检测不到货物、在所述传感器列两端的传感器感测不到货物、同时皮带转动一定时间后任何一个传感器都感测不到货物的情况下，判定所述货物掉落。
  13. 如权利要求11所述的方法，还包括如下步骤中的至少一个：
    在判定所述货物放置到位的情况下，使所述货物运送装置移动；
    在判定所述货物掉落的情况下，停止所述货物运送装置移动和/或发出报警；以及
    在所述货物运送装置移动到预定地址后，移动所述皮带，卸载所述货物，并检测卸载过程是否成功。
  14. 如权利要求11-13中任一项所述的方法，其中当所述货物运送装置包括两条皮带时，所述方法还包括：
    通过所述一个或多个传感器检测并判断所述两条皮带上是否放置有共同的货物；以及
    在判定放置有共同的货物的情况下，同步移动所述两条皮带。
PCT/CN2019/081193 2018-05-31 2019-04-03 货物运送装置及方法 WO2019154440A1 (zh)

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